{"id":124,"date":"2024-07-10T02:23:15","date_gmt":"2024-07-10T02:23:15","guid":{"rendered":"https:\/\/joshuacpaulson.com\/?page_id=124"},"modified":"2024-10-24T02:47:38","modified_gmt":"2024-10-24T02:47:38","slug":"6dof-motion-simulator","status":"publish","type":"page","link":"https:\/\/joshuacpaulson.com\/index.php\/portfolio\/6dof-motion-simulator\/","title":{"rendered":"6DoF Motion Simulator"},"content":{"rendered":"\n<div class=\"wp-block-group\"><div class=\"wp-block-group__inner-container is-layout-constrained wp-block-group-is-layout-constrained\">\n<figure class=\"wp-block-gallery has-nested-images columns-default is-cropped wp-block-gallery-1 is-layout-flex wp-block-gallery-is-layout-flex\">\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"768\" height=\"1024\" src=\"https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240417_200003-768x1024.jpg\" alt=\"\" class=\"wp-image-111\" srcset=\"https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240417_200003-768x1024.jpg 768w, https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240417_200003-225x300.jpg 225w, https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240417_200003-1152x1536.jpg 1152w, https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240417_200003-1536x2048.jpg 1536w, https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240417_200003-scaled.jpg 1920w\" sizes=\"(max-width: 768px) 100vw, 768px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"768\" src=\"https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240417_205630-1024x768.jpg\" alt=\"\" class=\"wp-image-112\" srcset=\"https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240417_205630-1024x768.jpg 1024w, https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240417_205630-300x225.jpg 300w, https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240417_205630-768x576.jpg 768w, https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240417_205630-1536x1152.jpg 1536w, https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240417_205630-2048x1536.jpg 2048w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"768\" src=\"https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240419_212520-1024x768.jpg\" alt=\"\" class=\"wp-image-113\" srcset=\"https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240419_212520-1024x768.jpg 1024w, https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240419_212520-300x225.jpg 300w, https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240419_212520-768x576.jpg 768w, https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240419_212520-1536x1152.jpg 1536w, https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240419_212520-2048x1536.jpg 2048w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"768\" src=\"https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240420_221732-1024x768.jpg\" alt=\"\" class=\"wp-image-114\" srcset=\"https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240420_221732-1024x768.jpg 1024w, https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240420_221732-300x225.jpg 300w, https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240420_221732-768x576.jpg 768w, https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240420_221732-1536x1152.jpg 1536w, https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240420_221732-2048x1536.jpg 2048w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"768\" src=\"https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240427_143536-1024x768.jpg\" alt=\"\" class=\"wp-image-115\" srcset=\"https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240427_143536-1024x768.jpg 1024w, https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240427_143536-300x225.jpg 300w, https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240427_143536-768x576.jpg 768w, https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240427_143536-1536x1152.jpg 1536w, https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240427_143536-2048x1536.jpg 2048w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"768\" height=\"1024\" src=\"https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240501_192008-768x1024.jpg\" alt=\"\" class=\"wp-image-116\" srcset=\"https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240501_192008-768x1024.jpg 768w, https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240501_192008-225x300.jpg 225w, https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240501_192008-1152x1536.jpg 1152w, https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240501_192008-1536x2048.jpg 1536w, https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240501_192008-scaled.jpg 1920w\" sizes=\"(max-width: 768px) 100vw, 768px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"768\" src=\"https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240507_203437-1024x768.jpg\" alt=\"\" class=\"wp-image-117\" srcset=\"https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240507_203437-1024x768.jpg 1024w, https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240507_203437-300x225.jpg 300w, https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240507_203437-768x576.jpg 768w, https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240507_203437-1536x1152.jpg 1536w, https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240507_203437-2048x1536.jpg 2048w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"768\" src=\"https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240508_191827-1024x768.jpg\" alt=\"\" class=\"wp-image-118\" srcset=\"https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240508_191827-1024x768.jpg 1024w, https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240508_191827-300x225.jpg 300w, https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240508_191827-768x576.jpg 768w, https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240508_191827-1536x1152.jpg 1536w, https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240508_191827-2048x1536.jpg 2048w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"768\" src=\"https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240513_181850-1024x768.jpg\" alt=\"\" class=\"wp-image-123\" srcset=\"https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240513_181850-1024x768.jpg 1024w, https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240513_181850-300x225.jpg 300w, https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240513_181850-768x576.jpg 768w, https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240513_181850-1536x1152.jpg 1536w, https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240513_181850-2048x1536.jpg 2048w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n<\/figure>\n\n\n\n<p>Fabrication of the driver frame. All frame members are TIG welded. The main frame is made from 1 1\/2&#8243; 6063 aluminum square tubing.