Great video... when I ordered my Gyem Actuators I saw the new x10 and x6 were available. I am glad they sent you some to test. I can't wait to see the rebuild with the x10 in the "shoulder"!
if you use super capacitors on the dc source we will be able to use your 8amps power supply. to power thousands of amps output. you just need to pulse the power when needed or get it a little waiting time to recharge the super caps. in certain condition it will be great and less de manding on the power supply that can be even less than 8 amps. even at 2 amp you can regulate through time.
Great video. Do you have any videos about the dyno you made, which appears at 12:20 at this video? I would like to make something similar. Can you give some info about the electromagnetic brake you used?
I buy Gyems products for various things and they are good. Although rather than go bigger I wish they could go smaller. They have the X6 now which I have bought but smaller would be brill.
I was just wondering if they had designed these actuators so that you could 'stack' at least two of them? For example, by having wiring that comes out at the edge/side?
Soo it appears that if you're a Mac user , for the 'additional parameters' you're out-of-luck. The website he's pointing to there is gone, and all of the MyActuator stuff says "windows". That said , my thinking is that he did control everything on the arduino, so as long as I can use a device like that I should be okay. But I'd love to be clear the difference between the serial bus vs. using the 120 oh wires and the Arduino cam-bus programming.
That's 384 watts, assume 90% for the motor including controller and another 3% for the gearbox. This is a 50 watt heating element. It might not overheat under any condition within manufacturer specification but maximum performance beyond that will require active cooling.
Are there any smaller or cheaper versions of these type of brushless actuators? Something in the price range of hobby servos... I've read somewhere, that one could use these small brushless motors from camera gimbals but I haven't found any well put-together info about how well these would work for robot arms, in terms of speed and strength. I am interested in alternative actuators for smaller robots, aside from the standard robot-servos.
Can I use this actuator for an exoskeleton? My mother had a stroke few days ago and I want to build up an exoskeleton for legs, she has a paralysis on right side. I found in Aliexpress the whole structure for legs, I only need to replace the joints with some motors. It looks that actuators have good features comparison with the cheap steppers, like torque feedback (not to brake the leg in case something goes wrong) and CAN network. I found in youtube a japanese companies called Cyberdyne and HAL. It looks that they are using actuators for exoskeleton. Probably I will have a learning mode (with positional sensors) where I read the angles for hip, knee and ankle from a person similar with my mother (because these angles are different from female/male, the speed of moving, how tall is the person, size of shoes, transitive regime of the speed like start and stop....etc) so, because I am not a kineto-terapist to know/study all these, I think a learning mode for exoskeleton is the fastest/easy way to be close with my mother way of walking. I found online some values of torque 22Nm hip, 11Nm knee and around 0.6Nm for ankle. Than the exoskeleton connected with a running band to adjust the speed of running with the move of exoskeleton and hopefully in short time my mother will be able to walk again. She will be suspended in a crane which will have few steps of letting weight on the legs. Initially 0kg, than 10, 20,30, until the legs will learn to support the whole weight of the body again. The idea came after I found Lokomat in youtube, but as all german things Lokomat is crazy expensive and complicate. What do you think? Any idea is welcome and helps me and my mom.
Hi, did you ever get a response for this as I'm needing help with the same thing. It does seems like this motor only uses PI control but that's as far as I've managed.
What PID values did you end up using to stop the oscillations? I have a few of the Gyems X8 and other direct drive servo's and anything with high angular momentum would result in oscillations. I tried hundreds of PID values and never got it working. The same issue you had with the robot arm initially, but you replaced the whole driver board which I don't really want to do.
These motors are good for hobby robotics but unfortunately they cannot be used in industrial robotics. It's because they have planetary gear reducer that has a certain backlash (that's why your robot end effector is shaking/jittering). If they have harmonic drive, it would be another story. There is no industrial robot ever made that does not have harmonic drive reducer in every joint.
