DIY Actuator for quadruped robot based on a ballscrew: Powerful!

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  • เผยแพร่เมื่อ 24 ธ.ค. 2024

ความคิดเห็น • 70

  • @LautaroOrdenes
    @LautaroOrdenes ปีที่แล้ว +2

    "Fabulous video, it's great to know that there's someone opening up this knowledge to the public."

    • @rodstartube
      @rodstartube ปีที่แล้ว

      partially, no info about odrive settings

    • @HOXrobotics
      @HOXrobotics  ปีที่แล้ว +3

      If you find this useful, I will do it in the next video

    • @Zestybwoi
      @Zestybwoi 9 หลายเดือนก่อน

      Who are you quoting?

  • @alttabby3633
    @alttabby3633 ปีที่แล้ว +4

    Great video! Are you going to share the 3d print files?

  • @glasslinger
    @glasslinger ปีที่แล้ว +1

    The spring in the test fouls the accuracy of the measurement. The arm must LIFT the weights!

    • @HOXrobotics
      @HOXrobotics  ปีที่แล้ว

      In the 10 and 15 Kg tests, the actuator actually lifts the weights (you can see the string sliding near the pulley at the endo of the pull). However, it was diffficult to arrange a 20 Kg weight so I removed the weights and just measured the elongation of the spring (previously calibrated with weights)

  • @freakinccdevilleiv380
    @freakinccdevilleiv380 ปีที่แล้ว +2

    Excellent. You should have a lot more views.

  • @critical_always
    @critical_always ปีที่แล้ว

    Back-seat driver here. Looks like a great design. The only thing causing me to raise my eyebrows was the thin plate motor mount.

  • @jorgennorberg7113
    @jorgennorberg7113 5 หลายเดือนก่อน

    You use a 1 700W motor for each joint?

  • @abhinavt789
    @abhinavt789 9 หลายเดือนก่อน

    Very nicely explained. Thank you for this video.
    I would like to learn more about this design. Is there a technical term for this actuator design? What terms can I use to search on Google?
    Thanks in advance!

  • @whitneydesignlabs8738
    @whitneydesignlabs8738 ปีที่แล้ว +14

    Super cool. Do you intend to post any plans, drawings, or parts lists? This would be fun to recreate. It seems like this actuator could be strong and fast. Also the design seems like could be adapted to bipedal robots as legs or arms. Seems like it would be fast enough to handle balancing operations.

    • @HOXrobotics
      @HOXrobotics  ปีที่แล้ว +5

      That is the idea, next video will show a 3DOF leg for a quadruped based on this actuator. If you are interested yo can contact at hoxrobotics@gmail.com

    • @DresdenFPV
      @DresdenFPV ปีที่แล้ว

      it looks well thought through too! Like having holes in printed parts to assemble through. Nice work!

    • @moses5407
      @moses5407 ปีที่แล้ว

      Really great! Approximate cost of parts?

  • @Unmannedair
    @Unmannedair ปีที่แล้ว +3

    It's a clean design. not how I would have designed it, but I'm curious to see how it works out. I suspect that you're going to have some difficulties when it comes to tuning the balancing over uneven terrain.

    • @mikelCold
      @mikelCold ปีที่แล้ว +3

      What would you have done different? And why would you say "not how I would have" without explaining?

  • @mikegLXIVMM
    @mikegLXIVMM ปีที่แล้ว +2

    It looks well designed and robust.
    Thanks for posting!

  • @tadashi_hamada
    @tadashi_hamada ปีที่แล้ว +1

    The actuator seems pretty noisy. Is it coming from the ball screw?

    • @HOXrobotics
      @HOXrobotics  ปีที่แล้ว

      That motor is faulty and something is loose inside and makes that noise. I have replaced it with a faster and more powerful motor and it is now quite silent.

  • @BadPractices
    @BadPractices ปีที่แล้ว

    Absolutely beautiful.

  • @dekutree64
    @dekutree64 ปีที่แล้ว +2

    Assuming that motor is similar to the one I tried, you can replace the bottom 8x22mm bearing with 10x22mm and stick the machined end of the ballscrew up into the motor so it's turned directly instead of needing all that coupler business.

    • @HOXrobotics
      @HOXrobotics  ปีที่แล้ว

      What motor did you use?

