omgggg you saved me this is exactlly what i was looking for, I needed an explanation of the inside of the mechanism, how it works and that file is golden thank youuuu
Yoo very nice that you linked the files for the download of the whole robot, I was looking for so long to find a whole robot with the gears and so on in CAD
Ah dude! Glad to see you used toothed idler Pulleys to make the 90 deg turn up to the wrist. That was a glaring issue that always bugged me about that joint. Cool project, nicely executed!
As a robotics engineer that made his own arm robot from scratch I can't help but be amazed every time I see these mechanisms, they're dang crazy. Thank you for showing this! 🙏
Holy cow I can't believe you managed to get a functional 3D print of that, it's insane. Hey bro I have a question, how did you model them bevel gears? They are nice looking on that assembly
Good video, I am doing some mechanical design of collaborate robot now. The common idea is that the reducer is linked closely to the motor and arranged far from the joint end to lower the inertia, this wrist joint with 3 DOF makes it , but I hear that the reducer of joint 5,6 is mounted at the joint position , so that the belt transmission can bear the big payload (350kg) with reduction. I don't know this reason is the key? or it has some design consideration? Wish you guys give some me explanation.
So I saw the -Sydien 4Pcs 5mm to 5mm Bore Inner Dia Rotatable Universal Joint Coupling- is unavailable.. What would be the recommended workaround here?
Great design! But aren't universal joints giving uneven angular speed output? I think a CV-joint would be better here, or, better yet, just 2 gears or a belt between pulleys to shift the rotation axis
If you phase the two universal joints by 90 degrees, the uneven rotation from the first is canceled by the second one. This results in a constant velocity output matching the input, albeit with the intermediate shaft having a varying rotational speed.
Curious to know if you could go one step further with this awesome design and incorporate a filament extruder attachment? I'm interested in building a 6 DOF arm for the purpose of 3d Printing but so few people have a functional one working with a quality equal to Core XY or normal Cartesian printers.
That's because simultaneous 5/6 axis 3d printing would be a programming nightmare. That being said there are some 5 axis FDM 3D printers people have built on youtube that are really cool.
Interesting. I would not expect that robot working with high precision and torque has belts in it. Actually I'm not sure how precise that robot is and if it has some kind of calibration and feedback to increase precision and compensate thermal expansion etc.
This is really interesting to see. I do wonder why they used the middle motor to drive axis 4 - I would have expected them to use the middle motor for the inner shaft going out to axis 5 as the drive for axis 4 needed to be geared and offset anyway. I has always assumed they used differential drive for axis 5 & 6 but it's interesting to see that they are both independent instead.
_"axis 5 & 6 are both ... independent instead"_ not really. When the 6th axis spins on it's own the 5th one requires input of both the 5th & 6th motors simultaneously in order to keep 6th axis bevel gear stationary in reference to to the 5th joint angular position. So in other words the input bevel gear of 6th axis should make 1 revolution per one revolution of the 5th axis in order to keep the angular velocity of 6th joint at 0 (zero) while 5th axis in moving. Here you can see how it looks like: th-cam.com/video/iblqrfu5wdw/w-d-xo.html th-cam.com/video/IbQUc3VW1qo/w-d-xo.html Moreover, in this particular robot arm design three motors of 4th, 5th and 6th joints respectively have to give input at the same time just to move 4th axis only.
Thanks! There just some infinite GT2 belts. There tensioned by moving the idler pulleys further out on a slot in the wrist and held there by some jamb nuts against the frame. I have no idea how kuka tensions their belts but this was the best method I could come up with for the scale of the arm.
@@coybeardmore I was looking over your parts list. What did you use for the outer barrel that drives axis 6? I was searching for hollow transmission shafts which are quite expensive, but I supposed you could make one from a tube and some flanges…
I just realized if you can do all this you could make a better 3d printer I'm sure yours is great but I'm sure you can make a better one with your skills lol
![[ ออกกอง ] วัยหนุ่ม 2544 โลกหลังลูกกรง..ทัวร์กองถ่ายหนังใน "คุกของจริง" | JUSTดูIT.](http://i.ytimg.com/vi/vB--aOkZCpw/mqdefault.jpg)
omgggg you saved me this is exactlly what i was looking for,
I needed an explanation of the inside of the mechanism, how it works and that file is golden thank youuuu
Yoo very nice that you linked the files for the download of the whole robot, I was looking for so long to find a whole robot with the gears and so on in CAD
This is such a brilliant job, man! Congrats and thanks for sharing!
Thank you so very much. It's just what I really wanted to watch and learn.
I love robots and 3d printing, I can tell when lots of hard work goes into a project. You got my SUB
Very cool!
Great job, hopefully we can see more in the future.
This is fucking rad. Very happy with the algorithm for showing me your channel
Ah dude! Glad to see you used toothed idler Pulleys to make the 90 deg turn up to the wrist. That was a glaring issue that always bugged me about that joint. Cool project, nicely executed!
Hi Coy,
I second all compliments. Really truly excellent work. Many thanks and greetings from Argentina
As a robotics engineer that made his own arm robot from scratch I can't help but be amazed every time I see these mechanisms, they're dang crazy. Thank you for showing this! 🙏
Crazy Design man, must be a fun work.
What a beautiful piece of art :)
amazing work! be great to see a series where you assemble all moving parts...
You are a Legend
I've been looking for this for a long time. Awesome job!
Great work man, I like it
This is amazing!!
If u can't buy, you DIY.
Beautiful 👌
What a great project! Well done! 👌😎👍
Pretty good analysis
Interesting to see how 3 shafts fed into the gearbox area
This is super impressive
Thx now i dont need to go and do the search 👍
Dude , you are a legend !!!!!!!
