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Post by billo2404 on Jun 2, 2016 1:06:38 GMT
Bellissimo lavoro, complimenti. Sono curioso di provare ma c'è qualcosa che non capisco con il traduttore: si devono sempre cambiare i valori di "X" e di "Y" o solo in alcuni casi particolari? comunque ho preparato il cad, mi sapresti dire se manca qualche misura prima di procedere? Grazie in anticipo Beautiful work, congratulations. I'm curious to try but there is something I do not understand with the translator: you must always change the values of 'X' and 'Y' or only in particular cases? however, I have prepared the cad, you'd know I mean it lacks some extent before proceeding? Thanks in advance
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Post by vicpopo on Jun 2, 2016 4:49:58 GMT
Hi ,
Sorry GA-Dawg , I posted on your thread what I was wanting to post here about the new xsim plugin .
The right post on the the right place !
Here is a video just to show the great result for the movements with the new plugin reworked by HeXpod.
Sorry for members I made it in french , but you can notice that all movements are now ok .
u
As I said many times a big thanks to HeXpod for his great work for improving the 6dof xsim plugin
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Post by GA-Dawg on Jun 2, 2016 13:34:49 GMT
Hi Billo2404,
I guess I will try and answer this as I caused most of the confusion.
I was not able to use Hexapod original instructions as I could not figure out how to get SoildWorks to change the plotting orientation of the X and Y axis. By default in SoildWorks Y is Vertical and X is Horizontal. Per Hexpod instructions he is expecting Y to be Horizontal a X to be Vertical. So it all comes down to how easily you can make the change within the CAD your using. In reality if you get it wrong it will just make the motion reversed. Sorry if I caused anyone else to be confused.
One thing though. You need to raise the lever arms to a vertical position before taken the measurements.
Cheers,
GA Dawg
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Post by GA-Dawg on Jun 2, 2016 22:40:14 GMT
So is there anything I can do?
Cheers,
GA Dawg
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Post by billo2404 on Jun 3, 2016 12:48:52 GMT
grazie GA-Dawg, la cosa che mi sfugge è: cosa c'entra il Cad con il plugin? Io uso il cad (Rhinoceros) solo per avere delle misure dettagliate per la costruzione e ricavare le giuste misure da inserire nel plugin. Comunque il traduttore porta a molte incomprensioni. Ti ringrazio per la risposta e provo a vedere come si comporta il simulatore utilizzando l' exe prima di installarlo in xsim. Ho qualche dubbio ancora sui valori da inserire ma posterò una foto per evitare problemi di traduzione
thanks GA-Dawg, the thing that escapes me is: what does the Cad with the plugin? I use the CAD (Rhinoceros) just to get the detailed measures for the construction and get the right measures to be included in the plugin. However the translator leads to many misunderstandings. I thank you for the answer, and I try to see how it behaves the simulator using the 'exe to install it into xsim. I have some doubts even about what values to enter but will post a photo to avoid translation problems
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Post by GA-Dawg on Jun 3, 2016 20:40:22 GMT
I don't think the exe is working right. It doesn't seam to read the ini when it starts and you have to click the read ini button but that doesn't load the [Coordinates] section of the ini. So you will need to use the .dll to test with.
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Post by hexpod on Jun 3, 2016 21:27:27 GMT
I don't think the exe is working right. It doesn't seam to read the ini when it starts and you have to click the read ini button but that doesn't load the [Coordinates] section of the ini. So you will need to use the .dll to test with. "you have to click the read ini button"
True
"but that doesn't load the [Coordinates] section of the ini."