    • @dekutree64
      @dekutree64 ปีที่แล้ว

      @@HOXrobotics Surpass Hobby C6354

  • @hidrogenodeuterio
    @hidrogenodeuterio 9 หลายเดือนก่อน

    El O driver siempre fue tan caro?

  • @ibewatchinu
    @ibewatchinu ปีที่แล้ว

    Solid and straight forward, good stuff. What's the cost per leg if you don't mind me asking?

    • @HOXrobotics
      @HOXrobotics  ปีที่แล้ว

      More or less 150-200 Euros per actuator

  • @jimj2683
    @jimj2683 ปีที่แล้ว

    This must be perfect for a humanoid robot!

  • @H34...
    @H34... ปีที่แล้ว +1

    Maybe I'm missing something, but the way you used that axial bearing confuses me. At best it only takes up load in one direction, in the other the motor bearings take all the load. But I can't see what the axial bearing is transferring the load to even in it's working direction if that aluminium bearing block is not fixed to the tube rigidly. Other notes, steel ball bearings on aluminium tube will wear and marr up the aluminium quite quickly, especially since the ball bearing can't actually roll against both at the same time, it will slip against one of them.There are off the shelf POM coated rollers that play nice with aluminium though.

    • @HOXrobotics
      @HOXrobotics  ปีที่แล้ว

      Yes you are right, the axial bearing only takes up load in one direction. If this actuator is used in the knee of a quadruped that is enough since the knee will only exert forces in one direction (leg extension). Note that the aluminum bearing block is fixed with four long bolts to a circular aluminum plate that also holds the motor. That bolts take all the load (tension). Sorry but I dont understand your comment on the steel ball bearings

  • @Tech_no_logic-ufo
    @Tech_no_logic-ufo ปีที่แล้ว

    Why didn't you use stepper motors?

    • @IronReign
      @IronReign ปีที่แล้ว +1

      steppers are rarely a good choice for mobile robots. they consume power pretty much all the time. and for a compliant mechanism you'd need an encoder anyway.

    • @HOXrobotics
      @HOXrobotics  ปีที่แล้ว

      I agree with @IronReign. Also, there are lots of very powerful and relatively cheap RC plane, drone and skateboard brushless motors that are a very good choice.

  • @SuperHaptics
    @SuperHaptics ปีที่แล้ว +1

    Awesome i like it. But the use of slotted screws should earn you some jail time 😂.

  • @Adventures_EC
    @Adventures_EC ปีที่แล้ว

    you use sketchup? but show solidworks as well? I am confused!

    • @HOXrobotics
      @HOXrobotics  ปีที่แล้ว +1

      I use SolidWorksfor laser cut parts, but also sketchup for fast and easy 3D print design... I should unify this :)

    • @Adventures_EC
      @Adventures_EC ปีที่แล้ว

      yes, especially because Sketchup is made for architects and so I highly advise to switch from it. But it is as you want and feel comfortable
      @@HOXrobotics

  • @dinoscheidt
    @dinoscheidt ปีที่แล้ว

    Crazy that it is back drivable…. Impressive

  • @amoghjain
    @amoghjain ปีที่แล้ว

    amazing job! thank youuuu for such a detailed explanation! learned a lot of new things 🙂

  • @rodrigoruiz4345
    @rodrigoruiz4345 ปีที่แล้ว

    Nice!! which brushless motor are you using?

    • @HOXrobotics
      @HOXrobotics  ปีที่แล้ว +1

      In the video you can see a Alien Power systems 6355 60kV, 1700W. Now I have replaced it with a faster and more powerful 6374, 170KV.

  • @rahmanotaibi9319
    @rahmanotaibi9319 ปีที่แล้ว

    Did you calculate the torque? if yes, how?

    • @HOXrobotics
      @HOXrobotics  ปีที่แล้ว

      At the end of the video you can see how I calculated the torque: The leg pulls a spring and I measured the its elongation. The spring was calibrated previouslu hanging weights to it . I also used counterweights attached to the leg.

  • @PlanB-3751
    @PlanB-3751 ปีที่แล้ว

    That's a genius work😳👍💯

  • @federico6b
    @federico6b ปีที่แล้ว

    Se nota que eres español! Jajajaja gran actuador, tienes alguna forma de contactar contigo? Gracias

    • @HOXrobotics
      @HOXrobotics  ปีที่แล้ว

      jajaja sí, hoxrobotics@gmail.com

  • @makerslife
    @makerslife ปีที่แล้ว

    Maybe extend the knee joint through the back and add a gas piston to give some assist.