@@billyzelsnack I don't count "no name" robot manufacturers. We can talk about top ten (Fanuc,Kuka,ABB,Yaskawa,Siemens,Kawasaki,Mitsubishi,Staubli,Epson,Omron) and I didn't find any of them using any reducers other than harmonic drive.
@@Skyentific haha, that is true. i want to make a robot arm, but i want it compact and safe, so parking brake is a big deal, i have reached out to gyems and talked to them about this, they said it could be a reality in the future. these kind of motors are in general very expensive, so i hope gyems will listen to developers around and make something with all the features :).
Brake unit is always placed in the servo motor controller/amplifier. Every industrial robot controller/amplifier must have it. It cannot be packed inside the motor because it does not contain just electronic parts but it also must include a large break (regenerative) resistor (R=10..30ohm, P=100..500W) mounted on a large heat sink. I saw many of those brake units inside of industrial servo amplifiers and they are huge and heavy.
@@BabaCAD I was talking about parking brake/disc brake, gyems may deliver this as an addon or a version with this type of parking brake. I was thinking about approaching my build like UR robots does. but i would rather go for a typical robot joint construction with harmonic drive and disc parkingbrake.
Beautiful motors with one small problem. They have one big PRICE. Also for the love of all robotics, remove the belts from your robot. Use a differential drive with curved teeth and a long shaft to connect it to the next part.
25 Nm is or insane, or unreal, but i have 4,5kW AC servo motors, weight about 30 kg each , and they are rated 24 Nm... without gearbox. I'll block my wife's credit card to buy one of these.-
The controller is NOT "harder to set up", it's infact more flexible since YOU design the control characteristics, not assumed by someone else. But, yes you have to know what you're doing (this is a controls problem). Also, u didn't that brake, just mount it and measure it's 0 RPM torque. Not realizing u may have pwr supply issues ahead of time? Sorry but this rather amateur. That being said, more detail and thought here than most youtub posts.
I'm looking forward to your professional review and full details. When can you have that up? I know it's a lot of work to create the content instead of just critique, but your video will be very helpful for us. Thank you.
Видео с «моим» получают мало просмотров, но требуют очень и очень много времени (обычно более трех недель). Плюс, немного задолбало, когда публикуешь видео со своим, а потом твою идею крадут и делают на ней деньги, а мне остается 40 баксов от ютюба.
@@Skyentific я думаю что если будет Ваше видео о том как правильно управлять манипулятором и если это будет не одной публикацией, а частями, то просмотров будет на порядок больше.
![Simple Inverse Kinematics and iPhone control [for any DIY Robotic Arm]](/img/n.gif)
Please like and comment this video. This will help promote my video and channel in the TH-cam. Thank you!
Thanks for sharing~ What a fancy, this company is located in my hometown SuZhou
BTW, just found a new high torque actuator, T-Motor AK10-9 & AK80-80, seems nice, you can have a check :)
Hi skyentific, Gyems recently introduce two kinds of new actuator named RMD-X8 V2 & RMD-X8 Pro V2, would u like to have a check?
Torque test device is really great! It performs as it should and looks fantastic.
Love this channel, just started my journey with robotics and I have learned a ton from your experiments with actuators
Thank you, Gennady!
Great video... when I ordered my Gyem Actuators I saw the new x10 and x6 were available. I am glad they sent you some to test. I can't wait to see the rebuild with the x10 in the "shoulder"!
Wonderful share! Already ordered one for test, not as robot arm actuator but for my AGV project~
Good stuff. Can't wait for your RMD-X6 review. I just ordered around 22 of them and I'm waiting from myactuator to get back from vacation.
Thank you for your great robot models
25 N.m is really good considering the overall dimensions of the motor
Completely agree!
Very nicely done. I am very impressed with the thorough analysis you provided. Excellent.
very cool! I know its off topic a little, but I'd love to see more about the motor dyno you built
Very cool, i like Gyems motors.
