Not enough people are talking about how well presented this was! My mom generally has a hard time understanding things like this, but the way it was presented made it really intuitive to grasp it!
i worked for a couple of years in a factory that assembles linear robots, i just love this kind of stuff with all the thought going into this to cramp as much moving part into such a small space :D
Not many people are this willingly to show the innards of their design and the mechanical concept driving it. It is people like you that push us forward. You deserve the highest regards.
It's a useless device, the motors/manipulators take up too much space and the patterns on the ball and gears (if made with steel) would require extremely cost prohibitive machining. Some kids in college made it to flex their intellect but its actual applications in the real world are 0. Otherwise they wouldn't be showing how this unpatented device works in such great detail.
@@Fine_i_set_the_handleToo much space for what application? The gear can be made for next to nothing with additive manufacturing. This isn't a product, it's a proof of concept for a new design. All other practical considerations are secondary at this stage, that's how all new designs start.
Here are some additional details that you may want to include in your translation: The mechanism was developed by researchers at Yamagata University in Japan. It is called "ABENICS," which stands for "Active Ball Joint with ENgineering of Spherical and Saddle Gears." The mechanism has potential applications in robots, medical devices, and other machines that require precise positioning and control.
@@MasterCookies the movements normal but the idea of knowing how to manipulate several movements to get the final output movement is whats dogshit, its a fuckload of maths and not very visualizable in terms of mathematics
TH-cam algorithm: Are you interested in robotics? Me: Er, I don't know anything about it, so- Algorithm: Ok lol anyway here's a dope video about a ball joint
If both drivers sat on the same plane then I believe that would be the case, however with both drivers mounted at a 90 degree angle then that singularity ceases to exist and also gives the joint a greater range of potential motion.
It's creations like these that inspire me to keep moving forward in my pursuit of robotics. It's been a while since I have done engineering for school but I know that I want to make things like this. Not only for commercial use, but to inspire others like these artists did with me
This is so beautiful. It's so intuitive and makes so much sense but coming up with something like that is crazy! Now I'm very interested in the math behind it, are the driving rollers working on some weird core XY variant? What's the math behind roller input and output shaft position. I want to know it all :D
It probably doesn't actually know the angle each axis on the ball and calculates how much they will change depending on the speed, direction and angle of the driver gears and keeps track of that
@@kolterdyx I agree with you completely. I work for a company designing and testing precision motion control systems, and while it would be possible, and not too difficult to use motors with built in rotary encoders, the lack of encoder wires coming from the motors show these are running in open-loop with no position feedback. If you had motors with encoders and pair each set of motors on an arm in standard XY configuration(the 2 motors would be offset 90°), then you could do the trig calculations to calculation the physical travel/rotation of the ball. Then interesting part comes on how you want to handle the second set of motors on the other arm. You could either do the pain in the ass over, complicated route, of having all 4 axis running in sync to handle each command if your software will allow it(I've done it on hexapod systems, and it is a lot of math and an absolute pain), or assign roles for specific axis. I'd probably have one arm handle the XY rotation, have one of the motors on the other arm handle the Z rotation(the X and Y will need to be set to slaves axis of Z to rotate when it does, while still following their own commands). The 4th motor on the arm with the Z axis, I would have running constant low current to always be opposing a primary axis to prevent the backlash issue seen at 4:35(the jerking at the start of the movement is the driving motor is shifting the contacting fact of the ball's gear). While this is a cool concept, the backlash issue inherent to this design rules this out for any precision work, and the low contact area because of the possible tooth width means that with any load added, you'll see wear become a more serious issue. With wear, you will increase your already existing backlash issue, and at worse, break a tooth or one of the rollers on the motors. This will not reliably be able to handle loads, and if a tooth or roller face breaks or shears off, the load attached will come crashing down. Also the fact there is no simple way to add electrical limits to a system like this, means that any programming mistakes with this will likely result in damages. TL;DR: Yes to you, and sadly no to the design... it is cool though.
