Difference between revisions of "Heavy Duty Pan and Tilt"

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[[File:BTI.png|link=GIMBALS|Gimbals]]<br>
 
[[File:BTI.png|link=GIMBALS|Gimbals]]<br>
<i>September 2016</i><br>
+
<i><small>© Mark Qvale - September, 2016</small></i><br>
 
<br>
 
<br>
 
{| cellspacing="1" cellpadding="1" width="95%" border="0"
 
{| cellspacing="1" cellpadding="1" width="95%" border="0"
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|-
 
|-
 
| &nbsp;
 
| &nbsp;
| align="right" width="50%" | Mounted on my big Talon
+
| align="right" width="50%" | Big and Smooth
 
|}
 
|}
 +
  
 
== Introduction ==
 
== Introduction ==
  
After buying and building several Pan and Tilt set-ups I got tired of how cheaply the purchased ones were and how flimsy they all were. The biggest problem has alwys been the pan axis is simply never robust enough.<br><br>
+
When I decided to put together a pan set-up for my big Talon to carry a 2 axis brushless gimbal, I went looking for components that I could buy to build a stout 360+ degree pan mechanism that didn't need gears, belts or extra linkage parts and I found the components I needed in a company called Actobotics. This project then is an extension of that earlier work on my big Talon and some of the work I put into the Mini Talon.<br><br>
  
When I decided to put together a pan set-up for my big Talon to carry a 2 axis brushless gimbal, I went looking for components that I could buy to build a stout pan mechanism and I found the components in a company called Actobotics.<br><br>
+
After buying and building several Pan and Tilt set-ups I got tired of how cheaply the purchased ones were and how flimsy most were. The biggest problem has always been the pan axis is simply never robust enough. When I did find something that was strong enough (for me) it was always too heavy and too expensive or presented too much wind area.<br><br>
  
With their servo coupler and bearing plate I was able to build on a 3D printed servo mount, a raised bearing that made the servo connection very strong. This structure kept all the pressure off the servo shaft and its bearings.<br><br>
+
With the Actobotics Pieces, their Futaba servo coupler and bearing plate, I was able to build a raised bearing that made the servo connection very strong. This structure keeps all the stresses off the servo shaft and its bearings and elliminates unwanted motion or wobble.<br><br>
  
 
{| cellspacing="1" cellpadding="1" align="center" border="0"
 
{| cellspacing="1" cellpadding="1" align="center" border="0"
 
|-
 
|-
| align="center" | [[File:DPT03.jpg|800px]]
+
| align="center" | [[File:DPT03.jpg|700px]]
 
|-
 
|-
 
| align="center" | Base unit showing Coupler and Bearing plate
 
| align="center" | Base unit showing Coupler and Bearing plate
 
|}<br><br>
 
|}<br><br>
  
I've added to this a turret and tilt mechanism which I have modified many times.<br>
+
I've added to this a turret and tilt mechanism which I have modified many times.<br><br>
  
 
=== Tilt Configurations ===
 
=== Tilt Configurations ===
Line 32: Line 33:
 
Because I always seem to need something different for every plane I've ended up with several versions of this idea. Most of my planes only require the ability to look down and around so there are three different camera mount plates.<br><br>
 
Because I always seem to need something different for every plane I've ended up with several versions of this idea. Most of my planes only require the ability to look down and around so there are three different camera mount plates.<br><br>
  
:* Standard Modius/Runcam mount
+
:* Standard Mobius/Runcam mount
:* Dual Camera Mounted
+
:* Dual Side-by-Side Camera Mount
 
:* Misc Camera mount<br><br>
 
:* Misc Camera mount<br><br>
 
Added to this I have made two different height turrets, one for the three mounts above and one for a tilt which looks both up (19 deg) and down (-42 deg). This one also has a over-under camera mount for a Mobius/Runcam and an HS1177 camera. This one should work well in a head tracking set-up.<br><br>
 
  
 
{| border="0" cellspacing="1" cellpadding="1" width="95%" align="center"
 
{| border="0" cellspacing="1" cellpadding="1" width="95%" align="center"
 
|-
 
|-
| align="center" | [[File:DPT05.jpg|400px]] [[File:DPT07.jpg|400px]]
+
| align="center" | [[File:DPT47.jpg|900px]]
|-
+
| align="center" | Short and Tall Turrets
+
|}
+
<br><br>
+
 