You should call your torque measuring device: Torque Meister DX
You the best around nothing going ever break you down!
love your socks, and you channel keep it up!
Thank you! :)
Great video love the torque machine.n side note Funny the end of this video starts my Google home display playing a video.
plz make a video about SAFETY best practices
- personal safety
- how to not destroy the equipment
Cool thing
It's good to see it.
Awesome as always! Thanks.
if you use super capacitors on the dc source we will be able to use your 8amps power supply. to power thousands of amps output. you just need to pulse the power when needed or get it a little waiting time to recharge the super caps. in certain condition it will be great and less de manding on the power supply that can be even less than 8 amps. even at 2 amp you can regulate through time.
Very exciting stuff!!
looking forward to the next arm, maybe mounting the mini cheetah controller in it?
Great video! Could you comment on the backdrivability of the actuator?
Great video. Do you have any videos about the dyno you made, which appears at 12:20 at this video? I would like to make something similar. Can you give some info about the electromagnetic brake you used?
Excellent!!!
I buy Gyems products for various things and they are good. Although rather than go bigger I wish they could go smaller. They have the X6 now which I have bought but smaller would be brill.
This is really depends on the application. But I think they will do also smaller actuators. I think they are really trying to enlarge their offer.
Hi Tom,We have plan to build RMD-X5 which will be smaller than X6.
@@cheneychen1247 when might this be available?
I dont know why youtube suggested this to me, but I guess building a robot arm is now on my list of projects.
If you're reading this, then know that building a robot arm is harder than I expected.
Would love to get my hands on these but they are so expensive.
DIY your own supply ;)
Expensive is relative. For people serious with robotics, they are affordable.
@@edenassos funding doesn't dictate interest douche
@@kingmasterlord how much are they?
@@max_eley RMD-X10 529$. RMD-X6 299$. For robotics application, maybe these price are not so high.
Super idee... thank you.
man you are the best!
great video, thank you
I was just wondering if they had designed these actuators so that you could 'stack' at least two of them? For example, by having wiring that comes out at the edge/side?
Heyy can you make videos on back drivable robot actuator
It would be really helpful
Like your Channel! Really informative to watch your Videos.
Go on this way!
great presentation! congratulations!! have U tried ''trinamic'' motion controllers? I use them. they are very effective 4me...good luck out there!
Did I see moving internal parts through the front face mounting bolt holes? i.e. the actuator isn't sealed unless you use all the mounting holes?
Yes. Exactly. You should be careful not to use too long screws there :)
Great information. this is suitable for exoskeleton suits? particularly for disabled person...
Thanks for the review.
Thank you for your comment!
Outstanding torque, but a little bit heavy! Appriciate for the video!
Очень ждем от вас инфу про Робо Арм INNFOS🙏🙏, ране вы говорили, что их будут выпускать перед НГ, а до сих пор Тишина. ???
Очень скоро будет новая инфа. Все затянулось дольше чем они предполагали, но вроде все движется в нужном направлении. Так что скоро будут новости!
@@Skyentific А где раздобыть тормоз электромагнитный такой?
Would these actuators be good for making a hub wheel for a robot in the 10 to 15 kg range for example?
Hello...... Your videos are truly great!!
Can you tell me what's the maximum torque of mit cheetah actuator?
Soo it appears that if you're a Mac user , for the 'additional parameters' you're out-of-luck. The website he's pointing to there is gone, and all of the MyActuator stuff says "windows". That said , my thinking is that he did control everything on the arduino, so as long as I can use a device like that I should be okay. But I'd love to be clear the difference between the serial bus vs. using the 120 oh wires and the Arduino cam-bus programming.
I'm curious how much cooling it will require under load. If it's consuming 8 amps, how quickly does it heat up?
That's 384 watts, assume 90% for the motor including controller and another 3% for the gearbox. This is a 50 watt heating element.
