OpenSAM Manual
Contents
1. All names of products brands etc appearing in this manual are trademarks or registered trademarks of their respective owner companies Using Lithium Polymer LiPo Batteries Using the OpenSAM requires the use of an external LiPo battery which can be ex tremely hazardous if handled incorrectly General care should be followed when using LiPo batteries 1 Always use the correct charger when charging the battery 2 Batteries are normally designed to stop charging when full however it is good practice to monitor their charging progress and disconnect them from the charger once they are fully charged 3 Donot charge the battery near flammable materials or on flammable surfaces such as carpet or wood Never use or charge a swollen leaking or otherwise damaged battery Keep both the battery and the charger dry at all times Do not expose the battery to extreme temperatures Keep batteries away from strong electrostatic or electromagnetic interferences CoO N OA a PB Do not place the battery in a microwave oven OpenSAM user manual 1 Disclaimers and warnings Using the manual 2 1 Updates For the most up to date version of this manual visit the official OpenSAM website or its associated GitHub page http www opensam net https github com OpenSAMOfficial OpenSAM 2 2 Legend Tips Warning 1 4 Open Source Hardware License Copyright OHM 2015 Oliver Topp Henning Si Hej Mathias Grelck John2. This means that you have to merge two cables into one GND pin on the joystick Lastly the VRy and VRx on the joystick go into RX ROLL and RX PITCH on the mainboard If part 10 is mounted attach part 11 using proper sized woodscrews The case for the BaseCam yaw board is placed at position 13 at the back of part 8 using a reattachable fastener of your choice The BaseCam yaw board is mounted into the case The battery is placed at position 12 at the back of part 8 using a reattachable fastener of your choice 15 6 Setup BaseCam Controller Our setup Using the system with a mounted Lumix FZ200 and manual tuning we reached an optimal configuration for the tunable values of the BaseCam SimpleBGC Depending on motors camera weight and camera positioning these may vary a lot It is recom mended to follow the procedures as described in the following section as well as any procedures specific to your electronics Basic In the first tab the first thing to enter are the motor configuration parameters The POWER should be set according to the motors capabilities The value ranges from 1 255 where 255 equals the full voltage from the battery The value may be set to allow the controller to momentarily provide the motor with additional voltage though the sum of POWER and may maximally be 255 The NUM POLES needs to be set to the number of poles of the used motors For our motors this value is 22 For the senso
3. gimbal with two hands A third handle can be attached to the optional one hand grip arm to allow for one handed handling a Print upright to make for a good screw hole in the middle No support material es 1 5 Bracket L x3 The L bracket is the main mounting point for the camera As such it needs to be especially rigid which is why it is the most robustly designed part The L bracket is attached to the bottom U bracket through the roll motor g Print on its side with a vertical L profile No support material 1 6 Bracket U Bottom x3 The bottom U bracket is attached to the top U bracket through the pitch motor On its back side the main electronics board can be mounted g Print with a vertical U profile No support material 1 7 Bracket U Top x3 The top U bracket is attached to the yaw joint through the yaw motor g Print with a vertical U profile No support material OpenSAM user manual 4 Parts 1 8 Grip arm one hand x3 The one hand grip arm is mounted between the yaw joint and the grip arm and allows for one handed operation i Print either pointing upwards with no support material or hor izontally positioned to make for at stronger part with support material touching buildplate 1 9 Case for simpleBCG 8 bit main board x3 The case is used to mount and secure the AlexMos sim pleBCG 8 bit controller mainboard This design is eas ily reconfigured in SolidWorks to match other board de sig
4. H and ROLL inputs to the PITCH and YAW of the gimbal Limit the RCCONTROL values to the maximally stable values of your system The button on the Joystick was mapped to begin calibration of the gyroscope accelerometer and to turn motors on off See screenshots 4 Menu Button Assign actions to menu button RC_ROLL pin mode 1 click 2 clicks ne 2 clicks Calibrate ACC 3 dicks Calibrate Gyro 4 clicks ny action 5 clicks no action Long press RC Control ANGLE MODE SPEED MODE MIN ANGLE MAX ANGLE Motors toggle ON OFF RC Input Mapping Normal PWM or Analog ROLL PITCH no input RC_PITCH analog RC_ROLL analog no input no input Reset controller no input Figure 6 2 Screenshot of SimpleBGC Basic tab 17 OpenSAM user manual 6 Setup BaseCam Controller Service In the Service tab specify the joysticks menu button commands and set your battery monitoring values according to your batterys specifications 18