+
{| border="0" cellspacing="1" cellpadding="1" width="95%" align="center"
+
|-
+
| align="center" | [[File:DPT22.jpg|800px]]
+
|-
+
| align="center" | Range of Motion 0 to 70 Degrees&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;Range of Motion -20(up) to 42(down) Degrees
+
 
|-
 
|-
| align="center" | Single and Dual Camera set-ups
+
| align="center" | Three Standard Camera Mounts
 
|}
 
|}
 
<br><br>
 
<br><br>
  
=== Deck Mount Configurations ===
+
Added to this I have made two different turrets including a short version which, with the over-under set-up can look both up (20 deg) and down (-42 deg). With two turrets and three mount options there are nine different configurable set-ups for this P&T<br><br>
 
+
I designed three different ways to mount it to a deck. The first deck plate which incorporates the bearing mount puts most of the unit below the deck.<br><br>
+
  
 
{| border="0" cellspacing="1" cellpadding="1" width="95%" align="center"
 
{| border="0" cellspacing="1" cellpadding="1" width="95%" align="center"
 
|-
 
|-
| align="center" | [[File:DPT11.jpg|700px]]
+
| align="center" | [[File:DPT22a.jpg|1050px]]
 
|-
 
|-
| align="center" | With top deck-mount plate
+
| align="center" | Lower and upper unit configurations
 
|}
 
|}
 
<br><br>
 
<br><br>
  
The second deck plate replaces the servo mount and puts the tilt mechanism up higher. This would be used when you don't have a lot of depth under the deck.<br><br>
+
==== Notes on Standard Configuration ====
  
{| border="0" cellspacing="1" cellpadding="1" width="95%" align="center"
+
:* Aluminum servo coupler can be slotted to run up to 5 wires from the camera deck down to below the bearing plate. (see "Parts Prep")
|-
+
:* Camera plate nylon pivot screws must be cut to tighten against each other but not too tight that they lock-up the camera plate.
| align="center" | [[File:DPT13.jpg|700px]]
+
<br>
|-
+
| align="center" | With lower deck-mount plate
+
|}
+
<br><br>
+
  
The last method is to simply drill the airframes deck to fit around the standard servo bracket.<br><br>
+
==== Notes on Over-Under Configuration ====
  
{| border="0" cellspacing="1" cellpadding="1" width="95%" align="center"
+
:* Aluminum servo coupler can be slotted to run up to 5 wires from the camera deck down to below the bearing plate. (see "Parts Prep")
|-
+
:* Camera plate nylon pivot screws must be cut to tighten against each other but not too tight that they lock-up the camera plate.
| align="center" | [[File:DPT09.jpg|700px]]
+
:* Designed around HS1177 FPV camera from Surveilzone
|-
+
<br>
| align="center" | With no deck-mount plate
+
|}
+
<br><br>
+
  
 
=== Parts and Specifications ===
 
=== Parts and Specifications ===
  
 +
==== Parts ====
 
'''Bottom Unit Printed Parts'''<br>
 
'''Bottom Unit Printed Parts'''<br>
:Std Servo Bracket
+
:*GWS Servo Plate
:Servo Bracket/Deck Plate
+
:*GWS Servo Deck Plate
:Bearing Plate
+
:*Bearing Plate
:Bearing Plate/Deck Plate
+
:*Bearing Deck Plate
  
 
'''Top Unit Printed Parts'''<br>
 
'''Top Unit Printed Parts'''<br>
:Tall Turret
+
:*Tall Turret
:Short Turret
+
:*Short Turret
:Mobius Mount
+
:*Std Mobius Mount
:Dual Camera Mount
+
:*Std Dual Camera Mount
:Misc Camera Mount
+
:*Std Misc Camera Mount
:Over-Under Camera Mount
+
:*Over-Under Camera Mount
  
 
'''Servos'''<br>
 
'''Servos'''<br>
:Pan - GWS S125-1T (25 tooth)
+
:'''Pan''' - GWS S125-1T (25 tooth)
:Tilt - 9g/120 Degree servo  
+
::'''NOTE:''' The GWS S125-1t servo can be found with both a 23 tooth and 25 tooth spline. The 23 tooth spline was discontinued by GWS in 2014 but there is still lots of inventory out there. The 25 tooth which is identical to Futaba, must be found for this project.
 +
:'''Tilt''' - 9g/120 Degree servo
 +
::'''NOTE:''' This project was designed using a Corona DS929MG servo. While this servo works very well it is heavy at 14.1g. Most "9g" size servos should fit with small adjustments.
  