It might not overheat under any condition within manufacturer specification but maximum performance beyond that will require active cooling.
how do you print your part for the arm? can you show us your 3d printer?
Are there any smaller or cheaper versions of these type of brushless actuators? Something in the price range of hobby servos...
I've read somewhere, that one could use these small brushless motors from camera gimbals but I haven't found any well put-together info about how well these would work for robot arms, in terms of speed and strength.
I am interested in alternative actuators for smaller robots, aside from the standard robot-servos.
and what can you tell me about some exoskeletons for disabled legs
I wonder how the Genesis Robotics direct drive and quasi-direct drive actuators compare to these ones in performance and size
What about usign a 350 Watt Hoverboard motor for the shoulder, size is a problem ofcourse, but would that be more powerfull ? much cheaper.....
Amazing video. I got the X8 motor. Can you share the arduino code? Please!
cool rig!
Can I use this actuator for an exoskeleton? My mother had a stroke few days ago and I want to build up an exoskeleton for legs, she has a paralysis on right side. I found in Aliexpress the whole structure for legs, I only need to replace the joints with some motors. It looks that actuators have good features comparison with the cheap steppers, like torque feedback (not to brake the leg in case something goes wrong) and CAN network. I found in youtube a japanese companies called Cyberdyne and HAL. It looks that they are using actuators for exoskeleton. Probably I will have a learning mode (with positional sensors) where I read the angles for hip, knee and ankle from a person similar with my mother (because these angles are different from female/male, the speed of moving, how tall is the person, size of shoes, transitive regime of the speed like start and stop....etc) so, because I am not a kineto-terapist to know/study all these, I think a learning mode for exoskeleton is the fastest/easy way to be close with my mother way of walking. I found online some values of torque 22Nm hip, 11Nm knee and around 0.6Nm for ankle. Than the exoskeleton connected with a running band to adjust the speed of running with the move of exoskeleton and hopefully in short time my mother will be able to walk again. She will be suspended in a crane which will have few steps of letting weight on the legs. Initially 0kg, than 10, 20,30, until the legs will learn to support the whole weight of the body again. The idea came after I found Lokomat in youtube, but as all german things Lokomat is crazy expensive and complicate. What do you think? Any idea is welcome and helps me and my mom.
Can you have a video on how to tune the PID for the motor? Or link to video show us how to do that?
Hi, did you ever get a response for this as I'm needing help with the same thing. It does seems like this motor only uses PI control but that's as far as I've managed.
What PID values did you end up using to stop the oscillations? I have a few of the Gyems X8 and other direct drive servo's and anything with high angular momentum would result in oscillations. I tried hundreds of PID values and never got it working. The same issue you had with the robot arm initially, but you replaced the whole driver board which I don't really want to do.
it would be interesting a 3d printer with these brushless motors
Is it the same company?
GYEMS and Myactuator
How frequently the desired position can be updated via CAN bus?
Probably not more than 15000 Hz due to high speed canbus limitation. Probably less than that in practice.
hello thank you for this great video like the others
Thank you for your comment!
Do a teardown
How can i control two motors? Because i need to change the sencond motor's ID
Could you kindly say what type of filament do you use for your printed gears and other pats?
Where did you get the code? I can't seem to find it online.
Nice work and video. Please can you share the Arduino code?
can you make actuators out of drone motors?
These motors are good for hobby robotics but unfortunately they cannot be used in industrial robotics. It's because they have planetary gear reducer that has a certain backlash (that's why your robot end effector is shaking/jittering). If they have harmonic drive, it would be another story. There is no industrial robot ever made that does not have harmonic drive reducer in every joint.
@@billyzelsnack I don't count "no name" robot manufacturers. We can talk about top ten (Fanuc,Kuka,ABB,Yaskawa,Siemens,Kawasaki,Mitsubishi,Staubli,Epson,Omron) and I didn't find any of them using any reducers other than harmonic drive.
