Excellent work! The only thing I would suggest is to put some hot glue on the motor and thermistor wires where they solder to the circuit board to act as a strain relief. Should reduce fatigue from the vibration of walking and jumping. It comes off easily with alcohol if you ever need to disassemble it.
I did not think PLA would work for a mini-cheetah actuator. For my quadruped design, I rulled it out and went with a 9:1 belt drive reduction. You proved it can be done with a very clean and elegant design. I have 100 questions, here are a few of them 1. How did you build the stator. I understand how to wind the wire, but how to make the metal frame 2. I do not understand the magnetic design of the rotor, or the purpose of the small magnets? Are the large magnet all facing the same way? 3 commutation is "FOC" or 6-step. 4. is the heat just "i squared r"? If so, then would using much higher voltage result in less heat. 5. can you give rough performance specs, torge and power used. You might consider open source, then people would see exactly what you did. Unless you are worried people will copy these and try to sell them. License can prevent that. Do NOT wait until it is finished, place work in progress in GitHub the you update as you mak changes. If you are lucky, the project is popular, and then people send you pull requests to address problems and add features. Looks like I will need to learn to make a rotor and stator
First of all, thank you very much! Are you making a quadruped robot? What electronics/motors do you use? Making this actuator with 3D printing (PLA) has taken me many iterations to get it to work more or less reliably. To this day I still have problems with it, due to the heat and the efforts it has to endure, but it half works :-D I answer your questions: 1. The only piece that I have not built is the stator, it was purchased on Aliexpress. It could be made DIY with cut steel sheets, but I think it would not compensate for the work it takes to do it unless you want something very specific. 2. Small magnets create a "continuous" magnetic flow. This is called the "Halbach Array". Because I don't have a steel external yoke (it's PLA plastic), a lot of magnetic flux escapes outside. In this way it is concentrated inside, towards the stator, causing the torque to increase. Using Halbach Array or external yoke is similar, you can see the detailed explanation here: things-in-motion.blogspot.com/2018/12/the-advantages-and-disadvantages-of.html 3. Switching in FOC is done through 6 steps, yes. You can see the details of how the library I am using works: docs.simplefoc.com/foc_theory 4. Indeed, using more voltage could make it run cooler. It's something I was testing, but starting at 30V I burned a couple of PCB boards, I didn't take that into account when I designed them. That's why I'm currently limited by electronics to 24V. 5. The continuous torque that I can handle is around 2.5N·m, the maximum at 8N·m. I have not calculated the performance and the nominal power will be around 50W. I have considered on several occasions making it open source, but I am a little wary of what you say, that someone will commercialize it. I know that there are different licenses and I'm sure that some may suit me, but for now, it is still in continuous development. Currently I have bought a small CNC to be able to make the actuators completely out of metal, because I have reached a point with plastic and 3D printing, where I cannot make them 100% reliable and durable.
Hola, que interesante que diseñes tu propio actuador. Me gustaría aprender a diseñar uno propio, no sé si me puedas decir si aprendiste de algún libro o curso, o cualquier contenido que le haya servido para aprender los criterios de diseño del actuador (como el numero de vuelta del cable para la bobina por ejemplo) según el torque que se requiera. Así como los componentes necesarios para placa PCB de dicho actuador. Por otro lado, me parece muy chevere que le haya agregado un ventilador acorde a la temperatura, bastante elegante la verdad. Una vez más, interesante trabajo, espero seguir viendo actualizaciones del mismo.
Todo lo he aprendido leyendo tesis y viendo publicaciones/videos relacionados. Cuando comencé no tenia una idea clara de como funcionaba un motor BLDC. Mi driver puede manejar como mucho 5A de pico, con ese dato, estuve haciendo pruebas para conocer que grosor de cobre tenia que usar, y a partir de ahí, bobinar el máximo numero de vueltas. Con respecto a la PCB, lo explico en un video anterior, uso una librería llamada SimpleFOC. Muchas gracias! Mas adelante iré publicando actualizaciones del robot.