@@MinatoAsk "You could either do the pain in the ass over, complicated route, of having all 4 axis running in sync to handle each command if your software will allow it(I've done it on hexapod systems, and it is a lot of math and an absolute pain)," I was actually referring to IK there as it's the only way to run a hexapod system properly. But when there is only one rotational position you are controlling and all axis are at a set relative angle to each other, there's not much reason I see in trying to run IK. Plus I personally wouldn't trust IK in a situation like this for two reasons. Reason one is that this setup looks very prone to running into gimbal lock situations if you're not careful, and in precision systems, you don't want the system you be on the fly making alternate routes to free an axis is that situation. Reason 2 is that there is that with the arm attached, you have fairly defined physical limits that are not axis specific. On most systems with hardstops, you will have electrical or software limits that tell the stage, "stop you are about to go passed your safe limit and hit something". On this, you don't have electrical limits, and as the axis are always shifting orientation, software limits would be very difficult, and risk damaging the the system if something is missed. Plus as I stated in my previous comment, unless you sacrifice one axis to keep a slight opposing force to an axis, you will have unwanted backlash to deal with. While this wasn't really designed with precision in mind, that is just the priorities I have when looking at something like this. Even something not requiring very high levels of precision, like a simple parts picker on a PCB assembly system, that backlash and the wear the teeth will experience over time would make this a no-go in my book. This is just my opinion based on my experience, and the field I'm in. Others with a different background and priorities may look at this differently, but if everyone agreed on everything, the world would be a rather boring place.
@@Poptart133g very well written! Part of learning is learning the hard way first only to find there's easy way to do it, lol! I've deal with servo motor controls before and used IK, so yeah, maybe the alternative is better for this specific project
It's like the ball is threaded in the way a multi-directional screw would be threaded (it can engage or disengage clockwise or counter-clockwise, depending on pressure... generally impractical for screws) and then the driving ball joints are the single-direction threaded guide, but turnable so it can engage to turn the multi-directional threading on the ball. Very neat!
@@seennotheard8888 As the spherical Gear's teeth is not completely symmetric, there should be a limit of movement at certain angles. Hence I think he added a second drive unit for that reason, and to reinforce strength.
I was very disturbed by the SNAP motion of Driving Module 2 at 1:43, but upon deliberation, this occurs to me to be an animation or motion planning error. The 180 turn was completely unnecessary. So this does not speak against the design. With only two drive motors, one Driving Module, it will only be able to turn the motor around when it's on the singularity. So most of the time, it only has two degrees of freedom, which, figures, with two motors. The ball has 3 degrees of freedom though, and to utilise them fully, here 4 motors are necessary... this doesn't exactly sit right with me. Like, it's basically overconstrained, and it would only work because the tolerances are junk. Then it only gets shown mechanically with only one active Driving Module, and the second being an idler...
I completely agree with everyone here, the presentation and execution of the project is something to marvel at. The system is mechanically redundant as you have more motors (inputs) than degrees of freedom. Although this shortcoming, I think that this is a wonderful showcase of engineering, and someone will find such an actuator useful someday.
Tbf dual motor/input for single linear/rotary axis are very common in machines as it allows to counteract mechanical backlash of the axis as well as more power without having to resort to a larger motor. Multiple small input gears into one large gear also allows for a larger than normal gearing in a single gear stage as it has more teeth engaged splitting the force (generally its problematic to have a large gear ratio as the teeth strength starts to be a limiting factor).
prosthetic elbows is pretty obvious is it not? 360 degree rotation would actually give amputees MORE freedom of movement than with a normal arm (although unless you're building out of titanium then it will have much less strength to weight)
I was trying for long time to imagine a ball joint that would work like this, but with much more simplified mechanism. This could be revolutionary for robotics!
Art work 10/10 , Useful 2/10, Practicality in programing the servos 1/10, Price tag 0/10. Compacity vs force output 5/10. Number of components required to build the servo motion output 3/10. Something genius to make your friend jealous 9.5/10. Outsource ability of producing components 7/10. Precision of the output 4/10* because it could be better if not made of plastic. Over all video 8/10. Final score: 49.5/100
This mechanism can achieve a controllable range of motion with fewer moving parts. Is ingenious, to say the least. What material will the spherical gears be made of in the final iteration? The only concern I have with this is the durability of the spherical gear and the importance of keeping derbies from getting in. After watching the whole video, I'm not sure about fewer moving parts if you count the transmissions for each driving module.
Interesting, but what real-world application would this have? It has full motion, but it's restricted in multiple axis due to the requirement to keep the ball captive and engaged to the drive wheels. It seems it would be inferior to a standard two axis direct drive system in many ways.
This video is quite dense in terms of information but it's so well explained through the animations, barely have to pause or slow down at all to understand it. Absolutely incredible design
This could make an incredibly useful tool for driving and ratcheting. Could also make for an incredible device for cutting, milling, and amazing surgical operations.
You are right about the driving and ratcheting, but not the other uses. There is no way to get any services (cables, power, hydraulics etc) to the output arm, without restricting its motion in such a way that other, simpler solutions can perform the same job.
@@VidarrKerr Yup, that would work, but very low power. Or, and its thanks to your comment that made me think of using energy stored in the ball... Batteries for example.