  • @justinchang6763
    @justinchang6763 ปีที่แล้ว

    Beautiful

  • @erikkalmar4965
    @erikkalmar4965 ปีที่แล้ว +1

    If u need to do a more powerfull actuator than this u can also use a gearbox. Nice video keep up!

    • @DresdenFPV
      @DresdenFPV ปีที่แล้ว

      or simply adjust the screw to something finer threaded

    • @erikkalmar4965
      @erikkalmar4965 ปีที่แล้ว

      @@DresdenFPV Not a bad idea, but finer threaded screw can slip more easyly, in the same diameter, because the screw profile is more thiner. It is good for pecision stuffs but if you need torque i gues thicker screw profile is key.
      I know gearboxes are a bit difficult to make, but if you use gearbox you only need to change motor speed and you get a fast and strong actuator. These days all 3 phase motor is expensive, but u can cheat a bit on price if u go for rpm instead of torque, if i remember it right.

    • @HOXrobotics
      @HOXrobotics  ปีที่แล้ว +1

      The torque is enough for a quadruped, but it needs to be faster. For that reason I have replaced the motor with one three times faster (170KV) and more powerful and the actuator is now very fast (with similar torque). Check my next video to be uploaded soon!

  • @AESETC
    @AESETC 4 หลายเดือนก่อน

    What is your SOLIDWORKS subscription? What works for you best?

  • @RYU47376
    @RYU47376 ปีที่แล้ว

    i think the biggest hurdle for this is its slow and doesn't have a natural springiness to it. but great job nonetheless

    • @HOXrobotics
      @HOXrobotics  ปีที่แล้ว +1

      I have replaced the motor with one three times more fast (170KV) and more power and it is now very fast (with similar torque). Check my next video to be uploaded soon!

  • @pachanoid
    @pachanoid ปีที่แล้ว

    excellent!😀

  • @microwave-vh2uc
    @microwave-vh2uc ปีที่แล้ว

    Tienes al acento espanol

  • @scitator
    @scitator ปีที่แล้ว

    very cool! to be continued?

    • @HOXrobotics
      @HOXrobotics  ปีที่แล้ว +4

      Thanks! Yes, I plan to make a 3-DOF leg based on this actuator, then a complete quadruped

  • @karelmarkvart1517
    @karelmarkvart1517 ปีที่แล้ว

    All those quadruple robots have wrong construction of rear legs missing important joint - knee.

  • @ulforcemegamon3094
    @ulforcemegamon3094 ปีที่แล้ว +1

    While it could make the leg chunkier , there is a fully 3D printed actuator made by Rbotics labs that weights 1kg ,has a maximum torque of 44nm and a continuous torque of 28nm , you could put that actuator to either move the leg or put it as a replacement of the 6 NM brushless motor that you used

    • @HOXrobotics
      @HOXrobotics  ปีที่แล้ว +1

      That is very interesting, however my intention when designing the actuator was to avoid 3D printed parts for gears and structural parts. Thanks!

  • @Hukkinen
    @Hukkinen ปีที่แล้ว

    Thanks for a pleasant and interesting video 🙂 1. Normalize the audio. 2. Perhaps some of the most obvious pointing of e.g. sliders or cables from A to B is a bit superfluous i.e. video could be trimmed a bit. Subscribed! 😊

    • @HOXrobotics
      @HOXrobotics  ปีที่แล้ว

      Thanks for the tips, I´m new doing this!

  • @seagsmtrashseagsmtrash1906
    @seagsmtrashseagsmtrash1906 ปีที่แล้ว

    Good luck amigo!

  • @engm5737
    @engm5737 ปีที่แล้ว

    Cool

  • @ChandrashekarCN
    @ChandrashekarCN ปีที่แล้ว

    💖💖💖💖

  • @scootergem
    @scootergem ปีที่แล้ว

    Audio is weak, can barely hear

  • @did3d523
    @did3d523 ปีที่แล้ว

    too slow

    • @HOXrobotics
      @HOXrobotics  ปีที่แล้ว

      You are right, it needs to be faster. For that reason I have replaced the motor with one three times faster (170KV) and more powerful and the actuator is now very fast (with similar torque). Check my next video to be uploaded soon!