Great work sir. Can you tell me how did you approach this design. Also, how did you learn to make interference/press fits. Did you run any FEA tests to check the compatibility of the design on various loads and conditions? I'm very curious to know. Overall, amazing work and demonstration. Ingenious design.
Thank you so much! I was inspired by the robotic actuator of the mini cheetah robot. To be able to do it in 3D printing I had to change a lot of things, but the general design is similar. I did tests at the maximum torque generated by the actuator, and I verified that I did not have excessive bending problems in the material. He did not perform simulations with FEA.
Really nice design and the shirts with the robot are impressive. Is the PCB your design? If so what are it's features? Could you provide design or looks to the parts you bought?
Thank you so much! Yes, the PCBs were designed by me for this project. The features are similar to the SimpleFOCshield PCB, which is open source, I based on it to make my own.
@@Jorgefer88 Do you intend on making your design open source at any point? If not, can you at least answer whether this implies that you're using an arduino somewhere or embedded the arduino directly into your PCB?
@@ChrisAltamimiEpsilon Maybe in the future, but at the moment I don't have it in mind. The PCBs have an STM32 microcontroller, since more power is needed to control the actuators than that available on an Arduino.
That is incredible awesome work.... Are you planning a patreon or opensource page or anything for the actuator? That's so worth my money to finally have an affordable BL actuator with integrated controller instead of steppers for robotic arms.
Thank you so much! I haven't planned it yet. The actuator and the PCB currently have several problems that I am correcting little by little, it is a project still under development where I am constantly changing things. I have made everything from scratch precisely for this reason, because commercials are very expensive.
It costs around $120 per complete actuator. The maximum measured torque is 8N·m and the continuous torque is around 2.5N·m, I'm still doing tests regarding that.
Yes, I've been testing various materials. And although ABS is more temperature resistant, under the load of magnets, ABS and PLA behave quite similarly.
Hola Jorge! Excelente trabajo. Una consulta,¿ Cuantas vueltas de alambre tiene cada fase del estator? ¿Podrias compartirme talvez la ficha tecnica? Te podria remunerar por ello,
Hola, buenas! Cada ranura tiene 46 vueltas. No he echo pruebas tan exhaustivas como para tener ficha técnica, pero tiene las siguientes características: Funciona a 24V, pesa 435g en total y puede llegar a generar de torque máximo 8Nm. El torque continuo aun estoy haciendo pruebas, pero estará en torno a 3Nm
I tried subscribing to your channel, but it says it's disabled because your content is for kids. That seems like a mistake. Do you have a setting you turned on accidentally?
I've been looking and I don't have any kids settings activated. After your comment one person has subscribed, so I understand that I have no problem. Do you still have the error?
@@Jorgefer88 it's strange. It says I'm subscribed (maybe that's why I couldn't subscribe earlier), but that I can't get notifications. It has the same message about kids content. Let me send you a screen shot.
Bro obviously it's his hard work and he can't just publish it for free .... And even if you would ask him respectfully then maybe he would think of sharing his hardwork with you ..... But for that attitude..... No...
Bro obviously it's his hard work and he can't just publish it for free .... And even if you would ask him respectfully then maybe he would think of sharing his hardwork with you ..... But for that attitude..... No...
Excellent work! The only thing I would suggest is to put some hot glue on the motor and thermistor wires where they solder to the circuit board to act as a strain relief. Should reduce fatigue from the vibration of walking and jumping. It comes off easily with alcohol if you ever need to disassemble it.
Thank you very much, that's a good idea.
So far I have had no problems during the tests.
If I start to have problems, I'll take it into account.
Great job. As a professional mechanical engineer in robotics, you're off to a great start. Keep learning and pushing yourself!
Thank you so much! I'll keep working!
Well done! I am looking forward to future updates
Awesome work!! I’m excited to see the quadruped bot!!