@@dougaltolan3017 There can be a motor inside the ball too. Imagine that. edit: Think of the centripetal forces and things you could do. Also, look up how car differentials work and apply that to the gears that drive the ball. The possibilities are endless.
I love seeing the demo/promo videos of things like this. What really makes this stand head and shoulders above so many others, is how instead of just showing off the example, they break down how it works. Well done!
Amazing mechanism, amazing animation, and amazing music. Wth kind of sorcery is this??! Seriously, my toe was tapping uncontrollably through the whole video...
Best video on TH-cam EVER! I wonder what is the step resolution on the movement of extended arm. Or it is analogous movement. This is really ingenious design and presentation. Thank you for sharing.
I had a very similar idea around 2012. The start of the concept was an omni directional, spherical, spiked wheel for use in tanks, as an alternative to using a continuous track. I had a different idea for the driving mechanism, though this one is smoother looking.
mm yes the algorithm it has it’s ups and downs but *this* oh my, this is the best i’ve seen may the algorithm bless you for the veiws and us for the godly content
the main issue with a mobile suit is actually how it is powered. People have crafted power suits but they then have Massive wires coming out the back so they can't move around much.
@@rrteppo The power is needed in order to combine inertia with versatility. Improving strength-to-weight-ratios in all the electrical and mechanical parts could sort that out. So Graphene could probably do it.
I’ll one-up you. Graphene *will* be doing it once the draconian dynasties stops lobbying their pocket-scientists and politicians to file countless fallacious studies regarding the potential toxicity of graphene, and NCT more specifically.
Incredible how this works! Are there any singularities to it? How is friction and wear? Can't the spherical gear fall out? I'm very interested to see where this goes.
Is it just me, or would this have a reduced range of motion in the case where the pole of the monopole gear aligns with either of the poles of the spherical gear? At that point, if the drive unit rolls, it'll just slide over the ball gear. Not quite gimbal lock, but similar.
@@lechatmax8804 If it were modeled in solidworks, this animation where there is animated geometry certainly wasn't modeled in SW. I am a 90th percentile user, meaning I have used most of the program and SW is never displayed here.
Amazing! Simply amazing! From one engineer to another, this is just so beautiful! And the cross-section literally made me nut! So simple and yet so modular! The usefulness of a ball joint without a ball (and the associated friction) is immense! I mean, do the teeth catch on each other? Is there a lot of shear between the individual bits (especially if they're not metal)?
I wonder if it would be possible to link the two driving modules with a tube of some stretchy material to make the whole thing move like a human knee (although with a greater range of motion ?)
Can someone explain the rotational limitations of this for the laymen? Doesn't the ball joint need to return to one of the poles for the ball joint to be rotated on the axis of that pole? Or can the joint rotate from literally any angle?
это можно использовать в бедующем как подвижные части для роботов, если приловчиться in English: this can be used in the future as moving parts for robots (for example, the knees)
A splendid explanation video! The step by step explanation, just makes it click. But most importantly the music is actually good. I wish this was the norm and not a rarity. I suppose so many have been forced to watch a video from their uni or college which usually explains the concept reasonably well but has this cheesy soundtrack making it rather unsavory to watch. Bravo, Yamagata University!
how sturdy is it? i would imagine something this complex would have quite a bit of slip and flex seeing as how much (or little) surface area is in contact at any time with the driving "gear"
No one is going to point out the background music!? It's groovy as heck! Aside from that, I found this very interesting, especially how the different axes were added.
First and foremost, this is awesome tech! Just baffled my brain! Also, the music is equally as cool, please can someone help me identify who the artist is and where i can hear this song/album?
I see inside construction applications, sheet rock installation, brick laying maybe. Don't know if the gears could handle outside dirty types of construction.
to complex and so many parts wich can fail BUT if have a good aplication it worth it. Otherwise is just for pleasure to see the complexity of this joint. Any aplication? thank you.
Not enough people are talking about how well presented this was! My mom generally has a hard time understanding things like this, but the way it was presented made it really intuitive to grasp it!
How does your comment have more likes than mine... Ffs
@@VroomTech yours was rational. People like soap opera. Next time complain about the world and appeal to mom.
the presentation on this is a piece of art ;) taking notes for future projects
@@VroomTech Really? You're bickering over someone with a difference of 100 likes? 🤦♂️
Reddit
This is infinitely more satisfying than most of the self proclaimed "satisfying" animations on youtube.
