Five Bar Parallel Robot - Big J

This robot was designed as a practical demonstration of the methodology developed while writing the following paper: Design Methodology for five-bar Parallel Robots with two Degrees of Freedom. https://www.redalyc.org/jatsRepo/614/...



Big J is a five bar parallel robot that uses direct drive brushless motors as actuators working with the Janus Controller board.


The Janus Controller has since been updated to the Dagor Controller. It has better heat sinking, more powerful MOSFETs, on-board ESP32 and a smaller size at 44x44mm; an all around upgrade.


Dagor Controller: https://github.com/byDagor/Dagor-Brus...

You can still find everything about the Janus Controller Board on: https://github.com/byDagor/Janus-Cont...

Hackaday page of this proyect:
https://hackaday.io/project/173859-fi...

My website: https://www.dagor.dev/

Each slave ESP32 is running the SimpleFOC Arduino library. This library makes Field Oriented Control really easy to use and has a lot of functions and parameters that can be tuned to get a desired response. I recommend checking it out:
https://simplefoc.com/