Thank you so much! I'm missing a leg to finish the quadruped robot, but it's functional.
Soon I will show the progress!
Amazing work!
This is amazing... Great work.
THIS IS ENGENEERING AND PORN TOGETHER!❤🔥🔥🔥🔥
EXCELLENT JOB!
Amazing Work!!!!
INCREIBLE TRABAJO!!!! Eres un crack!! Enhorabuena 😊😊
Tu me ayudas a seguir hacia delante 🥰💜
Holy great job and lovin it! Expecting for more ^v^
Good work! Thanks for your share. 🎉
This is amazing yo
Excellent 👌🏻👌🏻 keep uploading more videos regarding this
Great job,thanks a lot , i am looking forward fo the your furture sharing
interesting cooling system 👍😊
Ok thak you
I did not think PLA would work for a mini-cheetah actuator. For my quadruped design, I rulled it out and went with a 9:1 belt drive reduction. You proved it can be done with a very clean and elegant design. I have 100 questions, here are a few of them
1. How did you build the stator. I understand how to wind the wire, but how to make the metal frame
2. I do not understand the magnetic design of the rotor, or the purpose of the small magnets? Are the large magnet all facing the same way?
3 commutation is "FOC" or 6-step.
4. is the heat just "i squared r"? If so, then would using much higher voltage result in less heat.
5. can you give rough performance specs, torge and power used.
You might consider open source, then people would see exactly what you did. Unless you are worried people will copy these and try to sell them. License can prevent that. Do NOT wait until it is finished, place work in progress in GitHub the you update as you mak changes. If you are lucky, the project is popular, and then people send you pull requests to address problems and add features.
Looks like I will need to learn to make a rotor and stator
First of all, thank you very much!
Are you making a quadruped robot? What electronics/motors do you use?
Making this actuator with 3D printing (PLA) has taken me many iterations to get it to work more or less reliably. To this day I still have problems with it, due to the heat and the efforts it has to endure, but it half works :-D
I answer your questions:
1. The only piece that I have not built is the stator, it was purchased on Aliexpress. It could be made DIY with cut steel sheets, but I think it would not compensate for the work it takes to do it unless you want something very specific.
2. Small magnets create a "continuous" magnetic flow. This is called the "Halbach Array". Because I don't have a steel external yoke (it's PLA plastic), a lot of magnetic flux escapes outside. In this way it is concentrated inside, towards the stator, causing the torque to increase. Using Halbach Array or external yoke is similar, you can see the detailed explanation here:
things-in-motion.blogspot.com/2018/12/the-advantages-and-disadvantages-of.html
3. Switching in FOC is done through 6 steps, yes. You can see the details of how the library I am using works:
docs.simplefoc.com/foc_theory
4. Indeed, using more voltage could make it run cooler. It's something I was testing, but starting at 30V I burned a couple of PCB boards, I didn't take that into account when I designed them. That's why I'm currently limited by electronics to 24V.
5. The continuous torque that I can handle is around 2.5N·m, the maximum at 8N·m. I have not calculated the performance and the nominal power will be around 50W.
I have considered on several occasions making it open source, but I am a little wary of what you say, that someone will commercialize it.
I know that there are different licenses and I'm sure that some may suit me, but for now, it is still in continuous development.
Currently I have bought a small CNC to be able to make the actuators completely out of metal, because I have reached a point with plastic and 3D printing, where I cannot make them 100% reliable and durable.
Hola, que interesante que diseñes tu propio actuador. Me gustaría aprender a diseñar uno propio, no sé si me puedas decir si aprendiste de algún libro o curso, o cualquier contenido que le haya servido para aprender los criterios de diseño del actuador (como el numero de vuelta del cable para la bobina por ejemplo) según el torque que se requiera. Así como los componentes necesarios para placa PCB de dicho actuador. Por otro lado, me parece muy chevere que le haya agregado un ventilador acorde a la temperatura, bastante elegante la verdad. Una vez más, interesante trabajo, espero seguir viendo actualizaciones del mismo.
