Final Project
My final project idea is to build a hexapod or stewart platform.
Hexapod / Stewart platform
Develop a hexapod platform, starting with a small-scale version using servos, with the long-term goal of creating a larger-scale version function as yet unknown
Use cases
Driving or Flight simulator rig.
building a low profile rig that could sit under an existing stationary sim rig would be interesting. –
Challenges for this would be platform weight requirement.
Tapping into the driving or flight sim to get feedback on where the hexapod should be – bumps, g-force simulation etc.
Multi-axis 3d print platform.
Modify an existing printer to add multi-axis print capability such as delta WASP printer or an Ultimaker–type printer – I don’t think it would work well on a bed slinger.
Steady bench/table.
the intention with this is to put the 3d printer in the back of the mobile technology van to have the capability to print on the road – I want to be able to keep the printer steady while on the move.
I need to get my model printed for Fab Academy – as usual last min CAD modelling – 1:30 hr print – 1:30 hours’ Drive to the FabLab – going to have to print and drive.
Considerations
Size of hexapod – let’s aim to hold an Ultimaker 2+ (can also test with Prusa i3 Mk3)
Speed requirement of liner actuator and load capability. (Will I build the linear actuators with stepper motors or get off-the-shelf parts? Further research required – I have stepper motors from 4 – 5 Makerbot Replicator 2 printers that I could cannibalise for parts)
Spiral Development.
Sketch of the idea –
CAD model –
Small scale servo model –
Specify the linear actuator requirements
Design larger scale platform –
Build table in back of the van to hold the part.
Start with the sketch
and move on to a servo model that we can use to test code and the principle on a small scale.
Then scale up to larger platform.
Inital CAD model using Rhino and Grasshopper
Existing Hexapod Developemnt
I found some links to existing works – I need to identify which of these I can use as the basis for this project.
NicHub Stewart-Platform-Esp32 Git Hub
video and git hublink for motion tracking hexapod code in python
Yeok-c Stewart_Py YouTube
Yok-c Stewart_Py Git Hub
week 3 Final Project Research
Useful Links this week.
Complete guide to PCA9685 16 channel Servo controller for Arduino with code Version of 5 ( V1)
week 4 Final Project Research
Not much progress on the Final Project this week...
week 5 Final Project Research
In the interest of spiral development I'll be making a small servo version first - I've lookes a the various projects out there and will be basing my inital desing on yeok-c stewart platform simulator howevr i hope to make some additions and will not be using his mpotion capture. link to git repo below.Yeok-c Stewart_Platofrm motion simulator Git Hub
I've also found a few other links that may be useful for the project.
week 6 Final Project Research
I've been working on the servo version of the hexapod this week.
week 7 Final Project Research
I've been reading up about inverse kinematics and how to calculate the angles of the servos to move the hexapod.
week 8 Final Project Research
I've been working on the servo version of the hexapod this week.
week 9 Final Project Research
been working on the CAD desing of the small hexapod.
week 10 Final Project Research
found this link this week Dynamical stabilization of a plane using a Gough-Stewart platform
week 11 Final Project Research
So my question this week after the networking session is should I use stepper motors for the full size version and have a controler for each stepper contoled with an ATtini 412??
If that was the case each linear actuator would ahave its own controller that would then communicate.