Precision-Tracking and Self-Stabilizing Camera

We printed out our final gimbal base model after modifying some of the dimensions to fit the newer high torque motors we switched into using. We also got our raspberry pi camera and worked on adding that to the final model. Everything was set up and finalized for the final demo which occurred on Friday!

Final 3d print where we fixed the dimensions to be compatible with the new high torque motors, and made some other final adjustments based on previous designs:

(link to 3d print design will be added in project instructions)

Simple circuit board just connected to one servo and no joystick module- later, two servos were added (high-torque) with similar circuit configuration, and the joystick module was added:

Final model - all three servos were successfully moving the gimbal, imu was placed on top of main blue board to hold steady position:

Acai bowls to celebrate project completion:

Final demo updates:

One issue we faced was the shallow nodes of the servo motors not fitting completely and falling out- we attempted to address this by using hot glue which got stuck in the rotor area and made it very hard to attach and therefore use. We are fixing this by manually removing all hot glue, printing out new parts, and using spares to reattach servos without hot glue. Main tip is to not use hot glue on servos. 

We added a new angle control feature, enabling users to select and lock a camera position using the joystick, allowing more diverse applications. Initially, I planned for the joystick to activate when moved past its neutral center position, with the servos locking into the last active position when the joystick returned to center. Additionally, pressing the joystick would reset all servo angles to a default position of 90°. However, this proved difficult, as the servos couldn't differentiate between being inactive or passing through the neutral center position. The current design now requires the user to press the joystick to activate it, allowing control of the servos. Pressing it again deactivates the joystick, locking the current servo orientation and allowing the IMU to solely control the servo movement.

The gimbal incorporates three high-torque servos, each controlling a specific axis. Servo X stabilizes angular velocity around the X-axis (tilting forward/backward), Servo Y stabilizes the Y-axis (tilting left/right), and Servo Z stabilizes the Z-axis (rotational movement).

Additionally, due to issues with the USB power source causing the servos to slow down and lock after a minute of use, the system has been switched to an external power supply.

First big checkpoint has been reached; gyroscope & accelerometer data is being read into into Circuitpython and servos have been programmed to counterbalance motion and auto stabilize acting as gimbal

Next steps: attach raspberry pi camera to base and redesign handheld CAD structure to accommodate for new servo placement  rather than the previous model

We spent last week working on the construction of the mainframe of the gimbal and printed our first 3d printed frame- may be a few issues requiring us to reprint after some testing out

Orca Slicer:

Final product (trial one):

ft. team no rain no gain (weather was lots of rain little gain) with a 3d printed space needle repping WA

We presented our project proposal in class on 1/28 to get some feedback

+ parts have been ordered