Todo lo he aprendido leyendo tesis y viendo publicaciones/videos relacionados. Cuando comencé no tenia una idea clara de como funcionaba un motor BLDC.
Mi driver puede manejar como mucho 5A de pico, con ese dato, estuve haciendo pruebas para conocer que grosor de cobre tenia que usar, y a partir de ahí, bobinar el máximo numero de vueltas.
Con respecto a la PCB, lo explico en un video anterior, uso una librería llamada SimpleFOC.
Muchas gracias! Mas adelante iré publicando actualizaciones del robot.
Awesome!
Thank you so much!
Coming from a company like yours, this is a compliment to me.
great
Very well done. How did you attach the magnets to the housing? Did you glue them to the plastic?
Thank you so much!
Yes, I glue the magnets directly to the plastic with cyanoacrylate
Awesome..!
Hi, it is a really incredible work ! I was wondering where do you buy the metal coil core ?
The stators I got from Aliexpress
Great work sir. Can you tell me how did you approach this design. Also, how did you learn to make interference/press fits. Did you run any FEA tests to check the compatibility of the design on various loads and conditions?
I'm very curious to know.
Overall, amazing work and demonstration. Ingenious design.
Thank you so much!
I was inspired by the robotic actuator of the mini cheetah robot.
To be able to do it in 3D printing I had to change a lot of things, but the general design is similar.
I did tests at the maximum torque generated by the actuator, and I verified that I did not have excessive bending problems in the material. He did not perform simulations with FEA.
@@Jorgefer88 Thank you
Really nice design and the shirts with the robot are impressive. Is the PCB your design? If so what are it's features? Could you provide design or looks to the parts you bought?
Thank you so much!
Yes, the PCBs were designed by me for this project. The features are similar to the SimpleFOCshield PCB, which is open source, I based on it to make my own.
@@Jorgefer88 Do you intend on making your design open source at any point?
If not, can you at least answer whether this implies that you're using an arduino somewhere or embedded the arduino directly into your PCB?
@@ChrisAltamimiEpsilon Maybe in the future, but at the moment I don't have it in mind.
The PCBs have an STM32 microcontroller, since more power is needed to control the actuators than that available on an Arduino.
Jefazo!! Un grande
Muchas gracias! Físicamente si soy un poco grande 😂😉
@@Jorgefer88 jajajajajaja. No seas tonto!
That is incredible awesome work....
Are you planning a patreon or opensource page or anything for the actuator? That's so worth my money to finally have an affordable BL actuator with integrated controller instead of steppers for robotic arms.
Thank you so much!
I haven't planned it yet. The actuator and the PCB currently have several problems that I am correcting little by little, it is a project still under development where I am constantly changing things.
I have made everything from scratch precisely for this reason, because commercials are very expensive.
@@Jorgefer88 any update on the progress?
hola, valoro mucho tu trabajo y me inspira a seguir adelante, tengo planeado realizar algo parecido podrias decirme donde compraste el estator??
Muchas gracias! El estator fue comprado en Aliexpress.
Nice.
Would help if you could explain how you made the stator though. Looking forward to it in an upcoming video😃
Thanks!! The stator is the only commercial part, purchased on Aliexpress
@@Jorgefer88 I see...are the STLs open-source by any chance? I'm also curious to know about the total price for all the parts used in the design.
Nice. What gap do you have with motors and coil stator?
Do you know roughly kv it has and max voltage and current?
And what dimensions is the rotor core?
Love it! Where did you end up getting the stator/rotor? Stator windings look really good 👍
Thank you! The rotor is my design and the magnets are glued.
I bought the stator on aliexpress.
@@Jorgefer88 do they sell stator like this?
@@arko54 They sell the stator clean, yes
@@Jorgefer88 do you have a link?
How to check the motor location?
will you be maiking it opensource?? or provide a kit for pcb circuit and the stator??