5. OpenSAM Open Source Camera Stabilizer using Additive Manufacturing User Manual DTU el Bha Oliver DELE gt op Universitet Henning eo FLL ETA LE LA OpenSAM user manual Version 1 1 Disclaimers and warnings Introduction Diagram Assembly 1 Disclaimers and warnings Pleases read this manual and disclaimer carefully before using this product By using this product you agree that you are responsible for your own conduct and any content created while using this product and for any consequences thereof You agree to use this product only for purposes that are proper and in accordance with local regulations terms and any applicable policies and guidelines As OHM has no control over use setup final assembly modification or misuse no liability shall be assumed or accepted for any resulting damage or injury By the using setting up or assembling of the product the user accept all resulting liability OHM assumes no liability for damages or injuries incurred directly or indirectly from the use of this product OHM and OpenSAM are not registered trademarks of OHM This product and man ual is not copyrighted by OHM and may be reproduced in any form without written consent or authorization by OHM
6. S For the smoothest operation se lect motors with many poles gt 14 and many turns gt 100 Practically any suitable motor can be used but screw holes need to be adapted to fit the motors specifications Also the motors should have a sufficient number of poles for fine adjustments 2 3 Battery x1 A 12V 4000mAh Lithium Polymer LiPo battery was used to power the motors and electronics This is sufficient to power OpenSAM for more than 3 hours Practically any 8 18V battery can be used but care should be taken on the current it can deliver and the capacity it stores Size and weight may also be significant factors Current con sumption is estimated to peak at 2A Make sure to connect the battery with the correct polarity 2 4 Joystick with button x1 http www basecamelectronics com simplebgc http www ebay com itm WST Brushless Gimbal Motor BGM4108 130T for Camera Mount FPV 281343734210 pt LH_DefaultDomain_O amp hash item418164b1ic2 http www banggood com DC12V 9800mAh Super Rechargeable Protable Lithium Battery EU Plug p 963254 ETZ html 11 OpenSAM user manual 4 Parts The joystick allows user input to the controller to adjust the an gles of the camera It also contains a button which we choose to use to calibrate the IMU stop the motors and reset the con troller For a guide on how to setup the Arduino compatible PS2 joystick we used see the configuration chapt
7. er of this man ual g Practically any joystick can be used but compatibility to the electronics need to be insured and the joystick case needs to be adapted to fit the joysticks specifications Generic parts The used brushless gimbal motors and electronics for this project included cables for connecting these and they are thus not listed here The motors also came with screws inclusive these were however not long enough for this application 3 1 M2 5 Screws x9 M2 5 screws are needed to attach the fixed part of gimbal mo tors to the system 6x15mm and 3x25mm M2 5 screws are used if using the op tional one handed grip arm 9x15mm M2 5 screws are used if not using the one handed grip arm 3 2 M3 Screws x14 and M3 nuts x2 12x15mm M3 screws are used for attaching the moving part of the motors to the system i 2x15mm M3 screws combined with 2xM3 nuts are used to at 28 E NE tach the left and the right parts of the grip arm if g For the nuts it is recommended to use locking nuts locknuts 3 3 M4 Screws x3 and M4 nuts x3 1x20mm M4 screws or longer and 1xM4 nut loose are used for attaching the top U bracket to the bottom U bracket on the side opposing the pitch motor 12 OpenSAM user manual 4 Parts 2x20mm M4 screws or longer and 2xM4 nuts are used for attaching the grip arm to the top U bracket g For the nuts it is recommended to use
