Five Bar Parallel Robot - Big J
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- เผยแพร่เมื่อ 4 ก.ค. 2020
- This robot was designed as a practical demonstration of the methodology developed while writing the following paper: Design Methodology for five-bar Parallel Robots with two Degrees of Freedom. www.redalyc.org/jatsRepo/614/...
Big J is a five bar parallel robot that uses direct drive brushless motors as actuators working with the Janus Controller board.
The Janus Controller has since been updated to the Dagor Controller. It has better heat sinking, more powerful MOSFETs, on-board ESP32 and a smaller size at 44x44mm; an all around upgrade.
Dagor Controller: github.com/byDagor/Dagor-Brus...
You can still find everything about the Janus Controller Board on: github.com/byDagor/Janus-Cont...
Hackaday page of this proyect:
hackaday.io/project/173859-fi...
My website: www.dagor.dev/
Each slave ESP32 is running the SimpleFOC Arduino library. This library makes Field Oriented Control really easy to use and has a lot of functions and parameters that can be tuned to get a desired response. I recommend checking it out:
simplefoc.com/ - วิทยาศาสตร์และเทคโนโลยี
Hey Mr. Gonzalez, wonderful work! Thanks for the clear in-depth introduction and supporting links. The last clip truly shows this robot a worker. I felt out of breath just watching it work so tirelessly 😂 I subbed. Looking forward to more of your discoveries and innovative creations.
I also love watching it work haha. Thank you!
I love the softness/springiness. great for working near humans
With direct drive or quasi direct drive actuators it's very easy to detect collisions for an even safer environment.
@@Dagor Nice, thanks for reply
It posible to change drv with diy driver mosfet with ir2101?? @@Dagor
Very nice. Just 2 motors and a lot of possibilities.
I think i saw a drawing machine that worked very similar to this. think of how 3d printing with mutlple extruders could be really awesome. merci pour la magnifique vidéo David Gonzalez!
I would happily be your 500th subscriber! :) Nice work!
Gerald, my man! Thank you 🥳
Great ingenuity !
Nice work
This is so awesome!
I would love to build one like this
4:30 that's my wife...
Very cool!
Just wondering why you chose to have 3 ESP32s instead of one. One would be enough to control everything, right?
Given a different motor driver 1 ESP32 should be powerful enough to control everything. It is not uncommon to have a motor controller, which has its own microcontroller, connect to a master microcontroller. I just happened to like a lot the ESP32 for all its cool features :)
The ultimate rover suspension
That will consume lots of Power
@@sanghpriyverma9845 it might, but at least you see it!
@@rgcoldworld5974 yes
You do the flip! Very cool. I have made many stepper motor powered five bars, it's not really possible to do that with steppers.
I'm really happy I got that working :) I have seen your videos before and find awesome that you have made functional 3D printers out of these robots. My robot doesn't have any way to be controller other than the HMI showed in the video, would you recommend g-code interpretation so I could maybe make a drawbot out of it?
@@Dagor gcode is a horrible old standard, but it gets the job done, it's well supported. The tricky part is the path planning.
The robot looks a bit "floppy", do you have enough torque to do drawing? You direct drive with pretty small motors. You sure have the speed!
@@boxsterpontus How do you interpret instructions with your robots? What would be your recommendation? I'm sure it has enough torque as is, but I'm planning on making it quasi-direct-drive to reduce these vibrations that you're seeing and expand the possible applications.
@@Dagor I only implemented the transformations from cartesian to motor positions (and inverse, and some other details) in reprap firmware, they do all the other parts. Path plannig, gcode parsing, motor control etc. The 3D printer world has plenty of good open source projects like that. The CNC community have some too, it's quite similar. You would need to plug in your motor drivers somehow, and implement the 5-bar.
Why is it called a 5 bar robot? Aren’t there only 4 ‘bars’?
The distance between the motors is considered a bar. If the distance was 0 (one motor on top of each other) it would be a 4 bar robot.
@@Dagor thank you!! That makes perfectly sense. Very cool project!
@@Dagor thanks for the explanation. I too was wondering the same.
Nice! :)
Excellent work.
What motors are you using in this project?
