Keith's 6dof (wheelchair motors)

so why on forums do people use 1.2 scale pulleys or gears?

I think they do this for more accuracy. All I know is I have swapped out different sized pulleys and I'm now happy with 1:1. Every rig is different though.

If you have for example 360 degree pot and using only 90, 270 are useless. So with 1:3 will increase 90 to 270 (better resolution) and 90 degree deadzone (safety)

thanks. i am still confused about this. i am ordering 2 40:20 pulleys for testing, i am using 3 "heavy" shafts up and down. i just need the motor lever to 20 degrees and down 20 degrees rough road . i use googletransistor also a bit confusing . i need your help later

You pull off 6 dof out of Yalu wheel chair motors... nice.
I see you did experiment with different CTC lever lengths what distance worked for you?
How they work for you when all are idle... do they support your mass?
I'm currently wondering if investing in additional motors will work for me.

Hey. Sorry for the late response. These motors have plenty of power. The motors are only warm after an hours worth of play time or idle time.(with me sitting in cockpit.) I will take some measurments when I have a chance.

No problem, waiting patiently for info
Additional question: Is there any substantial benefit of 100A drivers compared to 20A... taking into consideration motors are rated to 13.4A ? I mean other than quite obvious ones like better thermals and futureproof upgradability?

The way we are using these controllers is more demanding, being under constant load.
I'm guessing a lot of these controllers are over rated as well.

Hi. i see you use 3 arduino connected to 1 usb port.
i plan to connect 2 arduino and 6 iBT 2 but don't know how to connect to SMC 3.
Does your 3 ARDUINO have the same port.
SMC 3 will be like if 2 arduino attached.
thank

i mean how to get 4,5,6 motor in SMC 3.
i am waiting for usb hub for testing.
Or is SMC 3 able to open 2 panels??

Does your usb hub need additional power?

Yes it does

Hi Keith , great looking rig.

I have a 2dof with the same motors and thinking of upgrading to 6dof.
Servo motor route is pretty expensive , this looks like a great alternative.

-How are the motors holding up ?
-What is the CTC length of the levers, and how much movement doest it give?
-What are dimensions of your base ?

Hi Frank, the motors are holding up great. No issues yet. The rig feels awesome, I don't feel motor lash like I did with the 2dof system. I will post some more pictures and measurements when I have some free time

Hi, I know this is an old thread, but I'm looking into building a compact 6dof with these motors after enjoying my 2DOF for a few years. So I'd be very much interested in how those motors hold up after a few years, and the dimensions of the rig and length of the rods. Thanks!