8. g amateurs and professionals The technology used allows a broad spectrum of cameras of varying sizes and weights to be stabilized The unique use of 3D printing technology for the custom parts allows easy reproduction and any design changes can easily be implemented The 3D prints are also lightweight and allow for a convenient use No specialized 3D printers are needed All parts were printed using Ultimaker Original 3D Printers or Bq Witbox 3D Printers and their files have been made available under an open source license The brushless gimbal stabilization system works on three brushless motors moving on the axes One 8 bit brushless gimbal controller BGC an expansion card and an IMU Inertial Measurement Unit is all the electronics needed for assembly 3 Diagram 1 Brushless Gimbal Motor x3 10 Grip arm one hand Optional 2 Yaw joint 11 Handle Optional 3 Joystick case contains joystick 12 Suggested mounting place for bat 4 Grip arm left tery 5 Grip arm right 13 Back side Suggested mounting 6 Handle x2 place for yaw case 7 Bracket L 14 Back side Suggested mounting 8 Bracket U Bottom place for main case 9 Bracket U Top 15 Mounting place for IMU 4 Parts The following is a comprehensive parts list and should be used as both documentation of the individual parts but it also serves as a printing and buying reference We do not favor or represent anybody but ourselves so prices and links t
9. locking nuts locknuts 3 4 Wood Screws x2 x2 The wood screws screw into the handles Their length is stated approximately 2x80mm with a diameter of ca 4mm are used to fixate the outer handles 2x40mm also with a diameter of ca 4mm are used for the optional one handed grip arm 3 5 Camera mounting screw x1 The standard camera mounting screw thread size is per ISO 1222 2010 1 4 20 UNC Optimally use a thumbscrew Also en sure sufficient length of the screw at least 30mm 3 6 Reattachable fasteners ca 40 cm To mount the battery and electronic boxes to the system we used reattachable Dual lock fasteners for easy attachment and removal of the parts Approximately 40cm were used Any adhesive could also be used but this would compromise on the convenience 3 7 Cable extensions optional q The provided cables for the electronics was a little bit short for optimal cable management and were extended using generic cables a soldering iron and heat shrink tubes Kee http solutions 3m com wps portal 3M en US Adhesives Tapes Brands Dual Lock Reclosable Fasteners 13 5 Assembly Step 1 Step 2 Step 3 Step 4 Step 5 Step 6 Step 7 Step 8 Step 9 Step 10 Guide Part 15 is mounted underneath part 7 using two 4 5mm bolts and nuts A motor part 1 is attached on the back of part 7 using four M3 bolts Choose the holes on part 7 so that when a camera is
10. mounted in one of the two bottom holes the cameras center of mass will align with the motors rotational axis Mount part 8 on the motor part 1 using three M2 5 bolts The case of the BaseCam main board is placed at position 14 at the back of part 8 using a reattachable fastener of your choice The BaseCam main board is mounted into the case Put anew motor on part 8 using four M3 bolts Part 9 is put through part 2 and attached to part 8 using a 4 5mm screw in one side and three M2 5 bolts on the motor part 1 Put part 4 and part 5 together using M3 bolts and nuts to assemble the han dlebar Mount the last motor part 1 on the handlebar using three 2 5mm bolts If the onehanded grip part 10 is used it needs to be mounted in between the handle bar and the new motor Put the handlebar through part 2 and mounted to the upper motor using four M3 bolts 14 OpenSAM user manual 5 Assembly Step 11 Step 12 Step 13 Step 14 Step 15 Step 16 Step 17 Use two M4 bolts and nuts to fasten and position the cameras center of mass so it aligns with the motors rotational axis Mount both parts 6 to the handlebar using two long approx 80mm length woodscrews Put the joystick into part 3 and mount it to the right part 6 using a tie wrap Wire the joystick by connecting the onboard 5V and GND to the joystick and con nect the BIN on the mainboard to the SW and GND on the joystick
11. ns H Print bottom and top parts separately lying flat No support material 1 10 Case for simpleBCG yaw extension board x3 The case is used to mount and secure the AlexMos SimpleBCG yaw extension board This design is easily reconfigured in SolidWorks to match other board designs g Print bottom and top parts seperately laying flat No support material Third party electronics The following third party parts are required to stabilize the system The specific chosen parts are guidelines and can be replaced with similar parts 2 1 BaseCam SimpleBGC 8 bit Set x1 Our choice of electronics is the BaseCam SimpleBCG 8 bit Electronics are required to control the three brushless motors An IMU inertial measurement unit sensor provides the main board with feedback on the cameras inertial state Specifically it contains a gyroscope accelerometer and magnetometer 10 OpenSAM user manual 4 Parts For this implementation the BaseCam SimpleBGC 8 bit con troller set is used consisting of a main board a yaw extension board and an Inertial Measurement Unit IMU Practically the BaseCam SimpleBGC 32 bit STorM32 or any other electronics for con trolling the motors can be used but the main and yaw cases need to be adapted to fit the boards specifications 2 2 Brushless gimbal motors x3 The motors used are type BGM4108 brushless gimbal mo tors by WST Other manufacturers of the BGM4108 in clude RCTimer and DY
