{"id":26,"date":"2021-10-07T19:34:00","date_gmt":"2021-10-07T19:34:00","guid":{"rendered":"https:\/\/med.upc.edu\/team3-2021\/?p=26"},"modified":"2021-10-17T13:33:44","modified_gmt":"2021-10-17T13:33:44","slug":"frame-assembly","status":"publish","type":"post","link":"https:\/\/med.upc.edu\/team3-2021\/2021\/10\/07\/frame-assembly\/","title":{"rendered":"Frame Assembly: Part 1"},"content":{"rendered":"\n<p>In this post we will talk about how we put together the frame of the drone. From our own experience, although the task looks pretty straightforward, we recommend you to be very careful during the assembly and pay close attention to the different steps, you will understand why in just a moment&#8230; <\/p>\n\n\n\n<h2 class=\"wp-block-heading\">What you will need<\/h2>\n\n\n\n<ul class=\"wp-block-list\"><li>The frame itself, which in our case came together in a box.<ul><li>4x motor mountset<\/li><li>4x arm mount set<\/li><li>4x arms<\/li><li>1x landing gear set <\/li><li>2x centerplates (top + bottom)<\/li><\/ul><\/li><\/ul>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large is-resized\"><img fetchpriority=\"high\" decoding=\"async\" src=\"https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/IMG_3047-1024x768.jpg\" alt=\"\" class=\"wp-image-28\" width=\"279\" height=\"209\" srcset=\"https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/IMG_3047-1024x768.jpg 1024w, https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/IMG_3047-300x225.jpg 300w, https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/IMG_3047-768x576.jpg 768w, https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/IMG_3047-1536x1152.jpg 1536w, https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/IMG_3047-1568x1176.jpg 1568w, https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/IMG_3047.jpg 2016w\" sizes=\"(max-width: 279px) 100vw, 279px\" \/><\/figure><\/div>\n\n\n\n<ul class=\"wp-block-list\"><li>Four motors.<\/li><\/ul>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large is-resized\"><img decoding=\"async\" src=\"https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/IMG_3052-1024x768.jpg\" alt=\"\" class=\"wp-image-29\" width=\"287\" height=\"214\" srcset=\"https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/IMG_3052-1024x768.jpg 1024w, https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/IMG_3052-300x225.jpg 300w, https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/IMG_3052-768x576.jpg 768w, https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/IMG_3052-1536x1152.jpg 1536w, https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/IMG_3052-1568x1176.jpg 1568w, https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/IMG_3052.jpg 2016w\" sizes=\"(max-width: 287px) 100vw, 287px\" \/><\/figure><\/div>\n\n\n\n<ul class=\"wp-block-list\"><li>Four ESCs.<\/li><\/ul>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large is-resized\"><img decoding=\"async\" src=\"https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/IMG_3051-1024x768.jpg\" alt=\"\" class=\"wp-image-30\" width=\"308\" height=\"230\" srcset=\"https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/IMG_3051-1024x768.jpg 1024w, https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/IMG_3051-300x225.jpg 300w, https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/IMG_3051-768x576.jpg 768w, https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/IMG_3051-1536x1152.jpg 1536w, https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/IMG_3051-1568x1176.jpg 1568w, https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/IMG_3051.jpg 2016w\" sizes=\"(max-width: 308px) 100vw, 308px\" \/><\/figure><\/div>\n\n\n\n<ul class=\"wp-block-list\"><li>Some extension cables (depending on your preferences).<\/li><li>Some basic tools for the assembly (screwdriver, .<\/li><\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">Mounting the frame.<\/h2>\n\n\n\n<p>We will start by putting together the motors with the motor mountsets.<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td class=\"has-text-align-center\" data-align=\"center\">TIP: take into account that there are two orange and two black motor mountsets. For each color you will have to mount one clockwise and one counterclockwise spinning motor.<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/motor-arm-motor-999x1024.png\" alt=\"\" class=\"wp-image-36\" width=\"189\" height=\"194\" srcset=\"https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/motor-arm-motor-999x1024.png 999w, https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/motor-arm-motor-293x300.png 293w, https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/motor-arm-motor-768x788.png 768w, https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/motor-arm-motor.png 1179w\" sizes=\"(max-width: 189px) 100vw, 189px\" \/><\/figure><\/div>\n\n\n\n<p>Next, you will have to assembly three parts: the motor with its mountset, one landing gear set (same color as the motor mountset), and one of the arms.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/IMG_3065-1-1024x768.jpg\" alt=\"\" class=\"wp-image-38\" width=\"264\" height=\"199\" srcset=\"https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/IMG_3065-1-1024x768.jpg 1024w, https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/IMG_3065-1-300x225.jpg 300w, https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/IMG_3065-1-768x576.jpg 768w, https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/IMG_3065-1-1536x1152.jpg 1536w, https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/IMG_3065-1-1568x1176.jpg 1568w, https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/IMG_3065-1.jpg 2016w\" sizes=\"(max-width: 264px) 100vw, 264px\" \/><\/figure><\/div>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td class=\"has-text-align-center\" data-align=\"center\">TIP: when assembling these parts, make sure the cables of the motor are facing the outside of the structure, this will make later connections easier.<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/motor-arm--940x1024.png\" alt=\"\" class=\"wp-image-42\" width=\"248\" height=\"270\" srcset=\"https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/motor-arm--940x1024.png 940w, https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/motor-arm--275x300.png 275w, https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/motor-arm--768x837.png 768w, https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/motor-arm-.png 1300w\" sizes=\"(max-width: 248px) 100vw, 248px\" \/><\/figure><\/div>\n\n\n\n<p>We recommend you to follow our tips, specially the first one. Unfortuately, we found out our motors were not in the correct orientation on the first test flight, which you can see on the following video.