Building a 6 Axis Robot Arm from Scratch - 1
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- เผยแพร่เมื่อ 19 ธ.ค. 2020
- Homemade/ DIY aluminium six axis robot arm from scratch with servo drives and absolute encoders. This video shows the design, machining and the current status of the build. I started with building the first 4 of 6 axis, to be able to make some changes on the way if necessary.
The idea is to design and machine the structure of the robot from scratch as well as the servo drive system, modeling and control (programming). The main goal is high performance at a low price.
If you have any questions: leave a comment or feel free to contact me: info@EngineeringSpareTime.de
Smaller updates to the project via Instagram: @Engineeringsparetime - วิทยาศาสตร์และเทคโนโลยี
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As a mechanical engineer myself I truly appreciate your build quality and your overall design. Well done. I definitely stay tuned.
Thanks - I appreciate it :)
Huge kudos for design. Especially on printed parts.
These parts are gorgeous.
That is certainly a beautiful machine. Please share more.
Wooow that mirror quality and the design is really beautiful. I’ve enjoyed every second of the build. Thanks for sharing!!
Thank you! A new video about it is coming in the next weeks :)
All of these parts are utterly gorgeous! So clean and elegant despite their complexity.
Can't wait to see it in action, and completed with all 6 axes.
Thank you :)
until the servo drive is working, I’ll continue with the mechanics. Next video will be about the drives and probably some first movements.
Can we expect a part 2 of these build series?
Nice work btw👌🏼
Yes, I’m in the process of finishing my studies. In a few weeks I’m planning to create more videos again. The robot is running now, so there is lots to talk about :)
@@EngineeringSpareTime hopefully you continue doing updates. ! High quality work !
Holy shit, this is truly incredible work!, please continue to share your projects.
Dude! This is awesome! Your content is quite inspiring to me, so thank you. :) Now that my semester is over I can get back to working on my own CNC mill.
Thanks! That’s nice to hear. I wish good success with your build
I love this!!!
We need more
Got a new fan here. Had to build my CNCs first but its all for the same reason as you;)
wonderful project
beautiful parts.
so frickin good wow!
Tremendous! I guess you know how your spare time over the Christmas / New Year break is going to be spent!
Thanks for the video... Liked, already Subscribed.
Thank you - I appreciate it. Yes, I‘m going to start with the servo drive PCBs.
Beautiful work. A few questions here.
1) Calculated weight of each joint and robot arm as a whole and expected lifting power from servos of each joint? Gripper (last joint) lifting power?
2) Cycloid gears, so almost no backlash?
3) You say 6 axis does that mean a true 6 axis with all the mathematical calculations of forward and reverse kinematics that go with it?
4) Will you write your own program from scratch or use something as a base?
This is great!! 🤩
Thanks! Your robot too!
I’m relatively new to machines and cad in general and I recently got a cnc machine for a good price. It would be great if you included a parts list so I could get a bit better grasp on this because it truly is amazing. Thanks!
Thanks! I want to see how it turns out first, if everything is working as intended I can provide a overall description of the project :)
The masterpiece.
what was your approach with bearings? i thought i saw both thrust needle bearings as well as some ball bearings, how were those configured?
sick
very smart.
Hello, this is awesome! I want to build an arm as well. How did you program the motion of the robot?
Trying to make a robot for school, can you link the motors and encoders/electronics you used to drive them?
Will there be a part two? Would be really awesome!
I hope you will use harmonic drive reducers to get a good repeatability (and to get more torque also) for your robotic arm. For industrial class robotic arms of this size repeatability is < 0.1 mm and payload at least 5 kg.
The system is based on belt transmissions, this reduces cost drastically. With the control strategy I will use, it should be possible to take into account the flexing introduced by the belts. ..
At least 5 kg: This is mostly restricted by position and acceleration in industrial robots. I am planning with 3 kg in all poses
Broh this ist so nice to see, do you got any stl‘s or something u would share?
so close to those tall bolts~~!😱
Any indepth video coming on this soon? 🙏🏼
What is the absolute encoder you used? I use hollow shaft potentiometers from P3 America in mine
It’s an RLS Orbis magnetic encoder
Where do you get your aluminum plates?
I got them cut by a local laser cutting service. This is not too expensive and it would just take too long to mill the overall shape on my cnc - not worth the time.. other than that, I get the Aluminium in an online shop that’s sells even small quantities for a reasonable price
Servos motors number serie or name ?
Which lathe machine you use?
It’s a Wabeco D6000
@@EngineeringSpareTime thanks
Which cnc do you have?
Check out my video on building it :)
Boa noite ! Você tem o projeto para disponibilizar ?
Um br
Could I commission you for a helper robot arm for filming product reviews????
What's the payload on this arm?
Max. 3kg
What could be the cost of something like this
...
This depends on the quantity, version (double position measurement..) and included software. To name a range (hypothetical selling price): about 3-6k. Just the hardware incl. drive system would be the lower end .
The system can further be optimized for production though..
I miss somehow the demo of the arm ...
Yep, u are right, this is just part 1 - I am working on it. The next video will follow in the next few weeks. You can check my Instagram @engineeringsparetime for incremental updates, there are already some short videos of the movement :)
Hanzhen harmonic drive gear , over 30 years experience , robot arm gear ,,
It's not being built from scratch😭😭😭
It is :) what makes you think this?
Which cnc do you have?
The CNC is selfmade - there is a video about it too :)