6dof motion simulator

by **vicpopo** » Wed 1. Jan 2014, 23:42

NEW 6DOF PLATFORM

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Design

Hi,

Since I finished the 2DOF for a friend , I was projecting to build a 4 DOF but as I got an Amc1280usb I decided to build a 6DOF.

Link for the 2 dof : http://www.x-sim.de/forum/viewtopic.php?f=37&t=293

So the simulator will got the following specifications.

Driving module : Tronicgr amc1280usb
Actuators : AC Gearmotors from SEW Eurodrive with MovitracB Inverters
Software : Xsim3 with 6DOF plugin from Sirnoname and Tronicgr

Edit : link to setup the 6dof plugin - http://motionsim.blogspot.com/2013/05/6dof-software-plugin-for-x-sim3-is.html

Motor specification : 0,25 kW Asynchronous Motor . Nominal rpm 1400
Gearbox : helical gear unit. Gear ratio : 105 - output torque at nominal motor rpm 190 Nm
Inverter : MovitracB mono-tri phases (input mono 220 V 50Hz or 60Hz output tri phases 220 V)

For the frame I will use (still in progress) Stainless steel round section and square section .
Round : diam 46 mm thickness 2 mm
Square : # 40mmx40mm thickness 2 mm

Inverters:

- the inverters have a particularity . They always can shut down your home electrical net because there are inside Capacitors which are used for the Electromagnety Compatibility ( CEM in french "Compatibilité Electro-Magnétique").These capacitors are grounded so when the current over come to the human protection (30mA) ,the disjonctor cut off the main current.
To avoid this you can make a shunt for this capacitors but only possible for the little power Inverters size0 .
This is easy to proceed .You just have to put 2 plastic cap supplied with the inverter to shunt the capacitors from the ground

plastic cap

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Plastic cap

Before installation

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Before

After installation

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After

Electrical box

To put the inverter in the electrical box easily on the rail I used a frame on which I assembled the inverter and behind the braking resistor bw4 with 87,5 Ohms.This frame was provided with the inverters ( 20€ each).It's simple to use and the solution is very compact.

Inverter frame

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Frame

The electrical bix is still in progress.As I was wanting that all electronic stuff stay watchable I used Plexiglas on the electrical box front side.

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Box1

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Box2

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Amc1280usb

The simulator frame

Design 6dof

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Design

The real frame is still in progress.

A view from the job yet made.

by **yokoyoko** » Thu 2. Jan 2014, 01:14

This is very cool! Looking forward to see your progress.

by **xa4123** » Fri 10. Jan 2014, 15:48

Hey,

Very cool.
I'm also in the process of making a 6dof motion platform with Thanos' AMC1280, but I'm still figuring out the right dimensions and workspace versus motor strength, possible g-forces, washout filter, etc ... Currently I'm trying to model the platform in OpenModelica, but not succesful so far.
Any chance you're willing to share your design and/or your insights in the different design parameters ?
Example question : short legs =>lower power for same torque , right ? But which consequences for workspace and g-forces ?

xa4

by **vicpopo** » Fri 10. Jan 2014, 19:38

xa4123 wrote:Hey,

Very cool.
I'm also in the process of making a 6dof motion platform with Thanos' AMC1280, but I'm still figuring out the right dimensions and workspace versus motor strength, possible g-forces, washout filter, etc ... Currently I'm trying to model the platform in OpenModelica, but not succesful so far.
Any chance you're willing to share your design and/or your insights in the different design parameters ?
Example question : short legs =>lower power for same torque , right ? But which consequences for workspace and g-forces ?

xa4

Hi ,

I can share some information.You will find attached a design I thought with dimensions.It's based on my experience until now in simulators (building simulators , watching on internet working solutions , searching on forums , etc...) ,but not with a lot of mecanical calculations.
I will follow my step by step own methodic :
1 - according to my first design attached I will build my simulator with the avaibility to make adjustable the following dimensions:
A- the diameter from the frame where the motor are attached .I have to fix the the value for the diameter where the moving plateform is attached ( diam 425 mm in the drawing)
B - the distance between pair of motors will be adjustable ( three positions , 305 mm will the max
C - the high between both frame ( up moving and down fixed) with the legs.
D - the arm on the gear output shaft , here in the drawing with 80mm but I will make a arm with 2 positions (80mm and 100mm).I don't want long arm because for a car simulator I need short movements with short angular range (100°).For the same simulator for flight I will increase the angle 180 °.It's the reason why I have to choose a right diameter for the upper moving plateform where the legs are attached.So little is this diameter so little is the neccassary arm level and angular movement for a big tilt angle.I have to find the right value according to my motors power.For me the right value should be between in range diameter from 400 mm to 200 mm .

Helping me for all these tasks I will use before the 6dof plugin in simulation mode trying to adjust some values .

The drawing :

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Design

by **xa4123** » Wed 15. Jan 2014, 22:41

Hi vicpopo,

Thx very much for your reply. I find it interesting you make a distiction between a car simulation and a flight simulation...not quite sure what you mean with angular range - 100° for car simulation and 180° for flight simulation ? Is this the angular range of the motor axis ? You say you need short movements for car simulation ... does this mean more g-forces ?

Until the end of this month I won't have much time because of another project deadline. When I have some spare time and certainly early februari I will try to make a working model in OpenModelica and post the results in this forum. I think it will be interesting to see the correlation between different parameters like workspace, power, torque, payload .... for example I wanna find out how much extra power is needed for heavier payloads. I'm thinking of a stewart platform with dual seats.

Last question : your 3D model, did you make it in Solidworks or other CAD program ?

Good luck with the project.

Xa4

by **vicpopo** » Thu 16. Jan 2014, 07:52

xa4123 wrote:Hi vicpopo,

Thx very much for your reply. I find it interesting you make a distiction between a car simulation and a flight simulation...not quite sure what you mean with angular range - 100° for car simulation and 180° for flight simulation ? Is this the angular range of the motor axis ? You say you need short movements for car simulation ... does this mean more g-forces ?

I would say :
Car simulator : I want more dynamics movement ,that means shortest angular gearbox output shaft range (100°).I will use the capability of the motors to run fast ( max rpm )
Flight simulator : I want more tilt angle for the platform , that means ( with the same arm level) more angular gearbox output shaft range (180°).And the motors didn't have to run to their max speed.

xa4123 wrote:Last question : your 3D model, did you make it in Solidworks or other CAD program ?

Xa4

Sketchup

by **Monaco85** » Sat 18. Jan 2014, 13:10

Very nice project. I'm very interessted because i work in SEW-Eurodrive headquater as an Testengineer :-)

If u have some questions with SEW komponents, maybe i can help you.

by **DoctorD** » Thu 13. Feb 2014, 10:55

Hiya Vicpopo

Love your sim!
What kind of cost are you looking at for the motors, gearboxes and drivers?
They look sexy

Great luck to you good sir.
DoctorD

by **vicpopo** » Thu 13. Feb 2014, 20:08

Hi ,

Can't say exactly because I have special discount ...

But for sure expensive, but very good quality ...

If I couldn't have this discount I wouldn't build a 6 dof simulator or with cheaper products.

by **vicpopo** » Sun 16. Feb 2014, 01:19

Hi,

Some pics from my work.I'm building the electrical box and that works good , step by step .Not so complicated because I made once a 2dof and the wiring diagram is the same.
The amc1280usb is wired , finished!
But there are much more wires and that takes time to connect all stuff.I just pray that I connect all right because if there is a mistake what spagetti dish ! :lol: