Robot arm & controller - 6 axis movement test
ฝัง
- เผยแพร่เมื่อ 5 เม.ย. 2020
- I have designed and built a 6-axis robot arm. In this video, I want to show you the movements of every degree of freedom of the robot. You can also see the inside of the controller.
I hope you enjoy it!
Motors can be found here:
www.rta-iberica.es/es
1st DoF: 103-H7126-1740 (NEMA 23)
2nd DoF: 103-H7823-1740 (NEMA 24)
3rd DoF: 103-H7126-6640 (NEMA 23)
www.omc-stepperonline.com//?t...
4th DoF: 23HS22-2804S-PG47 (NEMA 23)
5th & 6th DoF: 17HS19-1684S-PG5 (NEMA 17)
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Thanks for watching! - วิทยาศาสตร์และเทคโนโลยี
The differential wrist is just gorgeous. What an elegant design.
Thank you! In the next videos I'll explain exacly how it works and how I designed it (:
@@MRBEngineering When? :)
A thing of beauty! Congrats!
Like to see the mechanism of the robot, nice work!
awesome it took you so long to send this video, I've been waiting
Very elegant use of spur gears and differentials. Great job!
Thank you!
Great job! Very elegant design. really enjoy watching your vedio！
Very well done! This is better than some commersial robots i have seen..
Awesome!
What materials did you use and how much time did it take to build?
great work dude! how did u get started with the design?
More updates please!
Maybe show it performing some tasks?
nice and informative thanks
Very nice design and build, also the control box looks neat!
good see every mechanical and electronic detail
I really enjoy watching your video. What is the repeatability accuracy of your robot arm?
Amazing super work
Thank you! I really appreciate your comment (:
best designs i have seen so far 👍
i would use more timing belts instead of worm gears
Cycloidal are crazy 😃
Thank you for your words. You can see more details of the cycloidal reducers in my channel😊
That was soo coool!! What an amazing project, I want build one like this too, do you have the step file of the robot arm so that I can have a go at making one too please. That was inspirational😍😍😍😍
Excellent
Amazing....................................................................
Really, really tidy, good job!
Would love to take a look at the design. Did you post it somewhere?
That's an interesting 5&6 axis design. But won't a differential set up for 5&6 result in limited 5&6 synchronous movement?
Awesome job! I like the differential gear for the 5 & 6 axis and of course your self made cyclo drives!
I would recommend to try to put the motors 5&6 further away from the end of the robot to reduce the overall inertia (every mm counts!). This could be done with coaxial shafts through the 4th axis :).
Looks amazingly clean! What's the max load is can lift?
Thank you! If the arm is fully stended, it can hold up to 5Kg
Awesome！！！
Hey, from where did you get curve to cycloidal gear? I am trying to make in inventor with parametrical equation, but inventor is making not perfect curve, tooth’s are not on equal circle.
Woooow ! Awesome , can you program it to make some kitchen recipies???
Thank you mate! Hahaha maybe in the future ;)
Video of you putting it together please!
awesome job. I would also like to see some more details on the cycloidal gearbox you made. I have a full machine shop with cncs so not worries making it. just getting the right profile might be a bit of a pain so I would appreciate some help with that if you have some time. I want to build a larger version of you cycloidal gearbox and use it for a 4th axis on my cnc mill.
regards
Andrew
Is there any chance u can upload or send me models/projects of this cycloidal gear?
Its really nice DIY job
Maybe its good to find some supporter for you to get inside industrial zone, it will be good step maybe for your career.
Anyway I am excited to know how much your cyclo reducer is rigid, I mean did you measured the backlash
It seems that when the arm arrives to the top point like swinging littile bit and I believe that is because of joints backaches merged at that critical point.
So can you tell me some numbers about the backlash
Like putting indicator dial at the arm end and braking the reducer input to see then move arm end with hand to see backlash please.
he said in a previous video it was
OMG i wating this video. this is awesome! Can you tell me about the specifications of this robot? how to control?
The designed robot arm
has a weight of 26 kg, can withstand a load of up to 10 kg and has a maximum range of 1100 mm.
I currently use Labview, Arduino, and Microchip PICs to move it. In the near future, I will adapt the hardware to use ROS.
Thank you for your comment!
@@MRBEngineering
You have the same plan as I do.
I saw you leave a comment on all the videos about the hypoccloidal gear on TH-cam.
I'm making it using a servo driver right now, can I get some advice?
my project page is : hackaday.io/project/169651-open-source-cinema-robot
Is there a dischord or a means for us to communicate smoothly?
@@MRBEngineering thanks for the specs. Any measurement of repeatability or error?
@@MRBEngineering did you calculate the payload..or did you just test it.. like to know if you how you calculate it
Any new developments with this project??
Kindly update us!
What is the main controlling unit of the robot? Kindly Response!
Whats the cycloid gear reduction used for each axis
Amazing
What is your major dude? And which year?
Mine is in CS but would love to be able to build one
Thanks
Thanks dude!
I first studied mechanical engineering in 2009 and then electronics engineering. I finished my electronics degree two years ago.
@@MRBEngineering nice keep up the good work bro
How have you solved the dynamics problem?
what controller did you use?
I think you made the structural elements too bulky, did you laser cut any part?
Combining cycloidal drive with worm gear?
Excellent project. i admired your work. But on seconds 3:29 i saw arduino mega and six PICS. Can you explain this. I don't know enough electronics.
Thank you very much, I appreciate your comment.
Well, the Arduino Mega manages the information that comes from the PC and sends it to the PICs. Every PIC controls its respective join motor, this is why there are 6 PICs.
I would like to know if you sell it and what is the price
where can i get build plans for this?
Do yo sell it? Where i can buy this one
mechanical art piece :)
How have u made the design plzz tell
I used Solidworks to do the whole design. All parts are made from scrach. Thank you for your interest
Why did u cit the sheet metal to that design
awesome, but to heavy and it is staggering during movements...
What about using brushless motors with encoders instead of stepper motors? Did you heard about ODrive?
Fucking amazing
Hanzhen harmonic drive gear , robot arm gear reducer, over 30 years experience ,,
I made better robot arm...few years ago)
I've seen it, good work, I like it!