Yes i agree 10000%
Something should be inherently satisfying. Simple machines coming together to create a complex mechanism that performs smoothly.
i worked for a couple of years in a factory that assembles linear robots, i just love this kind of stuff with all the thought going into this to cramp as much moving part into such a small space :D
Maybe without the music
Thats the difference between motion graphics and CAD modeling for robotics lol
Not many people are this willingly to show the innards of their design and the mechanical concept driving it. It is people like you that push us forward. You deserve the highest regards.
It's a useless device, the motors/manipulators take up too much space and the patterns on the ball and gears (if made with steel) would require extremely cost prohibitive machining. Some kids in college made it to flex their intellect but its actual applications in the real world are 0. Otherwise they wouldn't be showing how this unpatented device works in such great detail.
@@Fine_i_set_the_handlemaybe it has ONE use atleast because it seems like it's shoved up your arse
@@Fine_i_set_the_handle🤡
@@Fine_i_set_the_handleToo much space for what application? The gear can be made for next to nothing with additive manufacturing. This isn't a product, it's a proof of concept for a new design. All other practical considerations are secondary at this stage, that's how all new designs start.
Here are some additional details that you may want to include in your translation:
The mechanism was developed by researchers at Yamagata University in Japan.
It is called "ABENICS," which stands for "Active Ball Joint with ENgineering of Spherical and Saddle Gears."
The mechanism has potential applications in robots, medical devices, and other machines that require precise positioning and control.
Absolutely stunning mechanism and spot on presentation. The engineering, mathematics and coding of it must be amazing.
This is one of those things that just makes so much sense that you can't believe no one thought of it sooner. It is pure genius.
Was thought of. Just no action. Same idea as the cars wheels in “I Robot”. I would say.
Was thought of. Just no action. Same idea as the cars wheels in “I Robot”. I would say.
Imagine the math when trying to code this thing
Probably quaternions lmao
PhD level stuff going on here
@Bonny _ try inventing them for the first time ever lmao
@Bonny _ yea true
The maths is not quite bad, just inverse kinematics should be sufficient..
This looks incredible. I don't want to revisit quaternions to understand it but I really want to play with it.
Noob
i don't know what that means but i agree
You seam to be smarter than me, i take it quite at face value but the basic seams to be simple gear movment, am i wrong?
@@MasterCookies the movements normal but the idea of knowing how to manipulate several movements to get the final output movement is whats dogshit, its a fuckload of maths and not very visualizable in terms of mathematics
@@slykeren8371 quaternions is a mathimatical system primaraly used for stuff like 3d rotations.
This is the most brilliant product of intelligence i have seen in a while.
I can only agree
Indeed. But useless tho.
Posting it like this wasn't brilliant. The CCP just got handed a blueprint. They'll ignore patents. And use it militarily.
@@kentgladden4316 Yeah technology is cool and all but have you considered CHINA?
@@AutoFirePad Not true. Imagine sticking this kind of drive on a 3D printer.
Not only is the mechanism cool but the explanation was incredibly well done making this basically open source. Nice work.
TH-cam algorithm: Are you interested in robotics?
Me: Er, I don't know anything about it, so-
Algorithm: Ok lol anyway here's a dope video about a ball joint
Right? I watch one video about Pacific Rim and now YT decides to let me know that we're working on that sorta tech.
TH-cam knows us more than we do
I see that Project V is proceeding nicely.
When will the first Mobile Suits be ready?
asking the real questions, ty
funnily enough, that was the first thing i thought of. Mobile Suit Testing
Sieg Zeon!
under rated comment
next video: psychic manipulation mechanism
Impressive, beautiful mechanism so cleverly designed, and well presented.
Are there singularities at the gears' poles where rotation is impossible?
If both drivers sat on the same plane then I believe that would be the case, however with both drivers mounted at a 90 degree angle then that singularity ceases to exist and also gives the joint a greater range of potential motion.
@@shieldcaptain54 the video even seems to go out of its way to demonstrate this at around 95s
Like a gimbal lock? No idea, algorithm probably avoids it.
It's creations like these that inspire me to keep moving forward in my pursuit of robotics. It's been a while since I have done engineering for school but I know that I want to make things like this. Not only for commercial use, but to inspire others like these artists did with me
動画の技術がすごいのはもちろんなのですが、曲の編集がものすごく良いです。
本家の曲に対し、よりチルとイージーの方に重点を置いてる感じが堪りません。
こちらのリミックスバージョンをスマホに入れて聞きたいくらいです。
Shows Monopole gear
Me: Well, yeah, thats how gears work.
Turns monopole gear 90 degrees.
Me: OH SH** !!! THAT'S GENIUS!!!
