====== AiCore - StewartPlatform ======
A hexapod alias stewart platform, to hold and move the eye of the Portal AiCore.


======= Idea =======
The reason for using a Stewart platform in this case was very clear, 
as the original ingame model of the AI-Core uses such a platform as a holder for the "eye".


======= Used Hardware List =======
  * Arduino Nano
  * micro stepper - DC 3-5v 2-phase 4-wire motor with mini linear screw slider
  * PCA9685 - 16-channel, 12-bit PWM Fm+ I2C-bus LED controller
    * [[https://www.nxp.com/products/power-management/lighting-driver-and-controller-ics/ic-led-controllers/16-channel-12-bit-pwm-fm-plus-ic-bus-led-controller:PCA9685|PCA9685 - Product page]]
    * [[https://www.nxp.com/docs/en/data-sheet/PCA9685.pdf|PCA9685 - Datasheet]]
    * [[https://www.nxp.com/docs/en/application-note/AN10441.pdf|PCA9685 - Application note]]
  * PCA9629A - Fm+ I2C-bus stepper motor controller
    * [[https://www.nxp.com/docs/en/data-sheet/PCA9629A.pdf|PCA9629A - Datasheet]]
    * [[https://www.nxp.com/docs/en/application-note/AN11483.pdf|PCA9629A - Application Note]]
  * DRV8833 - 2 Channel DC Motor Driver Module 3V-10V 1.5A H-Bridge
    * [[https://www.ti.com/lit/ds/symlink/drv8833.pdf|DRV8833 - Datasheet]] 
    * [[https://learn.adafruit.com/adafruit-drv8833-dc-stepper-motor-driver-breakout-board/overview | Adafruit - DRV8833 DC/Stepper Motor Driver Breakout Board]]
  * DRV8847S - Dual H-BridgeMotorDriver (S-Version has i2c Diagnostics)
    * [[https://www.ti.com/lit/ds/symlink/drv8847.pdf|DRV8847 - Dual H-BridgeMotorDriver]] 
  * PCF8575 - IIC I2C I/O Extension Shield Module 16 bit
    * [[https://www.nxp.com/docs/en/data-sheet/PCF8575.pdf|PCF8575 - Datasheet]] 
    * [[https://www.mikrocontroller.net/articles/Port-Expander_PCF8574|PCF8574 Port-Expander 8 I/O - mikrocontroller.net]]

======= First development breadboard build =======
The first test setup consisted of 6 micro servos, a PCA9685 (i2c, 16 channel pwm driver), Arduino Nano and a 3D printed model of the platform itself.


======= Part details =======
===== Micro-Stepper =====
==== Specs ====
  * Pin definition: A+ B+ A- B-
  * Phase resistance: 30 ohm
  * Voltage: DC 3V-5V
==== Measurements ====
{{:projekte:ai_core-stewart_platform:canon_micro_stepper_3-5v_measurements_s-l1600.jpg?nolink&300| }}
{{:projekte:ai_core-stewart_platform:canon_micro_stepper_3-5v_holes_s-l1600.jpg?nolink&300| }}
==== Sides ====
{{:projekte:ai_core-stewart_platform:canon_micro_stepper_3-5v_front_s-l1600.jpg?nolink&200| }}
{{:projekte:ai_core-stewart_platform:canon_micro_stepper_3-5v_back_s-l1600.jpg?nolink&200| }}
{{:projekte:ai_core-stewart_platform:canon_micro_stepper_3-5v_under_s-l1600.jpg?nolink&200| }}


======= Links =======
  * **Reference**
    * [[https://en.wikipedia.org/wiki/Stewart_platform|Stewart platform From Wikipedia, the free encyclopedia]]