No, I don't have it planned at the moment, sorry.
what torque and RPM do the motors have?
Impressive! How much it cost for materiel to build one motor? What is power output/torque for motor?
It costs around $120 per complete actuator.
The maximum measured torque is 8N·m and the continuous torque is around 2.5N·m, I'm still doing tests regarding that.
Hi ! Awesome work . Do you have any plan to make it open source ?
Thank you so much! Not at the moment, maybe in the future.
I changed to ABS because PLA deformed when standing over longer time under load.
Yes, I've been testing various materials. And although ABS is more temperature resistant, under the load of magnets, ABS and PLA behave quite similarly.
Hola Jorge! Excelente trabajo. Una consulta,¿ Cuantas vueltas de alambre tiene cada fase del estator? ¿Podrias compartirme talvez la ficha tecnica? Te podria remunerar por ello,
Hola, buenas! Cada ranura tiene 46 vueltas. No he echo pruebas tan exhaustivas como para tener ficha técnica, pero tiene las siguientes características:
Funciona a 24V, pesa 435g en total y puede llegar a generar de torque máximo 8Nm. El torque continuo aun estoy haciendo pruebas, pero estará en torno a 3Nm
@@Jorgefer88 Hola Jorge! Una consulta, puedes compartirme el archivo STL que utilizaste, te remuneraría por ello obviamente. Tienes cuenta en Paypal?
Lo siento, no comparto el actuador, no tengo intenciones de comercializarlo porque es un proyecto personal.
@@Jorgefer88 Entiendo. Una consulta y podrias comentarme como construiste l estator, cuantas ranuras tiene?
How is the magnet array arranged? I'm very curious
The magnets are forming a halbach matrix. 44 large magnets 10*5*3mm and 42 small magnets 10*1*4mm
Good
Top
This is some thoughtful excellent engineering. Could you kindly state the maximum output torque from your actuator? Thank you.
Thanks so much!
The maximum torque is 8Nm with a reduction of 4:1
The continuous torque is around 2Nm
💖💖💖💖
How long did the actuators take to build?
What takes the longest is winding the stator and soldering the PCB. It takes just over an hour or so to assemble the entire actuator.
Hello. Where can I download or buy a design for printing a similar product?
Is this open source, are planning on providing plans?
No, I don't have it planned at the moment, sorry.
I tried subscribing to your channel, but it says it's disabled because your content is for kids. That seems like a mistake. Do you have a setting you turned on accidentally?
I've been looking and I don't have any kids settings activated. After your comment one person has subscribed, so I understand that I have no problem. Do you still have the error?
@@Jorgefer88 it's strange. It says I'm subscribed (maybe that's why I couldn't subscribe earlier), but that I can't get notifications. It has the same message about kids content. Let me send you a screen shot.
GND 🎉
How I get drawings for this
Sorry, I haven't posted the source files
Olá! Você dar curso?
At the moment I do not plan to take courses. I will show the progress here on TH-cam and on Instagram
Very Nice job but no stl no explication 😢😢😢
Thanks!
Not stl, but I explain the complete assembly process. Anyone doing something similar can help :-)
Plastic gears of this size are too weak for the motor.
At the moment I have not had problems with them applying the maximum torque of 8N.m
Progress would never have been possible if there hadn't been men doing impossible things
Hello600
And of course he doesn't provide a link to the STLs... What's the point?
Bro obviously it's his hard work and he can't just publish it for free .... And even if you would ask him respectfully then maybe he would think of sharing his hardwork with you ..... But for that attitude..... No...
Bro obviously it's his hard work and he can't just publish it for free .... And even if you would ask him respectfully then maybe he would think of sharing his hardwork with you ..... But for that attitude..... No...
@@pukhrajdhiman8041 lol dumb take. You should feel bad.
@@pukhrajdhiman8041 The open source community is full of hard working people who freely contribute to society.
Look at a channel called aaed musa, they did an internal cycloidal robotic actuator similar to this but open source