I also reacted like that! I was like "how has no one thought about that in like 500 years??"
@red dunkey huh?
@@kolterdyx
Maybe they mean that it has been thought of, but kept a secret?
Or that patent trolling is to blame?
@@kolterdyx th-cam.com/video/XKBX0r3J-9Y/w-d-xo.html
@@Sako-85_308 ty - that was really great!
Probably the one who designed it perceives things we can't even comprehend, this is so creative and beautiful.
This is so beautiful. It's so intuitive and makes so much sense but coming up with something like that is crazy!
Now I'm very interested in the math behind it, are the driving rollers working on some weird core XY variant? What's the math behind roller input and output shaft position. I want to know it all :D
It probably doesn't actually know the angle each axis on the ball and calculates how much they will change depending on the speed, direction and angle of the driver gears and keeps track of that
@@kolterdyx I agree with you completely. I work for a company designing and testing precision motion control systems, and while it would be possible, and not too difficult to use motors with built in rotary encoders, the lack of encoder wires coming from the motors show these are running in open-loop with no position feedback.
If you had motors with encoders and pair each set of motors on an arm in standard XY configuration(the 2 motors would be offset 90°), then you could do the trig calculations to calculation the physical travel/rotation of the ball. Then interesting part comes on how you want to handle the second set of motors on the other arm.
You could either do the pain in the ass over, complicated route, of having all 4 axis running in sync to handle each command if your software will allow it(I've done it on hexapod systems, and it is a lot of math and an absolute pain), or assign roles for specific axis. I'd probably have one arm handle the XY rotation, have one of the motors on the other arm handle the Z rotation(the X and Y will need to be set to slaves axis of Z to rotate when it does, while still following their own commands). The 4th motor on the arm with the Z axis, I would have running constant low current to always be opposing a primary axis to prevent the backlash issue seen at 4:35(the jerking at the start of the movement is the driving motor is shifting the contacting fact of the ball's gear).
While this is a cool concept, the backlash issue inherent to this design rules this out for any precision work, and the low contact area because of the possible tooth width means that with any load added, you'll see wear become a more serious issue. With wear, you will increase your already existing backlash issue, and at worse, break a tooth or one of the rollers on the motors. This will not reliably be able to handle loads, and if a tooth or roller face breaks or shears off, the load attached will come crashing down. Also the fact there is no simple way to add electrical limits to a system like this, means that any programming mistakes with this will likely result in damages.
TL;DR: Yes to you, and sadly no to the design... it is cool though.
You can try learn inverse kinematics
@@MinatoAsk "You could either do the pain in the ass over, complicated route, of having all 4 axis running in sync to handle each command if your software will allow it(I've done it on hexapod systems, and it is a lot of math and an absolute pain)," I was actually referring to IK there as it's the only way to run a hexapod system properly. But when there is only one rotational position you are controlling and all axis are at a set relative angle to each other, there's not much reason I see in trying to run IK. Plus I personally wouldn't trust IK in a situation like this for two reasons.
Reason one is that this setup looks very prone to running into gimbal lock situations if you're not careful, and in precision systems, you don't want the system you be on the fly making alternate routes to free an axis is that situation.
Reason 2 is that there is that with the arm attached, you have fairly defined physical limits that are not axis specific. On most systems with hardstops, you will have electrical or software limits that tell the stage, "stop you are about to go passed your safe limit and hit something". On this, you don't have electrical limits, and as the axis are always shifting orientation, software limits would be very difficult, and risk damaging the the system if something is missed.
Plus as I stated in my previous comment, unless you sacrifice one axis to keep a slight opposing force to an axis, you will have unwanted backlash to deal with.
While this wasn't really designed with precision in mind, that is just the priorities I have when looking at something like this. Even something not requiring very high levels of precision, like a simple parts picker on a PCB assembly system, that backlash and the wear the teeth will experience over time would make this a no-go in my book.
This is just my opinion based on my experience, and the field I'm in. Others with a different background and priorities may look at this differently, but if everyone agreed on everything, the world would be a rather boring place.
@@Poptart133g very well written! Part of learning is learning the hard way first only to find there's easy way to do it, lol!
I've deal with servo motor controls before and used IK, so yeah, maybe the alternative is better for this specific project
Thank you very much for not only showing it, but also explaining it properly. If all ads where like this, life would be much better for everyone.
It's like the ball is threaded in the way a multi-directional screw would be threaded (it can engage or disengage clockwise or counter-clockwise, depending on pressure... generally impractical for screws) and then the driving ball joints are the single-direction threaded guide, but turnable so it can engage to turn the multi-directional threading on the ball. Very neat!
