I Made a Powerful 3D Printed Servo out of an Electric Skateboard Parts
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- เผยแพร่เมื่อ 5 ก.ค. 2021
- Hi everyone, I am back with another project. This time we are making big and very powerful 3D printed servo because… why not? To make it I used parts from my electric mountainboard (6374 motor, Vesc and 10S Battery) and it turned out to work pretty well. Keep in mind that all the gears were 3D printed which means that there is some backlash and overall this servo isn't super precise but it is quite strong.
All 3D files, parts and Arduino codes can be found here:
cults3d.com/en/3d-model/gadge...
www.thingiverse.com/thing:490...
Here is a great tutorial from which I took the arduino code
• How to Make an R/C Ser...
Go watch it to learn more about how the code works
Clips I used are from those videos
• How To Set your Servo ...
• FPV BiCopter part 1
• Robot Arm Manufacturin...
• How To Make RC Trainer...
• T8 3D Printed Octoped ...
Music by / ikson
Ikson - Horizon - วิทยาศาสตร์และเทคโนโลยี
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you can also use the Vesc to keep track of the position/angle of the motor, it will have much better resolution
you'll need to use the arduino as a ppm/servo receiver and then use VESCUART lib to send commands (make sure to use logic level shifter for 3.3V)
Honestly I’m gonna say this again thank you. I’m new to this subject and been trying to make my own servo motor that can produce 5000 foot pounds of torque. I originality had a brushed motor but it was too big. I had to swap for a brushless motor. I’ve been trouble shooting for a week because I couldn’t get it to drive properly. Finally your code made it work. Thank you .
Those are the most amazing and clean 3D prints I've ever seen. Hopefully one day, my prints will be something close to these (I'm not holding my breath)...
Thanks! It's really nice to hear but those prints were made on a standard Ender 3, nothing special. Just a bit of tuning and you should achieve similar results. If you want to print even better try installing Klipper. It will make any printer instantly better.
Nice video! I actually designed and built an ultrafast & powerful linear servo using VESC and EBoard 5065 motor last year, so funny seeing this in my feed now😁. If you didn't know, you can actually write 'custom applications' for VESC in C, so you could ditch the external Arduino and use just VESC. I wrote a custom VESC app for my servo which allowed it to home against endstops, read the internal hall effect motor sensor for position tracking (no external sensor required), and talk on a custom RS485 multi-drop bus for control. If you'd ever like to explore the idea of custom VESC apps, let me know and I'd be happy to help :)
Thanks!
And well I didn't know that you could write custom apps for Vesc. That actually sounds super useful and also might come in handy in future. My servo was just a one time project, but if I am ever going to build something similar I would be glad to use your help.
Also do you maybe have any videos of that servo of yours? Because from the description it seems like a really awesome project : )
@@BasementCreationsChannel Sorry for waiting so long to reply, been so busy with work 😅. And sure thing, I'll record a video in a bit and post it so you can take a look at it :)
@@BasementCreationsChannel Just recorded and uploaded a quick video to my YT channel. Hopefully it doesn't stay in 720p. Let me know what you think of it :)
Wow Thanks man. This is a great job. I think I’m printing out one tomorrow😁, reduced scale though.
Holy crap! That thing is HUGE!
Great video ,thank you for sharing
i love that this goes together with wood screws
Waw, this is a great video I found by accident ! Keep posting ! Btw, I saw you're from Poland... nice country!
Your a life saver thank you
Wow. This is an awesome design.
Thanks! Btw I love your content! I just gave you a sub cause I'm starting my adventure with Ardupilot and I find your videos to be super informative and well made. Keep up the good work!
@@BasementCreationsChannel Thank you. It’s nice to know that more of us are out here tinkering with stuff. I also find your videos interesting. Keep making more.
I love it, will try to design one but smalller for a exosqueleton proyect, maybe adding a quadrature encoder for high acuracy?
Thanks man!