12. o reseller are only meant as a guideline The design being open source you can easily swap out parts and adapt the design to fit your requirements 3D printed parts All 3D printed parts have been designed using SolidWorks by Dassault Systems and printed on PLA using Ultimaker Original 3D Printers and Bg Witbox 3D Printers where the Witbox was used for the larger parts that physically could not fit the Ultimaker Un less otherwise stated parts were printed using a Layer height of 0 2mm Shell thickness of 0 8mm Bottom Top thickness of 1 6mm and a varying Fill density between 20 50 Settings may vary depending on your specific printer setup 1 1 Yaw joint x1 The yaw joint acts as a joint between the grip arm and the top U bracket It is designed so the weight of the gimbal compresses the yaw motor instead of pulling it apart g Print laying down and with a vertical O profile No support material 1 2 Joystick case x1 The joystick case is designed to contain the joystick and fit the construction g Print in two separate parts with the flattest side facing down Support material touching buildplate OpenSAM user manual 4 Parts 1 3 Grip arm left x1 and right x1 The grip arm attaches to the yaw joint and is divided in two parts a Print in two separate parts with the flattest side facing down Support material touching buildplate 1 4 Handle x3 5 Two handles attach to the grip arm to allow holding the
13. r the alignment of the IMU needs to be considered If assembly was completed according to instructions Axis TOP should be Z and RIGHT should be Y For other setups of IMU models consult the orientation of the IMU The PID controller requires extensive manual calibration It is recommended to tune the axes sequentially Start with tuning the ROLL axis and set the power of PITCH and YAW to 1 Initials values can be set to P 10 I 0 01 D 10 Begin manual tuning and follow recommended guidelines Increase the values first P then D then I to obtain their maximally stable values To observe the effect go to the Realtime Data tab and observe the oscillations For further instructions on manual tuning we refer to the SimpleBGC Manual For reference see the screenshot 2 with the settings used on our OpenSAM Advanced In the Advanced tab under Motor Outputs the YAW should be set to YAW ext board Under timings the PWM frequency needs to be set to HIGH silent http www basecamelectronics com downloads 16 OpenSAM user manual Basic Advanced PID Controller 15 Limit accelerations External FC Gain 6 Setup BaseCam Controller RC Settings Follow mode Realtime Data Firmware upgrade Motor Configuration POWER INVERT 5005 dgisec Sensor Axis TOP ay 4 RIGHT Skip Gyro calibration at startup Figure 6 1 Screenshot of SimpleBGC Basic tab 6 4 RC Settings In RC Settings map the joystick analog PITC
14. sen Technical University of Denmark DTU This documentation describes Open Hardware and is licensed under the Creative Commons Attribution ShareAlike 4 0 International License CC BY SAl You may redistribute and modify this documentation under the terms of the license This documentation is distributed WITHOUT ANY EXPRESS OR IMPLIED WARRANTY INCLUDING OF MERCHANTABILITY SATISFACTORY QUALITY AND FITNESS FOR A PARTICULAR PURPOSE You are free to e Share copy and redistribute the material in any medium or format e Adapt remix transform and build upon the material for any purpose even commercially e The licensor cannot revoke these freedoms as long as you follow the license terms Under the following terms e Attribution You must give appropriate credit provide a link to the license and indicate if changes were made You may do so in any reasonable manner but not in any way that suggests the licensor endorses you or your use e ShareAlike If you remix transform or build upon the material you must dis tribute your contributions under the same license as the original http creativecommons org licenses by sa 4 0 OpenSAM user manual 1 Disclaimers and warnings e No additional restrictions You may not apply legal terms or technological mea sures that legally restrict others from doing anything the license permits Rw 2 Introduction The OpenSAM by OHM is developed for filmmakin
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