6DOF v2

thingiverse

Human: Stewart Platform (6 Degrees of freedom) version 2 using six EMax Ex08MAII servo linear actuators. I employed M3 screws and the servo linkage is formed from one millimeter paper clip wire. The Excel calculator along with files for reference are included, which calculate actuator length based on platform displacement in X,Y,Z, X:X, Y:Y, & Z:Z. Servo Linear Actuator (95-137mm) http://www.thingiverse.com/thing:2038205 UPDATE: 04-06-17 I added a few pictures/videos, seven-inch touch screen platform, and X axis retainer. Spending more time developing the PID control and tuning allows the 6DOFv2 to balance a three-quarters inch bearing reasonably well. I still plan to fine-tune even further. I ended up using an Adafruit STMPE610 touch screen controller (https://goo.gl/uHkAnf) to get reliable location readings from the seven-inch touch screen (https://goo.gl/qONKCV); trying the four-analog-pin method resulted in too much noise and frustration. The six servo linear actuators are driven by a sixteen-channel Keyestudio PWM driver (https://goo.gl/MrmK1g) connected to an Arduino Uno. While learning to tune a PID I stumbled upon YouTube user upgrdman (https://goo.gl/TWL8hO, https://goo.gl/hM7X9w), which developed his own telemetry software that reads Arduino serial, very helpful! UPDATE: 04-09-17 Arduino sketch and Fritzing schematic are posted. I was able to achieve a stable balance that recovers from light disruptions while large disruptions propagate out of control. If anyone is able to contribute or refine it let me know. Limits: X +/-40mm Y +/-40mm Z +/-20mm (Z Home +128mm) X:X +/-15° Y:Y +/-15° Z:Z +/-20° Best Regards