<\/p>\n\n\n\n<figure class=\"wp-block-video\"><video height=\"1920\" style=\"aspect-ratio: 1080 \/ 1920;\" width=\"1080\" controls src=\"https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/IMG_3126-1.mp4\"><\/video><\/figure>\n\n\n\n<p>Two things are wrong here:<\/p>\n\n\n\n<ul class=\"wp-block-list\"><li>Firstly, the landing gear set colors are mixed. Orange sets should mark the forward part of the drone, while black sets should be at the back.<\/li><li>Secondly, the orientation of the motors between them is correct. However, the two motors that should be spinning in clockwise orientation are spinning counterclockwise and viceversa. The result is the constant yaw you can observe in the video.<\/li><\/ul>\n\n\n\n<p>At this point, we can now proceed to the mountage of the centerplates. <\/p>\n\n\n\n<p>You should mount the arm mountsets on the bottom plate. Make sure you use the two orange mountsets for the forward part of the drone, which is indicated with an arrow on the centerplates.  <\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/centerplates-min-1024x854.png\" alt=\"\" class=\"wp-image-58\" width=\"232\" height=\"193\" srcset=\"https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/centerplates-min-1024x854.png 1024w, https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/centerplates-min-300x250.png 300w, https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/centerplates-min-768x641.png 768w, https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/centerplates-min.png 1316w\" sizes=\"(max-width: 232px) 100vw, 232px\" \/><\/figure><\/div>\n\n\n\n<p>At first, it is not necessary to tighten excessively the armsets with the plates, since the next step is to fit the structure with the motor, arm and landing gear with the armset. <\/p>\n\n\n\n<p>Next, install the power board over the bottom plate. The only important thing you have to keep in mind is to make sure the power input wires are accessible through the rear part of the drone.<\/p>\n\n\n\n<p>Prior to fitting the four arms with the main frame, it is time to connect the ESCs with the motors. They have 3 cables: one red (power) one blue (signal) and one black (ground), which should be connected with the &#8216;A&#8217;, &#8216;B&#8217; and &#8216;C&#8217; cables of the ESC respectively  (labelled on a white sticker). <\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/esc-motor-min-872x1024.png\" alt=\"\" class=\"wp-image-60\" width=\"259\" height=\"304\" srcset=\"https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/esc-motor-min-872x1024.png 872w, https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/esc-motor-min-256x300.png 256w, https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/esc-motor-min-768x902.png 768w, https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/esc-motor-min-1308x1536.png 1308w, https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/esc-motor-min.png 1512w\" sizes=\"(max-width: 259px) 100vw, 259px\" \/><\/figure><\/div>\n\n\n\n<p>If you need further information on how to connect the ESCs and the motors, the following link has some useful information: <a href=\"https:\/\/ardupilot.org\/copter\/docs\/connect-escs-and-motors.html#connect-escs-and-motors\">Connect ESCs and Motors \u2014 Copter documentation (ardupilot.org)<\/a><\/p>\n\n\n\n<p>Now, you should pass the ESCs trough the arms of the quadrotor, this way they stay hidden and well protected.  <\/p>\n\n\n\n<p>It is possible to add an extensor for the PWM cable of the ESC, in order to make the connection with the power board easier. However, we found out that the two ESCs closer to the power board can be connected easily without the extensors, allowing for some valuable free space inside the frame.<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-large is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/main-frame-top-1-1024x892.png\" alt=\"\" class=\"wp-image-94\" width=\"321\" height=\"279\" srcset=\"https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/main-frame-top-1-1024x892.png 1024w, https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/main-frame-top-1-300x261.png 300w, https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/main-frame-top-1-768x669.png 768w, https:\/\/med.upc.edu\/team3-2021\/wp-content\/uploads\/sites\/4\/2021\/10\/main-frame-top-1.png 1352w\" sizes=\"(max-width: 321px) 100vw, 321px\" \/><\/figure><\/div>\n\n\n\n<p>And that&#8217;s it! While this is still not the final version of the drone structure, it is a great step towards having your ready to fly version. On top of that, you might have improved your assembly skills, which can always be useful!<\/p>\n","protected":false},"excerpt":{"rendered":"<p>In this post we will talk about how we put together the frame of the drone. From our own experience, although the task looks pretty straightforward, we recommend you to be very careful during the assembly and pay close attention to the different steps, you will understand why in just [&hellip;]<\/p>\n","protected":false},"author":12,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[17,4],"tags":[24],"class_list":["post-26","post","type-post","status-publish","format-standard","hentry","category-frame","category-frame-assembly","tag-activity4"],"_links":{"self":[{"href":"https:\/\/med.upc.edu\/team3-2021\/wp-json\/wp\/v2\/posts\/26","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/med.upc.edu\/team3-2021\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/med.upc.edu\/team3-2021\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/med.upc.edu\/team3-2021\/wp-json\/wp\/v2\/users\/12"}],"replies":[{"embeddable":true,"href":"https:\/\/med.upc.edu\/team3-2021\/wp-json\/wp\/v2\/comments?post=26"}],"version-history":[{"count":9,"href":"https:\/\/med.upc.edu\/team3-2021\/wp-json\/wp\/v2\/posts\/26\/revisions"}],"predecessor-version":[{"id":162,"href":"https:\/\/med.upc.edu\/team3-2021\/wp-json\/wp\/v2\/posts\/26\/revisions\/162"}],"wp:attachment":[{"href":"https:\/\/med.upc.edu\/team3-2021\/wp-json\/wp\/v2\/media?parent=26"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/med.upc.edu\/team3-2021\/wp-json\/wp\/v2\/categories?post=26"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/med.upc.edu\/team3-2021\/wp-json\/wp\/v2\/tags?post=26"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}