 
'''Hardware'''<br>
 
'''Hardware'''<br>
:2x M3 x 20mm Nylon PHS
+
:1x&nbsp;&nbsp;Actobotics #525142 25t Futaba Servo Extension (Coupler)
:4x M3 x 8mm SHCS
+
::'''NOTE''': For those not in the US, the US supplier has given me the website which identifies their sellers outside the US:<br>
:6x M3 Flat Washer
+
 
:4x M2.5 x 8mm SHCS
+
::: <u>https://www.servocity.com/international</u><br><br>
:4x M2.5 Flat Washer
+
 
:4x M2 x 6mm SHCS
+
::One such seller, '''<u>[https://en.steplab.net/ StepLab]</u>''', has commented on my Thingiverse page they have the parts for this project.<br><br>
:4x M2 Flat Washer
+
 
:1x Actobotics Servo Coupler - 25 tooth
+
::Alternatively, you can also print a coupler which fastens to a servo wheel. This part, Futaba_Servo_Coupler_v2.stl, can be found below and is now included in the download. It is not nearly as strong as the aluminum piece and must be very accurately printed to work.<br><br>
:1x 0.375"ID x 0.625"OD x 0.156"L Ball Bearing
+
 
:~3" 0.047" Steel Wire
+
:1x&nbsp;&nbsp;0.375"ID x 0.625"OD x 0.156"L Ball Bearing w/dual shield
 +
:1x&nbsp;&nbsp;3" x 0.047" Steel Wire
 +
:1x&nbsp;&nbsp; 25mm x 45mm x 4mm Align PU-Gel Pad
 +
 
 +
'''Fasteners'''<br>
 +
:2x&nbsp;&nbsp;M3 x 20mm Nylon PHS
 +
:4x&nbsp;&nbsp;M3 x 8mm SHCS
 +
:6x&nbsp;&nbsp;M3 Flat Washer
 +
:4x&nbsp;&nbsp;M2.5 x 8mm SHCS
 +
:4x&nbsp;&nbsp;M2.5 Flat Washer
 +
:4x&nbsp;&nbsp;M2 x 6mm SHCS
 +
:4x&nbsp;&nbsp;M2 Flat Washer
 +
:4x&nbsp;&nbsp;M3 x 15mm Aluminum Stand-offs
 +
<br>
 +
 
 +
==== Mechanical Specifications ====
 +
:Total weight with all hardware and a true 9g tilt servo - 93 grams
 +
:Total weight without servos - 32 grams
 +
:Pan rotaion - 385 degrees
 +
:Tilt range, Std Camera Mounts - 0-70 degrees (down)
 +
:Tilt range, Over-Under Mounts - -19 (up) to 45 degrees (down)
 +
<br><br>
  
 
=== Parts Preparation ===
 
=== Parts Preparation ===
Line 148: Line 152:
 
|-
 
|-
 
| align="center" | [[File:DPT33.jpg|800px]]
 
| align="center" | [[File:DPT33.jpg|800px]]
 +
|}
 +
<br><br>
 +
 +
 +
Like the bearing plate, the assumption is your printer (or service) will hold the tolerance designed on an inside diameter. If your printer adds too much material you will need to make adjustments to accommodate the coupler OD (0.375") which should push in with a little resistance:
 +
{| border="0" cellspacing="1" cellpadding="1" width="95%" align="center"
 +
|-
 +
| align="center" | [[File:DPT34.jpg|800px]]
 
|}
 
|}
 
<br><br>
 
<br><br>
Line 153: Line 165:
 
==== Servo Coupler ====
 
==== Servo Coupler ====
  
The Servo Coupler needs 2 holes drilled and tapped to M3:<br>
+
The Servo Coupler needs 2 holes drilled and tapped to M3. Optionally you can cut a 2mm x 6mm slot to pass wires from the camera plate down below the bearing plate.:<br>
 
{| border="0" cellspacing="1" cellpadding="1" width="95%" align="center"
 
{| border="0" cellspacing="1" cellpadding="1" width="95%" align="center"
 
|-
 
|-
Line 178: Line 190:
 
|}
 
|}
 
<br><br>
 
<br><br>
 +
 +
=== A Video Sample ===
 +
 +
<plainhtml>
 +
<table align="center" width="900" border="0"><tr><td align="center">
 +
<iframe width="853" height="480" src="https://www.youtube.com/embed/V0CElFcUP78" frameborder="0" allowfullscreen></iframe>
 +
<p>Test at Eldorado Dry Lake - October 2016</p>
 +
</td></tr></table>
 +
</plainhtml><br><br>
  
 
== See Also  ==
 
== See Also  ==
Line 185: Line 206:
 
The following are the 3D print ZIP files used in this specific build. For more versions and information, please see my Thingiverse postings here:<br><u>[http://www.thingiverse.com/markqv/designs Mark_q Thingiverse Designs]</u><br><br>
 