Exactly I had the same idea bidirectional threads
japan is back at it again this time making arm and leg joints for their mechs
Do you have any "gimbal lock" like issues with the two driving gears, when they are both facing horizontal?
Yes.. I have the same doubt..
The driving gears can also freely rotate, so there shouldn't be any gimbal lock issues.
@@seennotheard8888 As the spherical Gear's teeth is not completely symmetric, there should be a limit of movement at certain angles. Hence I think he added a second drive unit for that reason, and to reinforce strength.
I was very disturbed by the SNAP motion of Driving Module 2 at 1:43, but upon deliberation, this occurs to me to be an animation or motion planning error. The 180 turn was completely unnecessary. So this does not speak against the design.
With only two drive motors, one Driving Module, it will only be able to turn the motor around when it's on the singularity. So most of the time, it only has two degrees of freedom, which, figures, with two motors. The ball has 3 degrees of freedom though, and to utilise them fully, here 4 motors are necessary... this doesn't exactly sit right with me. Like, it's basically overconstrained, and it would only work because the tolerances are junk. Then it only gets shown mechanically with only one active Driving Module, and the second being an idler...
@@SianaGearz Do you think the manufacturers of kid's moving dolls care about that?
I completely agree with everyone here, the presentation and execution of the project is something to marvel at.
The system is mechanically redundant as you have more motors (inputs) than degrees of freedom. Although this shortcoming, I think that this is a wonderful showcase of engineering, and someone will find such an actuator useful someday.
Tbf dual motor/input for single linear/rotary axis are very common in machines as it allows to counteract mechanical backlash of the axis as well as more power without having to resort to a larger motor.
Multiple small input gears into one large gear also allows for a larger than normal gearing in a single gear stage as it has more teeth engaged splitting the force (generally its problematic to have a large gear ratio as the teeth strength starts to be a limiting factor).
@@exol511 indeed you are very right thank you for pointing that out to me.
prosthetic elbows is pretty obvious is it not? 360 degree rotation would actually give amputees MORE freedom of movement than with a normal arm (although unless you're building out of titanium then it will have much less strength to weight)
Absolutely fantastic work, the gearing is almost hypnotic to watch and the Moe Shop style music is a bubbly delight :)
I was trying for long time to imagine a ball joint that would work like this, but with much more simplified mechanism. This could be revolutionary for robotics!
This will be a revolution in robotic artwork and installation
Art work 10/10 , Useful 2/10, Practicality in programing the servos 1/10, Price tag 0/10. Compacity vs force output 5/10. Number of components required to build the servo motion output 3/10. Something genius to make your friend jealous 9.5/10. Outsource ability of producing components 7/10. Precision of the output 4/10* because it could be better if not made of plastic. Over all video 8/10. Final score: 49.5/100
@@marc-antoinethebeautiful7714 Thank you for this beautiful analysis. I've been trying to wrap my head around it for a while and you nailed it.
This mechanism can achieve a controllable range of motion with fewer moving parts. Is ingenious, to say the least.
What material will the spherical gears be made of in the final iteration? The only concern I have with this is the durability of the spherical gear and the importance of keeping derbies from getting in. After watching the whole video, I'm not sure about fewer moving parts if you count the transmissions for each driving module.
I don't know if I'm more impressed by the mechanism, or by the beautiful animation
Interesting, but what real-world application would this have? It has full motion, but it's restricted in multiple axis due to the requirement to keep the ball captive and engaged to the drive wheels. It seems it would be inferior to a standard two axis direct drive system in many ways.
i could imagine using it as a shoulder joint on a robotic arm, perhaps? there are probably more than a few applications
The engineering, video editing, music... wow.
"Jack of all trades, master of all"
Being a videographer, this could be GAME CHANGING on robotic camera rigs
im awestruck rn holyyyyyyyy
This video is quite dense in terms of information but it's so well explained through the animations, barely have to pause or slow down at all to understand it. Absolutely incredible design
More like you can catch the info...
This could make an incredibly useful tool for driving and ratcheting. Could also make for an incredible device for cutting, milling, and amazing surgical operations.
You are right about the driving and ratcheting, but not the other uses.
There is no way to get any services (cables, power, hydraulics etc) to the output arm, without restricting its motion in such a way that other, simpler solutions can perform the same job.
@@dougaltolan3017 Think wireless. Using waves.
@@VidarrKerr Yup, that would work, but very low power.
Or, and its thanks to your comment that made me think of using energy stored in the ball... Batteries for example.
