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- เผยแพร่เมื่อ 12 ก.ค. 2012
- A smaller version was commercially available: • Affordable dual-arm SC... .
DexTAR (Dextrous Twin-Arm Robot) is the fastest five-bar parallel robot with the largest workspace possible. In order to take full advantage of its workspace, the robot crosses Type 1 (serial) singularities. In addition, the trajectory between two Cartesian positions is optimized in terms of cycle time. The robot's end-effector can accelerate up to 25 Gs. - วิทยาศาสตร์และเทคโนโลยี
![โอ้มายก๊อด! ไม่ถึงชั่วโมงหมดเป็นแสน 😅 [cc] แดนแพทตี้ SS2 | EP.42 |](http://i.ytimg.com/vi/OH2ShXfO6tA/mqdefault.jpg)
It’d be cool to see it draw
This is the commercialized version doing a drawing: th-cam.com/video/RoI0rjaVzKI/w-d-xo.html
CoRoETS maybe it’s following a path that you could call a drawing, but it isn’t tracing lines on any sort of canvas, it would be cool if you could put a pencil holder on it and make complex drawing very fast
th-cam.com/video/RoI0rjaVzKI/w-d-xo.html
pancake art
I love how you guys use the "deadspot" to allow different working areas, really brilliant!
Johannes, do you solve the inverse kinematics for the plotclock? In other words, can you draw a straight line or a circle, or you just teach your "robot" by hand and then reproduce the motion?
github.com/9a/plotclock/ see for yourself :) thankfully scara IK isn't too complicated
OK, we call these working modes, i.e., the four different solutions of the inverse kinematics. We choose the working mode that leads to fastests cycle time. More details can be found in the paper listed in the description of the video.
Hi - do you have a link to the paper? I don't see it there. thanks
Hello, what type of motor are those two?
Quite a few "battle scars" on that bot.
You did some stellar work on understanding these strange bots. It really helped me while implementing a firmware for a 3D printer with the same kinematics. Your papers were not an easy read but well worth the effort.
where could i find those papers? please
do you have a writeup or video about that printer? would love to see it, maybe try and build my own :)
@@moth.monster , I do not have a write up, but I have a few videos of various version on my channel. It was quite a challenge to make it stable using only hardware store and 3d printed plastic parts.
No, this robot is not redundant. It has two direct-drive motors that control the XY displacements of the end-effector, and one pneumatic piston that controls the Z displacement of the end-effector.
ok, roboomer.
Now this is what happens when you have real robotics, and proper materials. So flattered that you compared my humble Morgan reprap to this machine. Thanks
I fear the day when robots learn karate..
and.. brobot is black bot brother
lol atlas is getting there that thing is more nimble than 99% of humans
Karate is harmless.
Technology is changing so fast my head is going to explode
So going from the lower to the upper area of the addressable space appears to be slower than moving within the separate regions?
Also, Is underconstraint during the flipover an issue?
Damn. That accuracy.
I am wondering how such a parallel robot compares to a cartesian or corexy in terms of positioning accuracy and weight it can support.
how did you solve the singularity problem?
It looks like they just avoid flipping the linkage, and tightly control the relative positions of the motors in software.
@@ezrakainz Yep and the motors are both placed more to the back. So no need for flipping the linkage.
What singularity problem? Aw snap....
No need to solve the singularity since it moves only in 2d.
Great robot, just when I have this idea I see it already done )
What's the software and electronics?
The servo period must be short for the speed.
Very nice work : - ))
0:54 some sort of remix might sound good
I am afraid there is no such thing as "ambiguous constellations". You most probably mean singularities. This robot has two types of them: serial (when one of the two arms is fully stretched) and parallel (when the two distal links are aligned). DexTAR passes through serial singularities only and this is fairly easy. We cannot (and do not want to) pass through parallel singularities. However, some researchers do that by deactivating both motors just before a parallel singularity.
Man that thing would make a hell of a cnc machine
Hello, I have a question sir. Is there a danger zone in this robot, I mean when the two arms get touched between themselves. If yes, how to avoid it. Thanks . Great work by the way.
I would like to build one of these to drill holes on square tubes in a little fabrication production line where the table which holds the square tube or plate would raise to drill the tube while this positioning divice would put the drill in position according to a pre- programmed pattern by a CNC.
this is open source project or commercial?
Ah, thats interesting. But what I was thinking of: to achieve a specified coordinate, there are more ways than one for each arm. So, how do you determine, which constellation is chosen?
They could use some form of gradient descent.
Right, it's a closed kinematic chain. A rectangle for examble has 4 joints, but only one DOF.
I'm just wondering, how you are escaping all the ambigous constellations?
Amazing
Not really redundant if you need fixed orientation of the end effector - by using the parallel scheme you effectively remove one motor. In other words, you would need 3 motors had you used a SCARA. Besides, since both motors are used to create the movement, the available torque and therefore speed are just nothing short of amazing
When you need to move a ball bearing between holes, this 'bot has you covered.
This machine is so fast I would name it "The Kung-Fu CNC" :)
Interesting !!!
Somebody please sample this and make music out of it
Which motion profile is used?
What are the costs to produce such a robot?
Whats the velocity vs speed i wonder
Freaky fast!!
What engines are these
can you tell me the maximum speed and acceleration with which it is moving ? please
It says 25Gs in the description.
I salute to the programmer. I know its very hard.
Damn it's fast
Should have called it Iron Mantis
What is the advantage of this over a $10k SCARA? Or it could just be that the SCARA's have advanced that much in the past 7 years since this was posted.
yo bro, nice!
Beat drops at 1:43
can you draw a square with it?
yes
что это за два движка ?
Scary
It's a gen jutsu!!!
can this be converted to a 3d-printer?
it could have 3D printing applications.
What sort of Kung Fu insect is this
The controller is an old PC running MathWorks' xPC Target and with a Quanser's Q8 card. The controller was programmed in Simulink. The control law is Computed Torque. The sampling time is 1 ms. The motor drives are the one sold with the direct-drive motors.
is this redundant robot cause the robot has 2 degree of freedom (translational X-Y)and five joints (passive +active)as i think.. great job
У этого робота есть "мертвая зона". Не сможет провести линию на на равно расстоянии от осей моторов.
Jake Chan.
Hanzhen harmonic gear , robot gear reducer, 30 years experience
Whoa what the hell
It's only 4 bars moving , not 5 !
Why does this robot remind me of "Igorrr - Very Noise"?
Who uses the word singularity to describe a robot - RU trying to get the species taken over!
kung fu robot
??????
Delta robot is fastes
...🤔?????....!!!