<\/p>\n<\/div><\/div>\n\n\n\n<div class=\"wp-block-group\"><div class=\"wp-block-group__inner-container is-layout-constrained wp-block-group-is-layout-constrained\">\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"768\" src=\"http:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240515_203842-1024x768.jpg\" alt=\"\" class=\"wp-image-126\" srcset=\"https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240515_203842-1024x768.jpg 1024w, https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240515_203842-300x225.jpg 300w, https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240515_203842-768x576.jpg 768w, https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240515_203842-1536x1152.jpg 1536w, https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240515_203842-2048x1536.jpg 2048w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>Further progress on completing the actuators. I was constantly 3D printing and turning over 50 parts on a manual mini lathe when this picture was taken. I could not wait to have all six actuators complete so I could see my creation moving.<\/p>\n<\/div><\/div>\n\n\n\n<div class=\"wp-block-group\"><div class=\"wp-block-group__inner-container is-layout-constrained wp-block-group-is-layout-constrained\">\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"989\" src=\"http:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240611_211104-scaled-e1729737339549-1024x989.jpg\" alt=\"\" class=\"wp-image-146\" srcset=\"https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240611_211104-scaled-e1729737339549-1024x989.jpg 1024w, https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240611_211104-scaled-e1729737339549-300x290.jpg 300w, https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240611_211104-scaled-e1729737339549-768x742.jpg 768w, https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240611_211104-scaled-e1729737339549-1536x1484.jpg 1536w, https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/07\/20240611_211104-scaled-e1729737339549.jpg 1873w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>All actuator parts are completed at this point. At this point I was configuring the motor drivers and tuning the reverse kinematic program for the range of the actuators and the motion limits of the complete system.<\/p>\n<\/div><\/div>\n\n\n\n<div class=\"wp-block-group\"><div class=\"wp-block-group__inner-container is-layout-constrained wp-block-group-is-layout-constrained\">\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"6DoF motion Test\" width=\"1200\" height=\"675\" src=\"https:\/\/www.youtube.com\/embed\/91wcaqMHTs0?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<p>Testing motion capabilities and endurance. Work on the peripheral mounting is nearly done. The only remaining fabrication are tabs to connect the pedal structure to the main driving frame using 3\/8&#8243; threaded rod.<\/p>\n<\/div><\/div>\n\n\n\n<div class=\"wp-block-group\"><div class=\"wp-block-group__inner-container is-layout-constrained wp-block-group-is-layout-constrained\">\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"Full Weight Motion Test\" width=\"1200\" height=\"675\" src=\"https:\/\/www.youtube.com\/embed\/YgipiWIPxXs?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<p>Testing with full body weight. Larger pulleys were ordered for a larger reduction from the motor to the ball screw. The rear motors struggle to move with most of the weight biased towards the rear and the reduction should help as the motors are not limited on speed currently. This test is when I decided to increase the ball screw pulley tooth count while sacrificing some speed of the actuator.<\/p>\n<\/div><\/div>\n\n\n\n<div class=\"wp-block-group\"><div class=\"wp-block-group__inner-container is-layout-constrained wp-block-group-is-layout-constrained\">\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"768\" src=\"http:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/08\/20240728_201704-1024x768.jpg\" alt=\"\" class=\"wp-image-174\" srcset=\"https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/08\/20240728_201704-1024x768.jpg 1024w, https:\/\/joshuacpaulson.com\/wp-content\/uploads\/2024\/08\/20240728_201704-300x225.jpg 300w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>3D printed switch panel including an emergency stop button wired to high current relays.<\/p>\n<\/div><\/div>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"Motion Sim Full Lap\" width=\"1200\" height=\"675\" src=\"https:\/\/www.youtube.com\/embed\/s3pttC2D5Wk?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><figcaption class=\"wp-element-caption\">Very early in testing. With more tuning the motion sim can create a fully immersive experience. You can feel everything with very little movement. The only thing missing from this setup is the ability to simulate roll overs and sustained g-forces. <\/figcaption><\/figure>\n","protected":false},"excerpt":{"rendered":"<p>Fabrication of the driver frame. All frame members are TIG welded. The main frame is made from 1 1\/2&#8243; 6063 aluminum square tubing. Further progress on completing the actuators. I was constantly 3D printing and turning over 50 parts on a manual mini lathe when this picture was taken. I could not wait to have &#8230; <a title=\"6DoF Motion Simulator\" class=\"read-more\" href=\"https:\/\/joshuacpaulson.com\/index.php\/portfolio\/6dof-motion-simulator\/\" aria-label=\"Read more about 6DoF Motion Simulator\">Read more<\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"parent":34,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-124","page","type-page","status-publish"],"_links":{"self":[{"href":"https:\/\/joshuacpaulson.com\/index.php\/wp-json\/wp\/v2\/pages\/124"}],"collection":[{"href":"https:\/\/joshuacpaulson.com\/index.php\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/joshuacpaulson.com\/index.php\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/joshuacpaulson.com\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/joshuacpaulson.com\/index.php\/wp-json\/wp\/v2\/comments?post=124"}],"version-history":[{"count":16,"href":"https:\/\/joshuacpaulson.com\/index.php\/wp-json\/wp\/v2\/pages\/124\/revisions"}],"predecessor-version":[{"id":211,"href":"https:\/\/joshuacpaulson.com\/index.php\/wp-json\/wp\/v2\/pages\/124\/revisions\/211"}],"up":[{"embeddable":true,"href":"https:\/\/joshuacpaulson.com\/index.php\/wp-json\/wp\/v2\/pages\/34"}],"wp:attachment":[{"href":"https:\/\/joshuacpaulson.com\/index.php\/wp-json\/wp\/v2\/media?parent=124"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}