@@dougaltolan3017 There can be a motor inside the ball too. Imagine that.
edit: Think of the centripetal forces and things you could do. Also, look up how car differentials work and apply that to the gears that drive the ball. The possibilities are endless.
I love seeing the demo/promo videos of things like this. What really makes this stand head and shoulders above so many others, is how instead of just showing off the example, they break down how it works. Well done!
I used to think I was mechanically creative... Then I saw this. I'm awestruck. The person who thought of this is a true gift to the universe.
これ、インプットとアウトプット逆にすると、ひねりやねじりを検出できる新しいジョイスティックになりそう。3Dモデリングの造形とかカメラワークの操作とかがより直感的に出来るようになるかもしれませんね。
旧世代のボール式マウスですね
ボール式マウスはDriving moduleの部分が固定なので違いますね。3つの座標軸のうち2つしか検出できません。
と思うのですがどうなんでしょう。
と、思いきや、トラックボールなら確かに一緒かも?
whatever person or team that animated this needs some type of award.
forget the robotics, this music is straight fire. when's the album dropping?
I want to know this as well
@@lines1645 +1
its in the description
th-cam.com/video/SL5OlY0LC3s/w-d-xo.html
@@MommysGoodPuppy oh i think they just updated the description, but thanks pog
I thought this was the noise the machine made when it's in operation.
That is an EXTREMELY GOOD visualization of design principal and operation - it doesn't get any better than that...
Such a good concept, i hope the minds behind it get a good prize
Amazing mechanism, amazing animation, and amazing music. Wth kind of sorcery is this??!
Seriously, my toe was tapping uncontrollably through the whole video...
これはすごい球関節が完璧に再現できてる！
構造上モーターは肩の外側でも問題はないだろうし人体の機械化がさらに近くなったで！！
th-cam.com/video/nt55lHeqfEw/w-d-xo.html
Best video on TH-cam EVER! I wonder what is the step resolution on the movement of extended arm. Or it is analogous movement. This is really ingenious design and presentation. Thank you for sharing.
What an incredible mechanism and it's been a very long time since I've seen that level of understandability and explanation. Absolutely fantastic!
I had a very similar idea around 2012. The start of the concept was an omni directional, spherical, spiked wheel for use in tanks, as an alternative to using a continuous track. I had a different idea for the driving mechanism, though this one is smoother looking.
The applications for this to be used in advanced prosthetics is what makes me excited.
I was just wondering what applications it could work for and prosthetics is an amazing one.
Ok this is by far the best use of youtube. My life just improved just watching and learning. I had to subscribe. Awsome.
is it possible to use the output link as an input kind of like a joystick?
Would be interesting to test, I feel like there would be too much torque though. Kinda like trying to turn a gear that's meshed with a worm gear
Also, is this better than current joystick construction?
mm yes the algorithm
it has it’s ups and downs
but *this* oh my, this is the best i’ve seen
may the algorithm bless you for the veiws and us for the godly content
This is the kind of stuff what would earn a "Leonardo Da Vinci Approved" Sticker
this... this will change the game without a doubt
Maybe I can live long enough to see a real mobile suit.
the main issue with a mobile suit is actually how it is powered. People have crafted power suits but they then have Massive wires coming out the back so they can't move around much.
@@rrteppo thing is in Gundam all the wires are non existent or inside of the exoskeleton, which all lead to the pilot using it and such
@@rrteppo The power is needed in order to combine inertia with versatility. Improving strength-to-weight-ratios in all the electrical and mechanical parts could sort that out. So Graphene could probably do it.
I’ll one-up you. Graphene *will* be doing it once the draconian dynasties stops lobbying their pocket-scientists and politicians to file countless fallacious studies regarding the potential toxicity of graphene, and NCT more specifically.
@@rrteppo Just invent free energy lol
both a nightmare and a dream for an engineer. Awesome ingenuity. Question is what application?
I see the ball joints for Gundams are starting to become a reality
Incredible how this works! Are there any singularities to it? How is friction and wear? Can't the spherical gear fall out? I'm very interested to see where this goes.
Would love to see a demonstration of rotating multiple axis around a central point using inverse kinematics!
Infinitely many angles, functions, and movements all created from simple angular motion
Can’t wait to get an arm that spins round and round 😎
Is it just me, or would this have a reduced range of motion in the case where the pole of the monopole gear aligns with either of the poles of the spherical gear? At that point, if the drive unit rolls, it'll just slide over the ball gear. Not quite gimbal lock, but similar.
