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luben111

Small XY servo movement

by luben111 Sep 9, 2016
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Did you ever get this working? How well did it work and what problems did you have?

I made one sample (you can see the photos) and I was able to move the the head by applying different PWM on servos. The problem is that it's not linear XY movement - for example to make movement on X you also have to apply changes on Y which requires trigonometric calculations. With the new ST ARM processors (like STM32F401) with built in math coprocessor this task is doable but with simple Arduino UNO boards it's not easy task.

Similar movement was used the Shaper tool

I think the math isn't that bad since you you have polargraphs working well on arduino.

here is a post describing the trig: http://www.buildlog.net/blog/2015/01/the-bipolar-ord-bot/

Stm32 is a good platform also.

I was looking at this in combination with something like a AS5311 for a closed loop system powerd by some high torque gear motors which don't have to deal with backlash due to the sensor... something like a GM4058-31ZY.

have you done the math on what advantage you can get with this design? I also have some 6005RS bearings unused I may try with.

Hi,
I agree, maybe Arduino can do the job.

The advantage of this design is the high torque - we use eccentric, in 180 deg rotation we get just 8-10mm movement in the bearing which is converted to 10-15mm movement of the end point. I used digital servos with 14 kg torque so you can imagine the immense force applied on the end point.

It's ideal for small and precise XY movement where heavy object is attached, also simplifies significantly the supporting construction (no need for XY rails).

Added a link showing how the design is working (simulation). Unfortunately it will take more time to revive the prototype and get real video - I'm sorry.

This is amazing!!!

Do you have a video of this moving?

Can you include the trig so we can use different lengths and servos ?