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ACROME myCONTROL STEWART PRO User Manual

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STEWART PRO
USER MANUAL

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Summary of Contents for ACROME myCONTROL STEWART PRO

  • Page 1 STEWART PRO USER MANUAL...
  • Page 2 Fax: +90 212 285 25 94 Printed in Maslak, Istanbul For more information on the solutions Acrome Inc. offers, please visit the web site at: http://www.acrome.net This document and the software described in it are provided subject to a license agreement.

  • Page 3: Table Of Contents

    2.1 MPU-6050 Six-Axis (Gyro + Accelerometer) ................ 6 2.2 Linear Actuators ........................6 2.3 Arduino Mega 2560 ....................... 7 2.4 ACROME Power Distribution Box ..................7 3 TECHNICAL SPECIFICATIONS ......................8 4 WIRING ............................9 4.1 Cable Names .......................... 9 4.2 Connections .........................

  • Page 4: Overview

    Acrome Stewart Pro consists of 6 Firgelli Feedback Rod Linear Actuators. Also there are 12 cardan joints, 3 special design ball bearing housings as mechanical parts. Both base and platform plates are made from plexi-glass. Acrome Stewart Pro can be seen in the Figure 1.1. Figure 1.1: ACROME Stewart Pro Acrome Stewart Pro can carry up to 500N weight.

  • Page 5: Components

    2 COMPONENTS All the main components “ACROME Stewart Pro” are numbered and can be seen in the Figure 2.1. The numbers and the names of elements are listed in the Table 2.1 below. Table 2.1: Descriptions and numbers of components...

  • Page 6: Mpu-6050 Six-Axis (Gyro + Accelerometer)

    2.1 MPU-6050 Six-Axis (Gyro + Accelerometer) The MPU-6050™ parts are the world’s first Motion Tracking devices designed for the low power, low cost, and high-performance requirements of smartphones, tablets and wearable sensors. Figure 2.2: MPU 6050 Gyro + Accelerometer 2.2 Linear Actuators Linear Actuators are electromechanical devices that convert electrical signals to movement.

  • Page 7: Arduino Mega 2560

    Figure 2.4: Arduino Mega 2.4 ACROME Power Distribution Box Linear Actuators, sensor (Gyro + Accelerometer) and Arduino connections are located on ACROME power distribution box which is shown in Figure 2.5. Figure 2.5: ACROME Power Distribution Box...

  • Page 8: Technical Specifications

    3 TECHNICAL SPECIFICATIONS The Stewart Pro has dimensions and parameters that are shown below. These parameters of the system will be used in the kinematical model. Table 3.1: Parameters of the system Symbols Definition Value Unit �� [mm] Platform Radius ��...

  • Page 9: Wiring

    4 WIRING 4.1 Cable Names Cables which are used in the Stewart Pro system are defined and denominated as seen in Table 4.1 below. Table 4.1: Cable Descriptions Cable Names View of the Cables Definitions This cable provides the 1. Usb Cable connection between PC and Arduino Mega.

  • Page 10: Connections

    4.2 Connections In order to use the system, all cables mentioned above should be connected properly. All the essential connections among the components are shown in Figure 4.1. Figure 4.1: Stewart Pro System Connections...

  • Page 11: Setting Up The System

    5 SETTING UP THE SYSTEM 5.1 Getting Started After the connections are completed successfully, copy "Stewart Pro" folder from "Acrome Flash USB" to under C:\. And open the "Stewart Pro " folder in MATLAB application. Figure 5.1: Current Folder After wiring and the connection process, To install Arduino's drivers, download and install the Arduino IDE from this link.
  • Page 12 Figure 5.4: Simulink Support Package We need a compiler tool for use S-function builder in Simulink models. For this, click on the Get Add-Ons in the MATLAB window and find the “MATLAB Support for MinGw-w64 C / C ++ Compiler” plug-in in the search. The " MATLAB Support for MinGw-w64 C/C ++ Compiler "...

  • Page 13: Stewart_Pro Simulink Model

    5.2 Stewart_Pro Simulink Model Please click on “StewartPro.slx” to open. Front panel of “StewartPro.slx” shown in Figure 5.8. Figure 5.19: Front panel of “Stewart_Pro.slx” Enable Motors button gives power for each six linear actuators when button is ON. Similarly cuts off the power when the button is OFF. There are two displays in the right-bottom corner of the front panel.
  • Page 14 In “Circle” mode, there is a simple program that changes X-Y positon and Roll-Pitch Orientation values for a circular path.  With Radius input, user can change the radius of the circular move.  With Speed input, user can change the speed of the path. ...

  • Page 15: Device Parameters

    6. Device Parameters In Stewart Pro program, there are some of preset values and variables that affects the behaviour of the device. Here, all the preset values and variables are listed. Name Description Default Value P Gain Proportional Gain for PID Control 0,09 I Gain Integral Gain for PID Control...
  • Page 16 Reset Integrator A control that resets the sum of Boolean Input Integrator value of Control Algorithm. Motor PWM Duty Cycles Pulse Width Modulation Duty Cycle Double Array with 6 values that drive linear actuators to elements. keep motors in desired lengths. Enable/Disable Motors Variables that power-on motors with Boolean Array with...
  • Page 17 ACROME Inc. ITU Science Park, ARI4 Building No: B204 Koruyolu Maslak - Istanbul Turkey For further information on ACROME equipment please contact. Website: http://www.acrome.net/ e-mail: info@acrome.net Telephone: 0212 807 0456...

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