[PSUBS-MAILIST] PSUBS manipulator

[Alec Smyth via Personal_Submersibles]

That's a really good suggestion. If anyone wants to give it a try, I'll
volunteer the use of an arm for testing!

Thanks,
Alec

On Thu, Sep 3, 2020 at 7:54 PM Cliff Redus via Personal_Submersibles <
personal_submersibles at psubs.org> wrote:

> Alec, Hank, thanks for all the work.  For those of us that like joysticks,
> it would be straight forward to use a 4 axis joystick to control these
> Lenco actuators without a PLC.  There are tons of small inexpensive DC
> motor controllers like Dimension Engineering Sabertooth Dual 5A
> Regenerative Motor Driver
> <https://www.robotshop.com/en/dimension-engineering-sabertooth-dual-5a-regenerative-motor-driver.html>
>
>
> Dimension Engineering Sabertooth Dual 5A Regenerative Motor Driver
>
> Dual motor controller - 5A 6V-18V Analog, R/C, simplified serial and
> packetized serial interfaces (TTL) Synch...
>
> <https://www.robotshop.com/en/dimension-engineering-sabertooth-dual-5a-regenerative-motor-driver.html>
> that can take the 0-5VDC analog signal from one of the axis of a joystick
> and drive the 12 or 24 volt Lenco actuators with a proportional signal.
> When the joystick is returned to a neutral position for the axis the the
> actuator would stop at that position.  Most of these controllers have
> either linear or non linear response curves that are dip switch selectable
> that would enable you to get very fine movement around the neutral point
> (2.5VDC).  They also have a built in regulated 5VDC supply so that it makes
> it easy to connect directly to a joystick.   Since the controller above is
> a dual channel, two of these would control the four actuators.  As you say
> the nice thing abut these Lenco actuators is that you can't do any harm
> deadheading them so that if the actuator has stroked to it maximum length
> and the controller is still giving them some voltage, the motor spins but
> nothing happens.
>
> These controllers use 2.5VDC as the neutral position.  So if you wire each
> axis of the joystick to a regulated 5V voltage, the joy stick would send a
> 2.5V signal to the controller.  The controller would see this as the off
> position and the actuator would be off.  Pushing the joystick on either
> side of the neutral position would change the polarity to the actuator thus
> revering  the direction of stroke.  The amount of movement of the joystick
> off center is proportional the voltage and thus the speed the DC motor
> spins and thus the speed the actuator strokes.
>
> It could be the joystick would be more intuitive than momentary on
> switches with rheostat to control the manipulator.  I have experimented
> with one of these Lenco trim actuators and one of these Sabretooth motor
> controllers and they mate up very well together.
>
> Just a thought.
>
> The nice thing about having this open source is that each Psubber can
> implement the way they want.
>
>
>
> On Thursday, September 3, 2020, 05:28:32 PM CDT, Steve McQueen via
> Personal_Submersibles <personal_submersibles at psubs.org> wrote:
>
>
> Much appreciated. My sub is now looking forward to v3.0 🙂
>
> On Thu, Sep 3, 2020, 6:00 PM Alec Smyth via Personal_Submersibles <
> personal_submersibles at psubs.org> wrote:
>
> Hi friends,
>
> The PSUBS Community Projects page (
> http://www.psubs.org/community/projects/
> <https://l.facebook.com/l.php?u=http%3A%2F%2Fwww.psubs.org%2Fcommunity%2Fprojects%2F%3Ffbclid%3DIwAR0h2tBfXPDrd1-qg5NcZGBCqXXe-SKQZMxFCDCBBtSNnaZx42iOOmuBdoc&h=AT3eqKa9glmfxaDQHOwwOXbznLIfHpxLe5qW-frl6GayEG2OzsaSaxmS_Lvj8sXs-zLUYglsW2tGlIPlmjmFChFQaJrsRSDyDSjP67nMCWAbJVXw5DZhN8Yvuy2Lo7fTILWUn7Zl_yu7bz745aO0H2hQ8vlO11fvzI6KwLZjoR3NwjUToX81HiSAaM1PZIXKrGrmU052uyrhlWmYSJvAuvs6-p6qLb1DUxTxVjW3bV4I6um6t4a5ug0bACMZ6jRKmjrNrd2v8l_3IpweTripbVuMdD8-Tc2exR8k4WwugJbNH1vY0vmMP-uhazz1sbpYLw9mAmjxHGux3_adPYa01oDxd8JWplw5ucnC9jWUhQI-5XlHQzPGSFeYRl2u5QAGl8p_K2Fllv8DobTp1wUCZ-TrgDFKgeiAscI18UrCE60RnkfHK8al3tGWM4ZnQ-P_vS02FdO4qiC5gReo23KUQ0yrJoUn5iNnF24W07kMUkDpp4JLTdT-WODzylg-xWTxnsScWBnllTV7BkUe3QwkIq_1NHXX9QPl6kmaL8b4QpNb1KtjXN3oLdkiC3JN0B3TAch0mA3yRZaEsJSG07y8j6RemPfbNs0-LHZh5j4EK7Sw_j6CWmJwViWoS5TPftPt0tsz7hg>
> ) now features an "open source manipulator" developed by Hank Pronk and me.
> This is an intentionally simple manipulator built using only a drill press
> and an angle grinder, except for a few plastic bushings that were turned on
> a lathe for expedience. We purposely avoided things like aluminum welding,
> to keep it's fabrication as accessible as possible. The page contains
> blueprints, photos, and a bill of materials - but I recommend beginning at
> the "Start Here" document in the ZIP file. Please don't hesitate to reach
> out if you have any questions, or if you have any suggested improvements.
>
> Best,
> Alec
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