ESP32 • PCA9685 • 6 DoF
A simple, open implementation of a Stewart's platform with kinematics for all 6 DoF.
This is a simple implementation of a Stewart's platform, something commonly used in settings like simulators or other applications of high strength high dof platforms. This uses an ESP32 and PCA9685 Servo Controller driving MG996r servos to allow for high quality control of the platform.
This reposity also includes a robust desktop control app, currently featuring jog movement and jump to position control for the platform using the ESP's wireless networking. It's planned for later integration for heavier automation (possibly Lua based) to make it easier to automate the platform.
Things to help you around this project
An assembly guide for how to build the project is here: link
An image showing the wiring nessecary for the project is below.:
See the code/ folder of this repo!
The desktop code can be run be downloading all of the python files and running main.py. You may need to create an __init__.py. Once I have the hardware and confirm it's functionality, I will ship the app more properly as a cross compliled bundled application. For now, however, you are going to need to download and run all scripts.
The ESP32's code can be flashed like any other code. See more information at the end of the assembly guide.
You can see the bill of materials here. I am purchasing a 12v supply to fix another project, the buck is cheaper than a dedicated high amperage 5v supply. You can achieve the same thing with a 5v supply, with atleast 6 amps. The HackClub grant will not be used to pay for the power supply. This also assumes you have assorted m3 screws lying around, if you do not, add another 9.99 for these on Amazon.
| Component | Qty | Unit Price | Total | Link |
|---|---|---|---|---|
| Buck Converter (24V/12V → 5V) | 1 | $9.99 | $9.99 | https://www.amazon.com/HOMELYLIFE-Efficiency-Protection-Automotive-Surveillance/dp/B01M03288J |
| ESP32 | 1 | $9.99 | $9.99 | https://www.amazon.com/Development-integrates-Bluetooth-Connection-Programming/dp/B0FGHX4JZ7?s=electronics |
| Servo Controller (PCA9685) | 1 | $8.99 | $8.99 | https://www.amazon.com/EC-Buying-16-Channel-Interface-Expansion/dp/B0GD7BMXHH?s=electronics |
| Pushrods | 1 | $9.98 | $9.98 | https://www.amazon.com/Adjustable-Pushrod-Connector-Airplane-Aircraft/dp/B086C4Q5RS |
| MG996R Servos (6-Pack) | 1 | $21.39 | $21.39 | https://www.amazon.com/KEAcvise-Packs-mg996r-servo-Motor/dp/B0FGP9ZPJN |
| 12V Power Supply | 1 | $14.87 | $14.87 | https://www.ebay.com/itm/177618885952?var=477234645275 |
| Total | 6 | $95.21 |
Currently, this platform is more of a kinematics demo then something that solves any real problem. The step files and fusion export for the main assembly are included in the cad/ folder to allow you to modify this for whatever needs you have. Feel free to use this, its open source and I put no requirements on it.
If you ever need any support, feel free to create an issue on this repository and I will try to get back to you as fast as I can!
