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# System prepended metadata

title: DIY Gimbal Prototype

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# 2023-11-12 Mastcamera sketch

## General concept
Generally the Gimbal should look like a FLIR gimbal with the advantage that only the area of the sensors / cameras need to be covered with glass. We need sliprings in the areas where i put blue. SO we need 3 waterproof rotating joints. Those can be done using a wellendichtring / simmerring.
![image](https://hackmd.io/_uploads/Sym_UUR7a.png)

The base element of such FLIRs look like:
![image](https://hackmd.io/_uploads/BynoLI076.png)

## Prototype
Based on that i sketched a prototpye which can be later waterproofed. But first we need to test the concept and electronics & software. The bottom is called "base unit". The upper part  above the ball-bearing / drehteller with the roll axis stabilization and the camera is called "upper part".
![sketch20231112](https://hackmd.io/_uploads/rkYe8LRX6.jpg)

- 1 Servomotor
    - we use a NEMA17 / NEMA23 https://www.amazon.de/STEPPERONLINE-Schrittmotor-55Ncm-Meter-3D-Drucker/dp/B0B93HTR87/ref=pd_sbs_sccl_3_1/262-4127003-8001611?pd_rd_w=SWhcH&content-id=amzn1.sym.6c0521be-6c2b-450c-bb72-af8082730381&pf_rd_p=6c0521be-6c2b-450c-bb72-af8082730381&pf_rd_r=07MKS7P18H4KF0YF4KCJ&pd_rd_wg=7gPMj&pd_rd_r=c3645a21-3583-49ed-9a7c-b08fa2914f96&pd_rd_i=B0B93HTR87&th=1
    - control via servo control board https://www.amazon.de/Adafruit-Stepper-Motor-HAT-Raspberry/dp/B00TIY5JM8
- 2 belt drive to YAW axis
    - Use common belts
    - GT2 https://www.amazon.de/gt2-riemen/s?k=gt2+riemen
    - HT3DM https://www.thingiverse.com/search?q=HTD3M&page=1&type=things&sort=relevant
- 3 gear for YAW axis rotation
    - Should be quite big like at FLIR
    - https://www.amazon.de/Zeberoxyz-Synchronrad-Aluminium-Zahnriemenscheibe-20-80T-10B-6/dp/B09YYNFTBM/ref=pd_sbs_sccl_2_6/262-4127003-8001611?pd_rd_w=bRS3E&content-id=amzn1.sym.6c0521be-6c2b-450c-bb72-af8082730381&pf_rd_p=6c0521be-6c2b-450c-bb72-af8082730381&pf_rd_r=YMXKG8458EE7R94SZM3D&pd_rd_wg=csFrw&pd_rd_r=624e7494-5325-4a33-91f2-0bbc9d550b2a&pd_rd_i=B09YYNFTBM&th=1
    - or print on our own: https://www.thingiverse.com/thing:2031323 
- 4 drehkugellager /drehteller for upper part
    - https://www.ebay.de/itm/145428228674
    - https://www.ebay.de/itm/354007644875
    - https://www.amazon.de/Schwenkplatte-quadratische-Kugelgelagert-Universeller-Drehscheiben/dp/B08TR4DT49/ref=sr_1_3?__mk_de_DE=%C3%85M%C3%85%C5%BD%C3%95%C3%91&crid=3S2JA5OBDOEN5&keywords=drehlager+6%22&qid=1699754717&s=kitchen&sprefix=drehlager+6%22%2Ckitchen%2C160&sr=1-3
- 5 Yaw Axis zentrierung
    - Unclear for me how this will be done
    - Also it needs the ability to get cables through it? 
    - So maybe a empty pipe where we attach the synchronrad to it?
    - Maybe use slipring laterone
- 6 Upper part with the Roll stabilized camera
    - Build it like done in https://www.youtube.com/watch?v=1FfB7cLkUyQ
    - Only two "stelzen" which hold the BLDC motor
- 7 BLDC motor like in gremsy for Roll axis stabilization
    - Gremsy has 1.9kg motor
    - https://www.premium-modellbau.de/t-motor-brushless-kamera-gimbal-motor-gb36-2-128g/haltekraft-1900g
    - Use storm32 controller for this axis (needs cable to base unit!)
- 8 Cable hole through BLDC motor
    - For Camera cable 
    - Maybe also for motor cable
- 9 Camera
    - use existing basler cam
    - we can easily put case around it as this concept allws this
- 10 Kugellager stabilization of the axis on other side
    - like done in https://www.youtube.com/watch?v=1FfB7cLkUyQ
    - https://www.amazon.de/ANGEEK-Kugellager-Metallkugellager-Doppelschild-Rillenkugellager/dp/B08Z8H3SV5/ref=pb_allspark_purchase_sims_desktop_sccl_4_2/262-4127003-8001611?pd_rd_w=yfb92&content-id=amzn1.sym.eddd278a-5782-4600-bf49-f616c9ea6c65&pf_rd_p=eddd278a-5782-4600-bf49-f616c9ea6c65&pf_rd_r=9B426TDCEXNVGYSDJ73F&pd_rd_wg=n4FbA&pd_rd_r=24755065-9124-4e24-a27b-cd2a61928c34&pd_rd_i=B08Z8H3SV5&th=1
- 11 Yaw axis to rotate upper part vertially
    - controllable by xbox controller
    - Position will be read out ousing AS5600 magnetic encoder
- 12 Roll axis to stabilize camera to horizon
    - stabilized by BLDC + storm32 stabilizer
    - controllable by xbox controller