progressiveautomations/Stewart-Platform39Sponsored by Progressive Automations, completed by UBC Engineering Physics 2018 (Tim Branch, Henry Liu, Don Nguyen)/ (Matt Ward, Johnny Liu, Nathaniel Osachoff)
Controller circuit is an open-source printed circuit board by progressiveautomations, from the progressiveautomations/Stewart-Platform repository on GitHub, published under the LGPL-3.0 licence. It is a 2-layer board of 68.6 × 88.9 mm with 9 parts on 27 nets, routed with 76 tracks and 5 vias.
Before assembly, ensure that all the wires are adequately connected within the enclosure, including the power supply wires, the actuator power wires, the actuator signal wires, and the Arduino Due wires. Detail in [blocked]how the components are wired together and individual schematics are located in the electronics folder.
To ensure the code under arduino/platform is compatible with the wiring of the Arduino Due, the headers on the PCB should be connected to the respective pins in the table below. This assumes actuators 1 through 3 are connected to Multimoto 1 (to blocks M3, M2, and M1 respectively) and actuators 4 through 6 similarly to Multimoto 2. Note the actuator indexing for the PCBs differs from that in software.
The UTIL pin headers (RESET, +3.3V, +5V, GND, GND, Vin) are connected to the identically-named Arduino pins and are omitted from this list. The exact pin numbering can be updated in software at arduino/platform/pin_layout.h if the wiring configuration needs to be modified.
| Header | Pin |
|---|---|
| POT_1 | A6 |
| POT_2 | A7 |
| POT_3 | A8 |
| POT_4 | A9 |
| POT_5 | A10 |
| POT_6 | A11 |
| DIR_1 | 41 |
| DIR_2 | 39 |
| DIR_3 | 37 |
| DIR_5 | 35 |
| DIR_6 | 33 |
| DIR_7 | 31 |
| PWM_1 | 13 |
| PWM_2 | 12 |
| PWM_3 | 11 |
| PWM_5 | 10 |
| PWM_6 | 9 |
| PWM_7 | 8 |
| ENABLE_1 | 24 |
| ENABLE_2 | 25 |
Attach the 3 platform legs to the 3 corners of the base plate (Note: the base plate is larger than the top plate, and has 4 slots cut into it.), such that the 6 metal flanges are facing upwards. This is done using the ¾” long, ⅜”-16 threaded bolts, with one washer.
Next, position the enclosure underneath the base, so that the enclosure posts align with the slots in the base plate, with the power and USB connectors facing out as shown.
Attach the enclosure to the base place using 4 1” long, ¼”-20 threaded bolts, with a washer for each. Ensure the bolts are aligned in the slots such that the corners of the enclosure do not extend beyond the edge of the base plates, like shown.
Attach the actuators as shown in the following picture. Close-up views of the joints are provided. Use 2 washers (one on each side), a lock-washer, and a ¼”-28 nut.
To avoid problems, ensure that the actuator gearboxes are facing upwards as shown in the picture.
Once the platform is assembled, attach the maze to the top plate by aligning the 3 corner holes on each, and secure it with 3 1¼” long, ⅜”-16 threaded bolts, with one washer on each, and a nut.
Connect all the actuator connectors to the appropriate receptacles on the enclosure, by routing the cables around and under the base plate. These can be bundled to be neat and out-of-view.
Finally, connect the power and USB cables to the front of the enclosure, and connect the other end of the USB cable. The platform is now assembled!
[blocked]Nothing is moving? Check all power connectors.
Arduino not seen by computer? Check USB cable connection, and ensure the device shows up in Device Manager.
Noisy actuator readings? Adjust the PWM feedback or the filtering capacitances on the Arduino PCB.
The PCBs were designed using [blocked]KiCAD v4.0.7.
Each board has its design files under the electronics folder, along with Gerber files (under electronics/gerber) for the case of reproduction. The individual netlists can be found in the .sch files.
| Qty | Value | Footprint | References |
|---|---|---|---|
| 2 | HEADER_6 | Socket_Strips:Socket_Strip_Straight_1x06_Pitch2.54mm | J2, J3 |
| 2 | HEADER_8 | Socket_Strips:Socket_Strip_Straight_1x08_Pitch2.54mm | J4, J5 |
| 1 | HEADER_10x2 | Connectors_IDC:IDC-Header_2x10_Pitch2.54mm_Straight | J1 |
The 5 most common of 9 parts.
It measures 68.6 × 88.9 mm and has 2 copper layers, 1.6 mm thick.
9 parts. The full list of its parts is on this page, with links to each part's symbol and footprint where PCBKit's library has them.
From the progressiveautomations/Stewart-Platform repository on GitHub, at the commit this page was made from: the board is electronics/controller_circuit/controller_circuit.kicad_pcb. PCBKit opens the board in the browser, with nothing to install.
Its repository publishes it under the LGPL-3.0 licence: you may reuse it on that licence's terms (keep the author's notice, and for a copyleft licence share your changes alike).
progressiveautomations/Stewart-Platform
Sponsored by Progressive Automations, completed by UBC Engineering Physics 2018 (Tim Branch, Henry Liu, Don Nguyen)/ (Matt Ward, Johnny Liu, Nathaniel Osachoff)
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