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Author Topic: Nema17 3D printed Linear Actuator & ESP32 WebGui  (Read 617 times)

Gareth

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Nema17 3D printed Linear Actuator & ESP32 WebGui
« on: May 12, 2017, 11:10:51 AM »
Nema17 3D printed Linear actuator using ESP32 WebGui.

Below you see the Nema17 Stepper motor ,Actuator,ESP32,ramps controller birds nest. (its currently set up for driving 3 stepper motors, hence the extra wires)
.

The design 3D STL print files can be found here Chiprobots Thingiverse Channel http://www.thingiverse.com/Chiprobot/designs


The Nema17 stepper is a generic type (mine is 47mm long).

The base unit (yellow) contains a generic 608zz skate bearing to stabilise and allow loading of the lead screw (orange).

Also at the bottom of the base unit you see also the generic tactile switch used as a limit switch (and of course for setting the zero point of the stepper travel).


The mid section is the bottom part of the actuator itself, for multi-purposes its been designed with lots of holes, guides and attachment points.

The actuator is stabilised in 4 different way.
  • Clamping holes (above picture).
  • Four M3 rods bolted into the Stepper motor itself.
  • Three Carbon fibre rods that extend to the end of actuatorClamping holes, my carbon rods are hollow 5.5mm
  • Both the actuator (nut) and end plate (with bearing) are extra thick to route the guide rails.
 
So altogether its a reasonably stable unit with little backlash.

The lead screw its self is made in segments, so that you can join as many as you like together to get desired stroke length, this actuator has three lead screw segments giving it more that 250mm of travel.

Here is just a quick example of the Plug and play concept, works great.

At the end of the Actuator , mine ends with a load sensor, so that I can control the the dynamic force whilst controlling the actuator.


The sensor its self is made from a foam form (ear plug) dipped in conductive ink.

The foam is sand-witched between two copper plates (copper tape actually) , this the slides into the sensor holder and wire fed out of the side.

The plunger (red) basically sit on top and compresses the foam under pressure, the conductive foam alters its resistance under load , which gives the analogue force feedback.

The electronics driving it all comprises of :-
  • Nema 17 Stepper motor 47mm
  • ESP32 Wroom module, programmed with Arduino IDE
  • A4988 Ramps Stepper Motor driver.
     

The ESP32 is programmed as Client server, below is a simple test WebGui , it extracts the graphics of a web site depot.

The elevator up/down buttons are used to step the motor in 1,10,100,1000,10000 steps.
The display can either display the Set point or the force of the sensor.

Test subject was a 1.5litre water bottle... weighing in at 1.554 Kg


Lifted the 1.5Kg dead weight easily - It works also at 2Kg (tested), I have not tested it further as two bottles of water are not easy to balance.
« Last Edit: May 12, 2017, 11:16:17 AM by Gareth »

MEgg

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Re: Nema17 3D printed Linear Actuator & ESP32 WebGui
« Reply #1 on: May 13, 2017, 07:47:11 AM »
Quite strong.
What happens if the conductive ink drys in the self made sensor?
1st project: Dagu 5 Rover + Dagu - 4 Channel DC Motor + Red Back Spider robot controller + Raspberry B+
Chassis + wheels: https://picload.org/image/dggroior/20150831_028.jpg
current: https://www.keepandshare.com/userpics/m/a/r/k/usegg/2016-04/sb/img_3480-79682018.jpg

Gareth

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Re: Nema17 3D printed Linear Actuator & ESP32 WebGui
« Reply #2 on: May 13, 2017, 10:42:03 AM »
The conductive ink I use is a concentrated cocktail of graphite and water ... Once the foam is impregnated with the solution it's placed on a radiator to dry out completely. When dry the foam is full of conductive graphite and stays pretty stable in this Form.

 

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