New thruster layout design The current thruster design of the ROV is quite agile with the 6 motors the submersible is able to move in 5 dimensions. With the front (1 and 2) en back (3 and 4) motors being able to use to go in 3 dimensions (X axis, Y...
While I was experimenting with controlling the speed of the H/B drive wheels, I realized that really slow speed control was difficult to achieve with reasonable torque. This is unfortunate, because I'm anticipating needing slow (safe) speeds, but...
Overview of the Nanotec BLDC motors and drivers: BLDC Motors:The first two axis are driven with the larger BLDC motors the rest with the smaller ones.BLDC Motor Drive:
The two current sense ANALOG input´s are assigned to ADC12_INP4 and ADC1_INP2, which should make it possible to use the dual ADC mode, for simultaneous samples. That leaves ANALOG temperature (thermistor) port and ANALOG voltage_divider (BUS voltage)...
Based on my learnings from BLDC controller and custom motor, I'm now going to build and assemble actual 4-legged robot.I have started printing parts but I don't have much to show yet. Just this.I have bought DLP printer by the way, but have not...
BLDC motors are effectively Steppers with three coils instead of two (often called 3-phase.) That means three half bridges and three PWM signals will turn the motor. In fact, if you open up a hobby ESC you'll find six mosfets and either an 8051 or AVR.BLDC's...
To make this 'gun' feel like a GUN, I will require some electronics and other hardwares.First, a list! I love lists. Especially numbered lists. They make me feel like I am accomplishing something even though I am not...Components by 'function'::1. the...
For testing v0.7 we conducted two tests. The first test was to do 10000 cycles of lifting a 5kg weight up and down. The iceboard here controls the bldc motor mounted in one of roboy 3.0 muscle units. The white dyneema tendon is rolled up by the bldc...
Next logical step - is to couple theoretical findings with BLDCs, it is fun, educational and even useful at some point! In previous update that was a brushed motor... Pretty unfortunate - it's hard to imagine worse enemy than brushes with that approach....
Success! We managed to get bidirectional control with an off-the-shelf ESC!Unfortunately, the type of ESC had to be changed, as we encountered numerous issues flashing different firmware to a generic SimonK-type ESC. Instead we opted to go with a BLHeli_32...
I have a huge project ahead of me, and in order to be successful i have to be as prepared as possible. I began looking into a whole bunch of open sourced quadrupeds. I mostly only looked at mammal like robots with two sets of parallel limbs. Not the...
The heart of a strobe tuner is the strobe disk, driven by a small electric motor. It has to spin pretty fast (thousands of RPM), but the only mechanical load is inertia and air drag. The angular speed has to be very accurate and stable. These requirements...
Abstract: PCB motors seems suited for laser scanning; - speeds seem sufficient - cross scan error is not affected by pcb coils Angular stability needs to be improved but this is seen a relatively trivial issue. Video: Measurement...
In a week things move fast! Since my last log the university has shut-down almost entirely (extending and then moving forward the Easter holidays) and the chances of actually manufacturing my design look increasingly slim ... Not least because I'm already...
Finally, our breakthrough update is here with parallel processing activation!There is a radical performance enhancement achieved and the FOC loop is running with 140kHz now!To know more please check this link:https://solomotorcontrollers.com/firmware-007-is-released-dual-core-activated/…#servoDrive...