I am fascinated by exoskeletons and when I was making this servo I had an idea at the back of my mind that it might be used in one. However as you said it should be smaller,more compact and also more precise.The backlash that this servo has is actually intentional since I wanted all the gears to run smooth even if my 3D printer messed up some dimensions. I designed them using Helical Gear + plugin in Fusion 360 so if you want to make your own servo you can try to design gears with less backlash. Also for precision it would be best to use encoder paired with an odrive and maybe even different type of gearbox like belt drive or cycloidal drive. As for the motor I think that for a small exoskeleton 6374 might be an overkill. You can try to search for smaller brushless skateboard motors with lower KV. I once did a research about robotic actuators and I found out that some people make them from those big flat drone motors like A12 8318 or Eaglepower 8308 and some even try to use cheap hoverboard motors as it turns out they have quite high torque (around 13Nm without any gearbox). Anyway that's all I know, hope your project turns out great!
Quadrature encoder would kind of be a pain to use, because every time you turned the servo on, it would have to find the start position and count pulses from there. Maybe an absolute encoder, they have rotary hall sensors that are pretty accurate.
damn when I saw the video quality I though that I was watching a channel with a couple of hundreed thousands folower ! you clearly deserve more ! loved this video ^^
Réel servo pour direction assistée électrique 👍👍
Very cool channel! Subscribed
Excellent walkthrough of different gears. I have always wondered why nobody uses such motors for actuators. Pancake hub motors for bicycles should have better torque on low revs, making it possible to have smaller gearbox ratios.
Thanks!
And yeah you are right pancake low KV motors are ideal for such robotic actuators. I am thinking about testing cheap camera gimbal motors for small 3D printed actuators, cause they would only require low gear ratio and would be perfect for mini robotic arms.
When applying grease for the gears, be careful, as if they are an even whole number ratio of one another it will likely never spread to adjacent faces. for example a 1:4 set. paint an entire half of the smaller gear, now 4 spots on the large gear get surface contact with those, And possibly that's as far as it spreads.
That's a great point actually, honestly I wouldn't have thought of it, but I'll keep that in mind from now on.Thanks for the advice!
Make sure you put some grease on the gears...use silicon grease...it works very well and won't degrade the plastic
the vesc itselve can work as an servo, no arduino needet.
You're right, but back then it was an easier solution for me to use external microcontroller
Quel le couple d un tel servomoteur 🙀🙀🙀
Did you use PLA or ABS filament?
Only PLA
Disculpa la pregunta pero 5 N es igual a 0.5099 kg. Porque dices que son 50 kg?
I wonder what backlash you got with these gears. It would be interesting to see any tests. By the way cool video, thanks for sharing files.
Well 3D printed gears are far from precision gears so there is a substantial amount of backlash in this servo. I didn't make any measurements tho so I can't tell you any exact numbers.
hi, what plastic gear did you 3d print?
All the gears and other parts are printed from PLA
@@BasementCreationsChannel Thank You!
I always hear helical gears are stronger than straight cut but at the same time helical are often replaced with straight cut in aftermarket performance applications for additional strength. Or used in high torque applications where noise doesn’t matter (the reason reverse makes that whine in a manual transmission is because they are straight cut. Matter of fact when I blew up the transmission in my WRX and I was building it up for more power I had straight cut 1-3 gears installed (popular upgrade) and they survived over twice the power the original helical gears sheered at albeit it sounded like a supercharger until I got to 4th gear.
Not my car but here is a video.
th-cam.com/video/rpzzHuaPLnc/w-d-xo.html
Always been curious about that. Think it’s anything to do with less space being used thus fatter/stronger gears?
EDIT: Nvm, found a engineering paper on it. Helical gears push themselves apart from each other laterally. If the load on the gears is high enough the gears can bend side to side causing them to rub against whatever is next to them or bend far enough they can lose contact with each other or strip the edges off. In other words it’s application dependent, just depends on the amount of torque and where that force will be applied. Ex. It’s better to have straight cut when using a large gear that can deflect.
man you don't really need a potentiometer since those motors are mostly sensored so you can just use the motors position for tha, that`s way more precise too
Ps. that's meant as positive critique, i love the design and i think you did an amazing job!!