The following are the 3D print ZIP files used in this specific build. For more versions and information, please see my Thingiverse postings here:<br><u>[http://www.thingiverse.com/markqv/designs Mark_q Thingiverse Designs]</u><br><br>
  
:* [http://www.itsqv.com/share/DLX_PnT_Drw.zip Project Drawings]
+
:* [http://www.itsqv.com/share/Heavy_Duty_Pan_and_Tilt.PDF Project Layout Drawings]
:* [http://www.itsqv.com/share/DLX_PnT_STL_Files.zip Project STL Files]
+
:* [http://www.itsqv.com/share/HD_PnT_STL_Files_r1.zip Project STL Files]
:* [http://www.thingiverse.com/thing:1665993 Deluxe Pan & Tilt]
+
:* [http://www.itsqv.com/share/Futaba_Servo_Coupler_v2.zip New Servo Coupler STL file]
<br>
+
:* [http://www.thingiverse.com/thing:1821872 Thingiverse - Heavy Duty Pan & Tilt]
 +
 
 +
=== More P&T's ===
 +
 
 +
:* [[ 390 Degree Geared Pan and Tilt]]
 +
:* [[Forward Offset Pan %26 Tilt]]
 +
:* [[Gimbals,_Mounts_and_Controllers | Gimbals!]]
 +
:* [[RunCam Split Dedicated Pan and Tilt]]
 +
:* [[GWS S125-1T Servo Mod]]
  
=== Some of the Vendors I used for this project ===
+
=== Where to buy the parts ===
  
: [http://www.ServoCity.com/default.asp ServoCity]
+
:* For the bearing and servo coupler -
 +
:: In the US - <u>[http://www.ServoCity.com/default.asp ServoCity]</u>
 +
:: In Europe - <u>[https://www.steplab.net/prodotto/giunti-per-servo-da-38/ StepLab]</u>
 +
:* For the GWS S125-1t 25t servo -
 +
:: Global - <u>[http://www.ebay.com/itm/US-GWS-Digital-Servo-Sail-Winch-S125-1T-2BB-360-degree-7-6kg-106oz-in-1-28sec-RC-/162067096273?hash=item25bbf3a2d1 GWS S125-1t Servo]</u>
 
<br>
 
<br>
  
 
=== Comments? Questions? ===
 
=== Comments? Questions? ===
  
:'''<u>[mailto:qmar80@hotmail.com?Subject=About%20The%20Deluxe%20Pan%20and%20Tilt&body=Question? email me!]</u>'''
+
:* '''<u>[mailto:qmar80@hotmail.com?Subject=About%20The%20Heavy%20Duty%20Pan%20and%20Tilt&body=Question? email me!]</u>'''
  
 
<br><br><br>
 
<br><br><br>
 
[[Category:Contents]]
 
[[Category:Contents]]
 
[[Category:Gimbals]]
 
[[Category:Gimbals]]

Latest revision as of 12:48, 7 July 2019

Gimbals
© Mark Qvale - September, 2016

DPT01.jpg
  Big and Smooth


Introduction

When I decided to put together a pan set-up for my big Talon to carry a 2 axis brushless gimbal, I went looking for components that I could buy to build a stout 360+ degree pan mechanism that didn't need gears, belts or extra linkage parts and I found the components I needed in a company called Actobotics. This project then is an extension of that earlier work on my big Talon and some of the work I put into the Mini Talon.

After buying and building several Pan and Tilt set-ups I got tired of how cheaply the purchased ones were and how flimsy most were. The biggest problem has always been the pan axis is simply never robust enough. When I did find something that was strong enough (for me) it was always too heavy and too expensive or presented too much wind area.

With the Actobotics Pieces, their Futaba servo coupler and bearing plate, I was able to build a raised bearing that made the servo connection very strong. This structure keeps all the stresses off the servo shaft and its bearings and elliminates unwanted motion or wobble.

DPT03.jpg
Base unit showing Coupler and Bearing plate


I've added to this a turret and tilt mechanism which I have modified many times.

Tilt Configurations

Because I always seem to need something different for every plane I've ended up with several versions of this idea. Most of my planes only require the ability to look down and around so there are three different camera mount plates.

  • Standard Mobius/Runcam mount
  • Dual Side-by-Side Camera Mount
  • Misc Camera mount

DPT47.jpg
Three Standard Camera Mounts



Added to this I have made two different turrets including a short version which, with the over-under set-up can look both up (20 deg) and down (-42 deg). With two turrets and three mount options there are nine different configurable set-ups for this P&T

DPT22a.jpg
Lower and upper unit configurations



Notes on Standard Configuration

  • Aluminum servo coupler can be slotted to run up to 5 wires from the camera deck down to below the bearing plate. (see "Parts Prep")
  • Camera plate nylon pivot screws must be cut to tighten against each other but not too tight that they lock-up the camera plate.


