Question need help Simukit SK1 3dof 4 motor inspired

Hello everyone,

I’m encountering challenges with the Simujit SK1 design. Currently, I’m utilizing four 250W, 24V wheelchair motors, each providing 75 RPM and 36Nm of torque.

To stabilize the structure, I’m using four rods. However, I’m experiencing significant creaking noises with the motion.

Could anyone advise on how to calculate the optimal length and positioning of these stabilizing rods?

Additionally, I enhanced the setup with gas dampers, which significantly improved the 3 DOF (degrees of freedom) experience. However, issues arose when the front stabilizing rod became loose and subsequently bent, affecting both the gas damper and the left front rod, as illustrated in the attached pictures.

All stabilizing rods are made of stainless steel, size M8, and measure 330mm in length.

Thank you in advance for your assistance!

I can't imagine how a single stabilizing rod for the transverse direction in the middle can prevent the front from drifting.

The original design includes three rods: two for longitudinal stability and one in the center for transverse stability.

However, I believe this solution will be effective.

Regarding SimTools 3, the profile intensity seems to me that effects are only instantaneous at 100%. To reduce the force, I should adjust the minimum and maximum tuning settings to higher values, correct?

Any Idea, why one of the 4 Motor getting hot? all motor have the same SMC3Utils settings.

It getting warm just when in idle position, after testing motion half an hour even the lever is hot.

What I mentioned is, that when I test (without load) with 100% set to heave and drag the slider to +100% the Motor stutter at the position 100%. It this an issue of the Hall sensor or the motor? Maybe I have to set pwm min down or change the deadband? I think it struggles to hold the setpoint position.

Know the front rods are reinforced with tubing and additional add 2 Gas damper, so in OFF position the lever not going beyond the 0 or 360 of the hall sensor.. since I am using 2:1 ratio. I wanted to change it to 3:4 ratio so it has a range 270 degree intead of 180...

Hey everyone,

After tweaking a few settings in SMC3Utils and using only 3 stabilizer rods, I’ve successfully completed one of the first test rides. Check it out on YouTube, featuring the Pimax Crystal and AMS2:

Has weird vibration issues in the front lever when stepping in at parking location.

Try to change values in smc3utils but nothing helps. I metionend, that when I Set kp value low the vibration is low frequency and if I Set higher value higher frequency.

Hello again,

After unsuccessfully searching for a solution, I decided to re-examine the settings in SMC3Utils for the rear motors, which I thought were correctly configured. As expected, they worked perfectly!

Then, I changed the COM address and adjusted the front motors. To my surprise, they also ran flawlessly without any stuttering.

However, when I launched SimTools v3 beta again, the stuttering started anew.

So, I stopped SimTools, changed the regional settings, restarted the PC, and opened SimTools again, only to find it stuttering once more. I then tested with only 100% heave. As I approached either the 0% or 100% mark, the stuttering began again. That’s when it dawned on me—an epiphany! The levers were hitting the clip limit, and the pwmrev was trying to compensate all this time.

By adjusting the parking location from 20% to 30% and from 80% to 70%, everything is now running smoothly!

Sometimes, you can’t see the forest for the trees.