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# OpenParallel
**(The cover image is V1, will update when v2 is finished)*
#### Description
**OpenParallel** is a circut board designed for, in conjunction with other **OpenParallel** boards, embedding into stepper motor pulley assembelies for easy control of 6 DOFs **Parallel Cable Driven Robots (PCDRs)** over Wifi and Low-energy bluetooth.
* * *
#### Hardware
*Currently*, as of version 2 of **OpenParallel**, the hardware consists of the following:
* An onboard `ESP32-S3` for easy control via wifi and bluetooth.
* Support for an external antenna to extend signal range.
* 16MB onboard NAND flash for large firmwares.
* 8MB onboard RAM for complex firmares and large instructions.
* LSM9D1 9-axis DOF sensor for automatic robot configuration.
* A strong LEADSHINE Closed stepper motor for the ultimate experience in power and precision.
* An optional endstop inputs.
* Dual power input barrel jacks for combining power supply amperages or daisy chaining power to other **OpenParallel** boards.
* 5-24V input for motor control.
* Small footprint allows embedding of the device
* Auxilary power led (RGB).
* Combined boot and auxilary button.
* Power indicator led.
#### BOM
- 8x OpenParallel v2 boards.
- 8x [Leadshine iCL57-23](https://jlcmc.com/productdetail/K01/iCL57-23) motors.
- 8x [CNCed pulleys](https://jlc3dp.com/cnc-machining-quote) (Available in the attachments)
- 16x [EDLR-J2-X1-M3-L6 grub screws](https://jlcmc.com/product/s/E02/EDLR/hex-drive-cup-point-set-screws-plain-taper-female-convex) (Apply with loctite while building)
- 16x 3d printed parts, listed in the project attachments.
- 8x V624zz bearings.
- 8x Micro Switches with 55mm arm.
- 32x M5x28mm machine screws.
- 32x M5 nuts
- Various jst connectors and wires not listed due to constantly chanching bom as this project develops.
* * *
#### Firmware
[The S3 branch of FluidNC](https://github.com/bdring/FluidNC/tree/S3_WIP) is the current official firmware of **OpenParallel** project. Follow instalation procedures listed on the FluidNC github [here](http://wiki.fluidnc.com/en/installation#use-vs-code-platformio-to-compile). Please ensure you set your build environment to `wifibt_s3`. While a fully functional firmware, FluidNC is overkill for this project and will soon be replaced by a purpose built firmware currently being developed. **OpenParallel** v1.0 firmware is expected to be released mid to late August, 2024.
* * *
#### Application
*Currently*, the public branch of this project is essentially wireless closed loop stepper controller. This board is intended to be embeded in a device with a light-weight winch to precisely controll the length of a wire. Combined with 7 more similar devices, all a corner of a rectangular room, can control a position of a platform anywhere in said room with 6 DOFs. Platforms can mount items such as smaller robots, cameras, and tools. Release of design files for an official winch system will be released along with the expected release of **OpenParallel** v1.0 firmware in mid to late August, 2024.
Design Drawing
Design Drawing
schematic diagram
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WirelessMultitool - An invaluable tool for makers, geeks, and tinkerers.
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Announcer: adamscamden2
Creation time: 2024-05-22 20:44:19
Published time:
2024-07-22 17:38:30
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