polyhead

A full-size cinema camera remote head controlled by pan & tilt wheels.

remote.head.first.test.BfLZwkLsT-I.webm

This repository contains the design files for all hardware and software needed to build the head. Fusion 360 files for printed parts, KiCad for PCBs, and STM32 source code for the control box.

Design

The current design only has two axes, non-stabilized. I plan to add a roll axis and an IMU for stabilization in the future.

Uses brushless gimbal motors controlled by moteus c2's. AS5600 magnetic rotary encoders for sensing the control wheel positions and AkSiM-2's for the motor encoders. The control box contains the power supply and a master STM32 chip that communicates with the two moteus controllers over CAN-FD. Power and comms cables to the head use GX16 connectors.

I like old school physical controls, so the control box has a lot of them. Most notable are the speed controls, which currently match the 3 gear ratios of an Arrihead 2. It also has a big E-stop, independent locks for each axis, and a home button.

The mechanical design is mostly 3D printed PETG parts, connected with 15mm aluminum camera rods.

Specs

• Axes: Pan, Tilt (Roll planned)
• Controls: Pan & tilt wheels (150 mm (6 in) diameter), 3 independently adjustable speeds
• Stabilized: No (planned)
• Wireless: No (planned)
• Pan range: 540° (270° each direction from center)
• Size (mm): 418 mm (W) x 588 mm (H) x 90 mm (L)
• Size (in): 16.46 in (W) x 23.15 in (H) x 3.54 in (L)
• Weight: 9 kg (20 lbs)
• Max camera size (mm): 157 mm (W) x 250 mm (H) x 300 mm (L)
• Max camera size (in): 6.18 in (W) x 9.84 in (H) x 11.81 in (L)
• Max camera weight: 9 kg (20 lbs)
• Max rotation speed: 240°/s
• Max rotational acceleration: 360°/s^2
• Power supply input voltage: 100-250V AC 50-60Hz
• Power supply output voltage: 24 V DC (built-in)
• Power supply max output current: 20 A
• Power consumption: 300W peak, 10W idle

Future plans

• Roll axis (making it a proper 3-axis gimbal)
• Stabilization (optional)
• CNC aluminum frame
• Wireless support
• Battery support
• Larger motors and bearings for stability and reliability
• A smaller variant of the gimbal, for smaller cameras (such as the Sony FX series)