OH MY GOD DUDE SAME VIDEO AGAIN
You review something then you don't fully test it because this and that, this time it's the PSU.
!!!
Could this work for a rotary table in a VMC?
does the shoulder work ok ?
Only problem i see with using these in robot arms is that it doesnt have a brake when loosing power.
Yes, but this is the feature which is not easy to implement. (Human arm does not have it :) )
@@Skyentific haha, that is true. i want to make a robot arm, but i want it compact and safe, so parking brake is a big deal, i have reached out to gyems and talked to them about this, they said it could be a reality in the future. these kind of motors are in general very expensive, so i hope gyems will listen to developers around and make something with all the features :).
Brake unit is always placed in the servo motor controller/amplifier. Every industrial robot controller/amplifier must have it. It cannot be packed inside the motor because it does not contain just electronic parts but it also must include a large break (regenerative) resistor (R=10..30ohm, P=100..500W) mounted on a large heat sink. I saw many of those brake units inside of industrial servo amplifiers and they are huge and heavy.
@@BabaCAD I was talking about parking brake/disc brake, gyems may deliver this as an addon or a version with this type of parking brake. I was thinking about approaching my build like UR robots does. but i would rather go for a typical robot joint construction with harmonic drive and disc parkingbrake.
Very good socks
can it use for gimbal stabilizer ?
that will be great with Arduino!
Beautiful motors with one small problem. They have one big PRICE. Also for the love of all robotics, remove the belts from your robot. Use a differential drive with curved teeth and a long shaft to connect it to the next part.
backlash ewww
What’s the max acceleration in these?
Ты крутой!
The machine is similar a static bicycle
Hi! Could you tell the name of the magnet break which you used?)
It also would be great to make a robot revolution too, so, I'm in)
Any comments?) Please?)
Only 20 nm? It seems too weak for such large size. It should have at least 150-200 nm.
I want one. Or a couple of them 😏
looks like a Sega Genesis
@тαρ мє αи∂ ѕєχ ωιтн мє Addiso stop commenting on my comments.
25 Nm is or insane, or unreal, but i have 4,5kW AC servo motors, weight about 30 kg each , and they are rated 24 Nm... without gearbox. I'll block my wife's credit card to buy one of these.-
Put some bacon on it!
th-cam.com/video/Mm-b5DtyXEs/w-d-xo.html
но цена - огого. для домашней самоделки не прикупишь парочку
моща !
One comment for the algo
a comment ;)
ОгОнЬ ёпт ...
First
Yes! :)
Мужик ты же русский! Акцент
Он по русски говорит, прост межународными словами (их даже учить не надо)) чтоб всем понятно было.
У вас очень сексуальные носки❤
The controller is NOT "harder to set up", it's infact more flexible since YOU design the control characteristics, not assumed by someone else. But, yes you have to know what you're doing (this is a controls problem). Also, u didn't that brake, just mount it and measure it's 0 RPM torque. Not realizing u may have pwr supply issues ahead of time? Sorry but this rather amateur. That being said, more detail and thought here than most youtub posts.
I'm looking forward to your professional review and full details. When can you have that up? I know it's a lot of work to create the content instead of just critique, but your video will be very helpful for us. Thank you.
Акцент как у русского
В последнее время видосы какие-то унылые. Ничего своего, только обзор чужого. Да и роботами как было в начале и не пахнет.
Видео с «моим» получают мало просмотров, но требуют очень и очень много времени (обычно более трех недель). Плюс, немного задолбало, когда публикуешь видео со своим, а потом твою идею крадут и делают на ней деньги, а мне остается 40 баксов от ютюба.
@@Skyentific я думаю что если будет Ваше видео о том как правильно управлять манипулятором и если это будет не одной публикацией, а частями, то просмотров будет на порядок больше.
Частями - это вообще гиблое дело. Первую часть люди смотрят, вторую - меньше, третью еще меньше и так далее. :)