false
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Post by hexpod on Jun 3, 2016 22:50:33 GMT
heXpod MOD V 3.1
www.dropbox.com/s/6c586lw6ar8twdu/heXpod%20MOD%20V3.1.zip?dl=0
changelog
- x y coordinates names changed in the ini. should be less confusing - servo calibration feature - lower "servo limit" switch for designs with levers inside
test with caution
@ga-Dawg
Test this geometry with the new .dll plugin from the V.3.1 package
cheers
[6DOF_design] Base_Ratio=1.000000 Platform_Ratio=1.000000 Platform_Height=58.000000 Servo_Arm_length=16.000000 [6DOF_limiters] Max_displacement=80.000000 Crossing_Sensitivity=6.000000 Knee_Cap_limit=80 Servo_Rotate_Limit=-110 [6DOF_input_limits] Yaw_Limit=30 Pitch_Limit=25 Roll_Limit=25 Surge_Limit=25 Sway_Limit=25 Heave_Limit=15 [6DOF_Center_of_Gravity] X=0.000000 Y=-8.000000 Z=20.000000 [Settings] SW_Simulation=0 Invert_Servo_Values=0 [6DOF_heaveOffset_surgeOffset] Heave=-8.000000 Surge=0.000000 [Servo_Orientation] Servo5=-2.094395 Servo6=1.047198 Servo1=0.000000 Servo2=3.140000 Servo3=2.094395 Servo4=5.235988 [Coordinates] Base_1y=-41.200000 Base_1x=-45.100000 Base_1Z=-150.000000 Base_2y=-41.200000 Base_2x=45.100000 Base_2Z=-150.000000 Base_3y=-18.200000 Base_3x=58.100000 Base_3Z=-150.000000 Base_4y=59.500000 Base_4x=13.200000 Base_4Z=-150.000000 Base_5y=59.500000 Base_5x=-13.300000 Base_5Z=-150.000000 Base_6y=-18.200000 Base_6x=-58.100000 Base_6Z=-150.000000 Platform_1y=-41.200000 Platform_1x=-5.000000 Platform_1Z=0.000000 Platform_2y=-41.200000 Platform_2x=5.000000 Platform_2Z=0.000000 Platform_3y=16.200000 Platform_3x=38.200000 Platform_3Z=0.000000 Platform_4y=25.000000 Platform_4x=33.200000 Platform_4Z=0.000000 Platform_5y=25.000000 Platform_5x=-33.200000 Platform_5Z=0.000000 Platform_6y=16.200000 Platform_6x=-38.200000 Platform_6Z=0.000000 [Servo_Calibration] Servo_positive_range_16383-32737=24546.000000 Servo_negative_range_25-16383=8216.000000 [UseUpperServoLimit] UseUpperServoLimit=0
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Post by tronicgr on Jun 3, 2016 23:41:23 GMT
Thanks Ignacy! I can't thank you enough for all the fixes you did! (Maybe I can by fixing the minor issues of the firmware) Thanks Thanos
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Post by hexpod on Jun 4, 2016 13:13:03 GMT
Thanks Ignacy! I can't thank you enough for all the fixes you did! (Maybe I can by fixing the minor issues of the firmware) Thanks Thanos You're welcome.
I hope that by doing those modifications I did not make this spaghetti code less efficient. 3.1 .dll version seems bug free, but it still has to be tested
Also it is not sure yet if we can calibrate the servos in a way to take a benefit at the same time form the
- software heave offset (for that, the sensors have to be set vertically) and - the lever stroke beyond the vertical position
It has to be tested if there is a solution to have a 160 deg lever stroke which correspond perfectly the 3d model while a correct heave offset is applied.
Do you have any advise how this could be achieved?
It seams that the upper and lower stroke calibrations have to be non-symmetrical
cheers.
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Post by GA-Dawg on Jun 4, 2016 15:25:05 GMT
Hey Hexpod,
I have a problem with my system and will not be able to test for a few days.
Sorry
GA Dawg
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Post by GA-Dawg on Jun 6, 2016 21:44:47 GMT
Hi Hexpod,
Went to download and it's no longer there.
Cheers,
GA Dawg
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Post by hexpod on Jun 7, 2016 11:43:19 GMT
Hi Hexpod, Went to download and it's no longer there. Cheers, GA Dawg try again please
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Post by GA-Dawg on Jun 7, 2016 21:47:37 GMT
Hi Hexpod, 1. Download the new version and replaced existing 2. Updated the ini with your settings. 3. Open X-Sim Converter and access the .dll the data must not have load right. Got symbols in "Leg Postion" boxes. Open 3D Simulation and this is what it looked like. 4. Closed and reopen X-Sim went into (.dll) This time things looked good. 5. Moved Heave Up and Down. Still getting 2 degress per 1 degree. Cheers GA Dawg
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Post by tronicgr on Jun 8, 2016 11:00:55 GMT
What sensors do you use? Are they 180 degrees range?
Sounds like you are using 360 degrees sensors and it translates wrong the position. Try setting AREF potentiometer on the amc1280usb to middle position to have the range reduced to 180 degrees.
Thanks Thanos
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