Holy cow I can't believe you managed to get a functional 3D print of that, it's insane. Hey bro I have a question, how did you model them bevel gears? They are nice looking on that assembly
I actually downloaded those from GrabCAD and modified them to fit
Amazing job, both looks great 👍.
Killer project.
Crazy how you reverse engineered it through a simple download file nice work man how to see more of your channel. Thank you for the video by the way.
wow. great work.
awesome job!
Are you working on the rest of it too, or stopping here?
No current plans, I really wanted to see if I could get the wrist mechanism to work
Good video, I am doing some mechanical design of collaborate robot now. The common idea is that the reducer is linked closely to the motor and arranged far from the joint end to lower the inertia, this wrist joint with 3 DOF makes it , but I hear that the reducer of joint 5,6 is mounted at the joint position , so that the belt transmission can bear the big payload (350kg) with reduction. I don't know this reason is the key? or it has some design consideration? Wish you guys give some me explanation.
So I saw the -Sydien 4Pcs 5mm to 5mm Bore Inner Dia Rotatable Universal Joint Coupling- is unavailable.. What would be the recommended workaround here?
this was so lit,, so lit that makes me wondering if you get sued by kuka for copyright issue or not,,
Hi dear do you know anyone who is using the robot arm for painting of the car?
Great design! But aren't universal joints giving uneven angular speed output? I think a CV-joint would be better here, or, better yet, just 2 gears or a belt between pulleys to shift the rotation axis
Thanks, yeah there not ideal but they were the best option for a prototype/proof of concept
If you phase the two universal joints by 90 degrees, the uneven rotation from the first is canceled by the second one. This results in a constant velocity output matching the input, albeit with the intermediate shaft having a varying rotational speed.
Ты гладиатор 💪
Curious to know if you could go one step further with this awesome design and incorporate a filament extruder attachment? I'm interested in building a 6 DOF arm for the purpose of 3d Printing but so few people have a functional one working with a quality equal to Core XY or normal Cartesian printers.
That's because simultaneous 5/6 axis 3d printing would be a programming nightmare. That being said there are some 5 axis FDM 3D printers people have built on youtube that are really cool.
Very impressive! I had to cringe when I heard about the lost files!🤯
Very nice!
Incredible, how long have you been working on this project?
Thanks! it's been a side project for about 3 months now
When the 4th axis rotates, do the 5th and 6th axis automatically rotate?
Interesting. I would not expect that robot working with high precision and torque has belts in it. Actually I'm not sure how precise that robot is and if it has some kind of calibration and feedback to increase precision and compensate thermal expansion etc.
It's not of choice of precision, but of budget.
This is really interesting to see. I do wonder why they used the middle motor to drive axis 4 - I would have expected them to use the middle motor for the inner shaft going out to axis 5 as the drive for axis 4 needed to be geared and offset anyway. I has always assumed they used differential drive for axis 5 & 6 but it's interesting to see that they are both independent instead.
_"axis 5 & 6 are both ... independent instead"_
not really. When the 6th axis spins on it's own the 5th one requires input of both the 5th & 6th motors simultaneously in order to keep 6th axis bevel gear stationary in reference to to the 5th joint angular position. So in other words the input bevel gear of 6th axis should make 1 revolution per one revolution of the 5th axis in order to keep the angular velocity of 6th joint at 0 (zero) while 5th axis in moving. Here you can see how it looks like:
th-cam.com/video/iblqrfu5wdw/w-d-xo.html
th-cam.com/video/IbQUc3VW1qo/w-d-xo.html
Moreover, in this particular robot arm design three motors of 4th, 5th and 6th joints respectively have to give input at the same time just to move 4th axis only.
Hi, just curious what printer you are using? cheers
Very impressive! What size of timing belts did you use? Are they different, and how they tensioned?
Thanks! There just some infinite GT2 belts. There tensioned by moving the idler pulleys further out on a slot in the wrist and held there by some jamb nuts against the frame. I have no idea how kuka tensions their belts but this was the best method I could come up with for the scale of the arm.
do you sell that arm?
Wowwww!!!!
How good is the repeatedly of the moments of this arm?
Untested, but there's a lot of backlash due to the universal joints, they were advertised to be used in an RC car..
Very nice job 👍 You should buy real one to your workshop 😉
One can dream lol
sick
Could anyone convert the file types to something compatible with the hobbyist Fusion 360, please?
Just uploaded some STEP assemblies to the GitHub, enjoy
Great!
😀
What are you an engineer? This is crazy
CAD AND CODE LINK WRONG! YOU CAN UPLOAD AGAIN PLEASE?
Fixed it, it should work now
I have a question how many time you spend to design the CAD?
If I had to guess it's in the low triple digits lol
@@coybeardmore Do you have the stl files for others to use?
Awesome job! Any possibility you could make a Bill of Materials for gears, shafts, belts, etc?
Just posed onto the GitHub :)
@@coybeardmore Wow awesome!!
@@coybeardmore I was looking over your parts list. What did you use for the outer barrel that drives axis 6? I was searching for hollow transmission shafts which are quite expensive, but I supposed you could make one from a tube and some flanges…
thanks for sharing. but next time turn down the music
Half robot at least xD
Cool if you are ever looking for a mechanical engineering job contact me
damn
I haver best
I just realized if you can do all this you could make a better 3d printer I'm sure yours is great but I'm sure you can make a better one with your skills lol
Thanks, keep an eye out and I think you'll like the next project ;)
For what it's worth - your music is WAY too loud in the beginning of the vid.
Cool very bro but terrible audio, take away the music or something
Where can I find information about gravity compensator?