I'm using two YUNM4234 700KV brushless motors
@@Dagor Thanks. Please make more videos like this. It's odd that you don't have more subscribers!
@@RogerMcIntosh They will keep coming, thank you!
Hola David, entiendo que estas en mexico, puedes hacer envios a Colombia, desde mexico, me gustaria incluir un par de tus tarjteas en un proyecto que estoy desarrollando. Gracias por tu respuesta
The circle is distorted, maybe you didn't account for the offset joints? Very interesting to play with though. A collab of Disney and ETH Zurich developed a system to minimize dynamic oscillations, that might help your robot too, or maybe the motors just don't have enough resolution for precise locating.
You're right and there's two reasons why the circle is a bit distorted. The first one is that the actuators are direct drive and a parallel mechanism has the actuators fighting each other and in some areas one might have the advantage over the other. The second is that the 0 degrees with respect the axis that crosses the two actuators is slight off in one actuator and I tried to fix this with code but didn't do the best job.
@@Dagor Thanks for replying to this question. I also was wondering about the circle algorithm.
Very cool project. Thanks for sharing it with us.
@@ddegn The joint angles were calculated by solving the inverse kinematic model of the five-bar mechanism and feeding it a hundred points (or more or less) that make up a circle in the plane.
how is the brushless controled with the precision of a servo... can this tech be used to make legs for a walking robot
With the FOC (field oriented control) algorithm and a regular controller, such a PD position controller. Yes you can, a very typical application for brushless-based actuators. Check out my Quadruped Robot series! :)
@@Dagor thanks
Genial
Do you have any practical purpose in mind? I'm not seeing one... especially since it requires three 32-bit processors to make it function. I can get much more precise motion control and far greater torque over a larger area with a single 8-bit microcontroller.
@@NoOne-vm2wd That... is a possibility, although still not wicked practical. Maybe as an adjunctive device for handicapped artists.
hola david. quisiera aprender. se usa programacion en tiempo real en este proyecto ? porfavor que curso o libros me recomiendas. talvez dictas cursos. mil gracias. thanks a lot. please help me david.
Nada en este proyecto está hecho en tiempo-real. No utilicé un periodo de sampleo específico para mandar los datos del controlador maestro a los esclavos; tampoco tengo un periodo fijo en ciclos de los controladores de los actuadores.
Wow what app do you use.??
Wasn’t an app. It was a webpage we wrote on html.
thank Mr. Gonzalez, i want to build like this,thank for the link of control the motor...
it can stir a pot of flour dough really slowly.
need kinetic invers fonction? please
can i make this kind of robot with steppers ?
Yes you can, I believe going through the singularity will be much harder though.
Whole three esp32! Not too many?
Same answer to you! - Given a different motor driver hardware one ESP32 should be powerful enough to control everything. That being said, It is not uncommon to have a motor controller, which has its own microcontroller, connect to a master microcontroller. I just happened to like a lot the ESP32 for all its cool features :)
Hanzhen harmonic drive gear , over 30 years experience , strain wave reducer , robot joint
Hola interesante tu maquina, quisiera saber si sabes como se hacen dibujos con ella.
gracias.
Cualquier tipo de dibujo se debe calcular con el modelo cinemático del sistema, en este caso la cinemática inversa del robot.
@@Dagor Hola gracias por tu respuesta, en youtube, mire un robot que dibuja segun me dijiste: th-cam.com/video/b21Kl1uDqSY/w-d-xo.html
@@aos1611 Muy buen video, gracias por compartir.
why is it called five bar?
Because ir’s a five-bar mechanism. The four linkages and the distance between the actuators make up the 5 bars.
It would be interesting to use this robot as a time clock.
That a cool application, maybe for my smaller five-bar robot ;)
I only see 4 bars, why is it called 5 bar
The distance between the motors is considered a bar. If the distance was 0 (one motor on top of each other) it would be a 4 bar robot.
Maybe you should reconsider the name 1:33
lol
@@JeromeDemers lol
seeing this makes me wonder...3d print head on it with a dropping build platform making sizes on all axes bigger.....yes please hears my cash lol
А СРАЗУ В ДЫРКУ МОГУТ ПАДАТЬ, БЕЗ ЭЛЕКТРО ШЛЯПЫ ?!