Robot Arm precision test with a Laser!
ฝัง
- เผยแพร่เมื่อ 28 ก.ย. 2024
- I have built a 6-axis robot arm and I want to check its accuracy. This video shows a test to demonstrate the precision that this robot has.
Motors can be found here:
www.rta-iberica...
1st DoF: 103-H7126-1740 (NEMA 23)
2nd DoF: 103-H7823-1740 (NEMA 24)
3rd DoF: 103-H7126-6640 (NEMA 23)
www.omc-steppe...
4th DoF: 23HS22-2804S-PG47 (NEMA 23)
5th & 6th DoF: 17HS19-1684S-PG5 (NEMA 17)
Hope you enjoy! Thanks for watching!
More videos coming!
OMG! Thats spot on and no wobble. Now all we need is a camera, some deep learning and we are not far from Skynet ;D
I was struggling to find where the laser was but found it at the end :D ! great work
Thank you! Haha I'm glad you saw it. The truth is that it is not the best video to show the repeatability of the robot hehe
Whats the build cost so far?
Awesome, would you share some more information? or show some of the internal parts?
Thank you! Yes, I will share more information about this project in the next video
Good job! I wonder what plan do you have next. How do you control the speed? Are there acceleration and deceleration?
With such precision and a payload of 10kg, could this robot be used for milling wood?
Can you please answer a few questions for me how did you go about calculating the size of the Nema motor in the gear reduction you need it and designing it for a given payload...
Do you use ROS to move it or just arduino ? Nice work btw
Thank you! I currently use Labview, Arduino and Microchip PIC to move it. In the near future, I will adapt the hardware to use ROS
@@MRBEngineering Nice, for ROS i think you can install it on raspberry pi . Good luck
I want theses all here
Great arm~
Nice
you need to put some oil ...
Today and going
Hello, what is the cost for this arm, aprox?
With all that CNC aluminium and fancy actuators I'd say about $10k
@@BrotherCreamySince I did all the parts by my self, the price is so much lower than that.
MRB.Engineering It still cost you all your time and machine time. His question is "how much would you be willing to make another one for?". I guess not less than $10k.
@@BrotherCreamyYou are right. I thought he only refer to the price of the components, not the total cost to do it
What is the price of only the components tho?
Are you using a electromagnetic brake on your steppers / server Motors
No, instead, I use worm gears to transmit motion unidirectionally
@@MRBEngineering that's not what I was referring to.... let me ask the question a different way if there was loss of power .... or if you're Drive or controller faulted ...
whether or not the arm would be able to support the payload
@@772777777777777 I think I have understood you perfectly.
If there was a loss of power, the robot arm would be able to hold in place due to the worm gear reducers, because they can only transmit the movement unidirectionally, so the weight of the robot wouldn't be able to rotate the joints.
@@MRBEngineering for this robot you may be lucky...... i have a 26kg payload i may experance creep and slippage for my application.. . I dont want add backlash if im using expensive cycloid gear box in my design. If it work for you great.
what is the type of the motor you used and the model name ?
Stepper motors. There are NEMA 17, 23 and 24
From this web site www.rta-iberica.es/es I used these models:
1st DoF: 103-H7126-1740 (NEMA 23)
2nd DoF: 103-H7823-1740 (NEMA 24)
3rd DoF: 103-H7126-6640 (NEMA 23)
And from this one www.omc-stepperonline.com/ I used these others:
4th DoF: 23HS22-2804S-PG47 (NEMA 23)
5th & 6th DoF: 17HS19-1684S-PG5 (NEMA 17)
did you see my robots?
Why would you go through all the trouble of building a cycloidal gearbox just to use stepper motors and pulleys on top of that? Just use a lighter brushless motor and make it direct drive or just use steppers and pulleys, well tensioned pulleys don’t have backlash issues.
Its pretty easy to criticize, where is the videos of your robot arm?
Ever heard of constructive criticism?
@@DUIofPhysics So the guy designs and builds his own cycloidal drives but should just use a pulleys and belts instead.Lol
'lol' That's not what anyone here actually said. He said that he might as well give it a go 'going all the way' using brushless too instead of stepper. Though, Direct drive wouldn't work in this kind of application due to the constant torque requirements of holding the robot arm in position would be excessive, you do want harmonic or cycloidal actuators in each axis ideally. There is a few points that 'JustTestingOnce' is wrong, however instead of addressing the actual contents of what he said, you go straight for the 'who said it' rather then what was said.
@@DUIofPhysics Any one who knows anything about what is going on here would take it the first comment as a insult. First he has gone and done what a lot of guys dont have the balls to do and built his own cycloidal reducers. Show me a brushless motor that can come close to the performance of a stepper at the same price point, that means including encoders and drives. You wont find many easily or cheaply available. Ideally he would be using AC servos but the price point is just out of reach of what most people want to spend. Obviously there is many differences between stepper, dc and ac servos but price wise steppers make sense. Look at the 3d printing industry, not many dc servos there.
those redcers are more expensive than the house i live on
Hanzhen harmonic drive gear , robot arm gear reducer, over 30 years experience ,,
Excellent work. 👏👏
Fucking serious!! Great job dude!
Excellent! Though I suggest putting the axis 4 motor on the back of the forearm piece, as that helps balance the weight and increase payload. That also gives you more space to move the axis 5 and 6 motors back along the forearm and closer to the elbow, and that will reduce the effect of their weight as well.
Though I'm sure you already know this.
Totally agree, you are right, but I did it this way just to preserve the design that I liked, not for efficiency. Thank you for your comment :)