Thanks a lot but to be fair I knew that those motors are sensored and I also considered using that sensor instead of potentiometer. However the sensor inside the motor isn't any precise encoder but 120 Degree Hall Effect Sensor which has pretty low resolution. It was also easier for me to program it using a potentiometer so those are the reasons why I used it.
@@BasementCreationsChannel Late to the party, but you'd be surprised how accurate and precise the internal hall sensors can be for an application like this, especially when you consider how much you are gearing down, your resolution just gets better and better. You can get resolution of a degree or two just rotating the can of the motor if you look at the VESC monitor tach output. Considering the rest of the backlash in the system, the final output resolution on the servo horn wouldn't be any concern. I left some info about me using the hall sensors for positional feedback in my own VESC-powered linear servo I did a while back in my other comment :)
next time use a rotary encoder, so you get a 360 servo
i am extremely interested but i have a question about the motor. in the video, you have a brushless motor but in the link to the Arduino code, he uses a brushed motor. do you happen to have the code for the brushless motor? i built a RC lawnmower(posted at the end) but I'm want to upgrade the servo with a brushless. there isn't a lot on how to make them servos on the internet. th-cam.com/video/HTpaumKJCJU/w-d-xo.html
Hi
You can download all the codes that I used in this video as a zip file from my Thingiverse (link is in the description).By the way I love your RC lawn mower and especially the fact that you used the whole Dji Inspire as a FPV cam ;)
@@BasementCreationsChannel ha thanks man. i was having trouble seeing the lins in the grass and there really aren't any good hd fpv systems out there so i used that initially so i could see. ive upgraded to the connex fpv system since then. How do you have that pot wired into the motor? it looks like the wire runs into the casing of the motor. Now ive made oversized servos with brushed motors but never a brushless motor. this is what im trying to make into a servo. its the rear steer for my truck it has a brushless motor right now i just have a car esc but i need it to be servo th-cam.com/video/gwXIadxhQKE/w-d-xo.html
Well the only potentiometer used in this project is the one mounted on the front of the gearbox.There isn't any potentiometer inside the motor but there is a small encoder there and that's why you can see those additional sensor wires coming out of the motor(Usually big hobby brushless motors have some sensors inside for smooth startup in electric vehicles). However this encoder is not suitable for precision control because it has low resolution and that's why I am using an external potentiometer. So basically it doesn't matter if you want to use sensored or sensorless motor to make a servo like this.
@@BasementCreationsChannel okay I think I see what you're talking about now. I'm looking at the code and where it has pin mode 5 and 6 as an output is that for the 5v on the pot and the ESC? I have been trying to figure this out for years and I greatly appreciate all the help you've given me. Also do you have that code set up just for the ESC in your video or will it work for a lot of ESCs?
Okay so in the code you can see that Pin A0 is defined as potentiometer , Pin 2 is defined as RC Receiver and Pin 9 is assigned for ESC signal. Pins 5 , 6 basically don't do anything and therefore you dont connect any wire to them. So what you need to do is to connect esc,pot and receiver to Arduino 5v and Gnd (Esc should be able to power up the Arduino) and later connect signal wires as defined in the code. And to answer your second question yes it should work with any ESC as long as it works in two directions (In the video I used VESC but it is just more advanced ESC and it is controled the same way as normal ESC)
There is a severe lack of lubrication in the system...
Way, WAY overgeared - given that this motor can easily output like 5 nm sans ANY reduction, 5 * 81 - you do the math :D No way in hell 3d printed gears (unless 3d printed metal, of course) can stand up to a fraction of this torque. 80% of your design does nothing except add friction and noice...
The concept itself (with a different motor like, indeed, 5065) is 100% viable though, be been thinking about a drive by wire bicycle...
Yeah I made this gearbox mostly for fun and it's not really practical design. The 6374 motor has a max torque of about 8Nm so with just a 1:10 gearbox it could become a really powerful actuator. I recently purchased an Odrive and I am planning to make a cycloidal gearbox for this motor so with that combination it could be a very strong and precise robotic actuator with actual practical uses.
lmao, that's - not quite the way that you are supposed to use a PID controller lol
lol BIG FUKING SERVO