Notes on Over-Under Configuration

  • Aluminum servo coupler can be slotted to run up to 5 wires from the camera deck down to below the bearing plate. (see "Parts Prep")
  • Camera plate nylon pivot screws must be cut to tighten against each other but not too tight that they lock-up the camera plate.
  • Designed around HS1177 FPV camera from Surveilzone


Parts and Specifications

Parts

Bottom Unit Printed Parts

  • GWS Servo Plate
  • GWS Servo Deck Plate
  • Bearing Plate
  • Bearing Deck Plate

Top Unit Printed Parts

  • Tall Turret
  • Short Turret
  • Std Mobius Mount
  • Std Dual Camera Mount
  • Std Misc Camera Mount
  • Over-Under Camera Mount

Servos

Pan - GWS S125-1T (25 tooth)
NOTE: The GWS S125-1t servo can be found with both a 23 tooth and 25 tooth spline. The 23 tooth spline was discontinued by GWS in 2014 but there is still lots of inventory out there. The 25 tooth which is identical to Futaba, must be found for this project.
Tilt - 9g/120 Degree servo
NOTE: This project was designed using a Corona DS929MG servo. While this servo works very well it is heavy at 14.1g. Most "9g" size servos should fit with small adjustments.

Hardware

1x  Actobotics #525142 25t Futaba Servo Extension (Coupler)
NOTE: For those not in the US, the US supplier has given me the website which identifies their sellers outside the US:
https://www.servocity.com/international

One such seller, StepLab, has commented on my Thingiverse page they have the parts for this project.

Alternatively, you can also print a coupler which fastens to a servo wheel. This part, Futaba_Servo_Coupler_v2.stl, can be found below and is now included in the download. It is not nearly as strong as the aluminum piece and must be very accurately printed to work.

1x  0.375"ID x 0.625"OD x 0.156"L Ball Bearing w/dual shield
1x  3" x 0.047" Steel Wire
1x   25mm x 45mm x 4mm Align PU-Gel Pad

Fasteners

2x  M3 x 20mm Nylon PHS
4x  M3 x 8mm SHCS
6x  M3 Flat Washer
4x  M2.5 x 8mm SHCS
4x  M2.5 Flat Washer
4x  M2 x 6mm SHCS
4x  M2 Flat Washer
4x  M3 x 15mm Aluminum Stand-offs


Mechanical Specifications

Total weight with all hardware and a true 9g tilt servo - 93 grams
Total weight without servos - 32 grams
Pan rotaion - 385 degrees
Tilt range, Std Camera Mounts - 0-70 degrees (down)
Tilt range, Over-Under Mounts - -19 (up) to 45 degrees (down)



Parts Preparation

On any 3D print project, part preparation is key to a successful completion. The following images show what work needs to be done for this success.

Servo Plate/Lower Deck Mount

The servo mount needs 4 holes tapped to M3 and 4 holes tapped to M2.5:

DPT29.jpg



Bearing Plate/Upper Deck Mount

The assumption is your printer (or service) will hold the tolerance designed on an inside diameter. If your printer adds too much material you will need to make adjustments to accommodate the bearing OD which should push in with a little resistance:

DPT31.jpg



Turret Base

The Turret needs 2 holes tapped to M3 and 2 holes tapped to M2:

DPT33.jpg




Like the bearing plate, the assumption is your printer (or service) will hold the tolerance designed on an inside diameter. If your printer adds too much material you will need to make adjustments to accommodate the coupler OD (0.375") which should push in with a little resistance:

DPT34.jpg



Servo Coupler

The Servo Coupler needs 2 holes drilled and tapped to M3. Optionally you can cut a 2mm x 6mm slot to pass wires from the camera plate down below the bearing plate.:

DPT35.jpg



Assembly

On the Camera Mount pivot use the two Nylon M3 screws cut down so that they tighten against each other without jamming the pivot points.

DPT25.jpg
Upper unit assembly



DPT23.jpg
Lower unit assembly



A Video Sample

Test at Eldorado Dry Lake - October 2016



See Also

Project 3D Print Files

The following are the 3D print ZIP files used in this specific build. For more versions and information, please see my Thingiverse postings here:
Mark_q Thingiverse Designs

More P&T's

Where to buy the parts

  • For the bearing and servo coupler -
In the US - ServoCity
In Europe - StepLab
  • For the GWS S125-1t 25t servo -
Global - GWS S125-1t Servo


Comments? Questions?