This is an update to my previous Stewart Platforms. This is one of the first I truly feel is "done enough" - there are no outstanding technical issues that bug me, the manufacturing is straightforward, and the software to run it is coming as fast as I can get it made. I intend to build larger and larger versions from here on out based on this model.
Features
- Runs on GCODE
- Limit switches & homing (G28)
- No 3D printed parts
- 1500g static holding force (worst case, tested to failure)
- 20 degrees pitch & roll
- 10 degrees yaw
- 100mm heave
- 40mm surge & sway
- Measures 165mm across the top, 230mm across the base, 190mm high at rest, ~230mm at center position
- Weighs ~1650g. 150g less and it could carry a copy of itself!
It took 3h to assemble, program, and test. I already had the firmware from a previous project. I guesstimate it would take someone new 5h with a soldering iron, a screwdriver, and some crazy glue/contact cement.
My goal with these robots is to Raise Robot Literacy - dispell popular myths about robots and increase the number of people who can make, think, and talk about robots. I hope you will support me in this endeavour by sharing this with your robot-minded friends.
6DOF motion control platform
- Actuators / output devices: 6 stepper motors @ 400 steps/turn @ 1/16 microstepping
- Control method: serial gcode
- CPU: Arduino
- Operating system: Arduino
- Power source: 12v2a
- Programming language: Arduino C
- Sensors / input devices: 6 limit switches
- Target environment: indoor
This is a companion discussion topic for the original entry at https://community.robotshop.com/robots/show/rotary-stewart-platform-2013