That's why there's two monopoles. So when one is in the wrong position, you can use the other one to drive the ball.
what is the cad and presentation software being used, would be rad to learn!
solidworks
@@lechatmax8804 If it were modeled in solidworks, this animation where there is animated geometry certainly wasn't modeled in SW. I am a 90th percentile user, meaning I have used most of the program and SW is never displayed here.
My brain enjoyed every bit of this. Thanks!!! :D
この技術を応用すれば既存のタイヤで超信地旋回や横への水平移動が出来る様になるかもしれない？
Mind-bending. Only the nervous loud noise it makes all the time seem to be an impediment for many applications.
Absolutely gorgeous mechanism! Also, great music choice! Love me some IDM
That is a really cool joint design, and also I appreciate the link to the original music because this is doing things to my brain
Amazing! Simply amazing! From one engineer to another, this is just so beautiful! And the cross-section literally made me nut! So simple and yet so modular! The usefulness of a ball joint without a ball (and the associated friction) is immense! I mean, do the teeth catch on each other? Is there a lot of shear between the individual bits (especially if they're not metal)?
I would guess that it would be in a lubricant further down the track
I wonder if it would be possible to link the two driving modules with a tube of some stretchy material to make the whole thing move like a human knee (although with a greater range of motion ?)
That is extremely well explained! Very nice invention!
Can someone explain the rotational limitations of this for the laymen? Doesn't the ball joint need to return to one of the poles for the ball joint to be rotated on the axis of that pole? Or can the joint rotate from literally any angle?
This is literally what Japan is for. Nice work!!
IF only they wouldn't of screwed up real bad with Fukushima.
Great tech!!! How long until I can get my shoulder replaced with one of these?
Wow, a genuine step into smooth A.I movement
это можно использовать в бедующем как подвижные части для роботов, если приловчиться
in English: this can be used in the future as moving parts for robots (for example, the knees)
Bro this is the best mechanical animation I ever did see on TH-cam! I must find out how to do this kind of stuff.
This idea is like the Clockwise-counter clockwise tightening bolt. I'd love to see this work for prosthetics.
Dang, this is pretty cool. I'd like to see what come of this in 10 or 20 years
機械系は理解する知識に乏しいけど、見てるだけで凄くワクワクする！
This makes motions much more lifelike, I can see this being used in humanoid robots for shoulder joints and things like that.
I doubt it is too reliable for reasonable load. Viewing it perform with an arm and small load- it did seem like it skipped tooth a few times.
A splendid explanation video! The step by step explanation, just makes it click. But most importantly the music is actually good. I wish this was the norm and not a rarity. I suppose so many have been forced to watch a video from their uni or college which usually explains the concept reasonably well but has this cheesy soundtrack making it rather unsavory to watch. Bravo, Yamagata University!
This should be installed on the ISS. Canadarm could have a new friend.
how sturdy is it? i would imagine something this complex would have quite a bit of slip and flex seeing as how much (or little) surface area is in contact at any time with the driving "gear"
Very promising tech, countless uses.
wow, it can simulate shoulder joints. it can have various potential uses.
the explanation looks like something out of a science fiction movie, yet it exists in real life
I can't tell what the monopole gear does differently between the gearing motion and the sliding motion that causes the ball to move in different ways.
Would love to see a full robotic arm made with this. The ROM is very similar if not more mobile to a glenohumeral joint
No one is going to point out the background music!? It's groovy as heck!
Aside from that, I found this very interesting, especially how the different axes were added.
First and foremost, this is awesome tech! Just baffled my brain!
Also, the music is equally as cool, please can someone help me identify who the artist is and where i can hear this song/album?
I'm not able to find the source for the song but Moe Shop has quite a bit like this!
@@StormBurnX cheers
all that engineering for a really good joystick
12/10
Do this on a larger scale and you got insane Omni-directional wheels
A big carpet of little bobbles to mesh with.
irobot
omni-directional wheels only need 2 dof, this is overkill
@@gralha_ my point still stands
Multi-axis crane. What other applications?
It is probably the dream of every mechanical engineer
I see inside construction applications, sheet rock installation, brick laying maybe. Don't know if the gears could handle outside dirty types of construction.
I wonder how does it work under load.
What program was used for the animation? It was absolutely amazingly clear, easy to understand for such a complex mechanism.
It's fantastic, intelligent and innovative that I lack words to express how great this mechanism is.
Mesmerized by the Ingenuity! Almost Unlimited Possibilities!
Congratulations Genius!🎓
I can't imagine designer's face when he first time saw project plan sketch
to complex and so many parts wich can fail BUT if have a good aplication it worth it. Otherwise is just for pleasure to see the complexity of this joint.
Any aplication? thank you.