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The White Owls
Приєднався 27 чер 2021
Sharing our design for manufacturing. Be inspired and learning something new about engineering today!
The Mechanics of Differential Wrist Mechanisms: A Beginner Friendly Overview
In this video, we explore the world of differential wrist mechanisms and their applications in robotics. Differential wrist mechanisms are a crucial component of many robotic systems, enabling them to move with accuracy and precision in complex environments.
In this informative video, we break down the mechanics behind differential wrist mechanisms and explain how they work. We'll also take a look at the different types of differential wrist mechanisms that are currently in use and explore their applications in industry and research.
Whether you're a robotics enthusiast or an industry professional, this video provides valuable insights into the importance of differential wrist mechanisms and their potential to revolutionize the field of robotics. So, join us as we dive into the world of differential wrist mechanisms and discover how they work and why they matter.
Read more on our website here ! www.ewhiteowls.com/2023/01/very-effective-wrist-design-with-in-built-planetary-gearboxes-for-an-light-weight-and-compact-wrist-for-6dof-robotic-arm/
In this informative video, we break down the mechanics behind differential wrist mechanisms and explain how they work. We'll also take a look at the different types of differential wrist mechanisms that are currently in use and explore their applications in industry and research.
Whether you're a robotics enthusiast or an industry professional, this video provides valuable insights into the importance of differential wrist mechanisms and their potential to revolutionize the field of robotics. So, join us as we dive into the world of differential wrist mechanisms and discover how they work and why they matter.
Read more on our website here ! www.ewhiteowls.com/2023/01/very-effective-wrist-design-with-in-built-planetary-gearboxes-for-an-light-weight-and-compact-wrist-for-6dof-robotic-arm/
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Відео
Wow I Didn't Know it's so EASY to Design Cycloidal Drives
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Cycloidal drives are important mechanisms in the field of robotics. Their design has been top secret until now... Check how you can easily design a function cycloidal drives that can create insane amount of torque to power your biggest robotics. Check out written version of this guide here www.ewhiteowls.com/2022/02/the-ultimate-guide-to-design-cycloidal-drives-the-beating-heart-of-robotic-arms/
Desktop CNC Milling of Acetal (Delrin) Stock into a Rolling Plate
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Behind the scene of making a rolling plate for a #6dof #roboticarm. To learn more about design and manufacturing of a 6DOF robotic arm, visit www.ewhiteowls.com Take up premium CAD courses for free.
Assembly procedure of 48:1 Cycloidal Drive Milled From HDPE and Acetal
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One big issues with cycloidal drive is it's sensitivity to precision. Cycloidal drives are rather unforgiving and slight imprecision can create large backlash. While 3Dprinter are great but the precision offered by 3dprinted are around 0.1mm which is barely enough. I ended up investing in a proper desktop CNC mill with a 0.01mm precision and the results is amazing. Feel free to leave your opini...
Detailed Assembly Guide for a Very Compact 48:1 Cycloidal Drive
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3D-printed Cycloidal drive assembly guide. You can use the cycloidal drive for robotics applications. Discover more about the design process of such drives here - www.ewhiteowls.com/2022/02/the-ultimate-guide-to-design-cycloidal-drives-the-beating-heart-of-robotic-arms/ Download the STEP, STL and Fusion360 files at the end of the article. Like and Subscribe to Our Channels! #cycloidaldrive #cyc...
3Dprinted Cycloidal Drive (early prototype)
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Assembling a 3Dprinted early prototype of cycloidal drive. See more at our website www.ewhiteowls.com
The analytical search for the path of least resistance is intelligence.
do u know where can i buy a cycloidal bearing ?
I want to thank you for sharing this knowledge with us, as you can see I am not the only one who wanted to have this knowledge more digestible. I once had a full-time engineer trying to make one and we couldn't do it. Thank you very much.
Only the one axial bearing for the output won't be enough, you'll need a second ball or tapered roller bearing to account for radial and angular loads. Your design won't be able to stay on axis and have a lot of friction and deflection with radial and angular loads.
What is the name of tht drill? Amazing work btw!
Stunning easy explanation, thank you!
Wow
The easiest and the best explanation of a cicloidal drive on the whole internet
Excellent, thank you!
Simple and Easy sounds as impropriate words in this case.
I tried hard for this Cycloidal driver but I couldn't succeed :(
Is this read by AI text to voice?
Definitely
In plastic it all works, the plastic is deformed. But when it’s in metal, the slightest inaccuracy, 0.01, will break the mechanism.
THANK YOU FOR CONTRIBUTE!
Thanks for the great job. It was confusing a bit for me how this mechanism works! But the version that you are presenting here is much simpler than others. For example ua-cam.com/video/OsS9-FzKN6s/v-deo.html&ab_channel=HowToMechatronics presents another version! How different is yours than his? Would be happy to see your explanation.
Great video :)
This 3d printed drive with all the expensive hardware in it (giant thrust bearings etc) will end up costing more than an all-metal simple planetary, and close to as much as a metal professional cycloidal. Unless the expensive metal bearing components can be reduced, these things are basically fun but pointless.
Fantastic video! This looks the perfect size and gearbox ratio for my project. I cannot get on your website though. has it moved?
ohh shit not robot voice.
can you post the stl files of how to connect with the other parts of the base of the robot please?
:)
Bad audio after minute two. Gets better again later.
Awesome, thank you! 🙏
Nice. How do you design the convolution or gear for the pins to mesh all perfectly?
Great work! Is this easily backdrivable?
seems to me you should have another thrust bearing below the cycloidal disk as well if you are going to have the one on top.
Not necessary.
I have built a very similar functional robot using fully custom designed parts (servos, cycloidals, pcbs, gears, programs, ...everything). Would you be interested in taking a look at it? I'd be very curious to know your thoughts and see if you come up with possible improvements. Thanks
sure sounds interesting. hopefully i can offer some useable information
post a video
Great explanation, thank you!
It's very simple and understandable, thank you
Hi techer , Thanks for your guide. I have question, in section 'Design the Cycloidal Disk' step 2, 31/49=0.632, but in your guide set value to 0.622, could you please tell me why ?
my mistake, thanks for pointing out ! it should be 0.632
@@thewhiteowls1320 Hi Techer, I cannot refer your guide to redreaw the "Cycloidal Disk" on Solidworks , I always hung on step 7, Solidworks cannot offset profile on parameter 1.5mm , maxmium value is 0.7 , however same parameter can be set on Fusion 360, but profile cannot closed, cannot extrute to a cube. Clould you please share a guide on solidworks? Thanks and Best Regards.
May I have your email? I want to send my document to you, If possible could you please guide me and indicate my wrong settings.
@@yilongchen5133 should be contact (at) ewhiteowls.com
The most simple and compact design I have seen by far.
yes cycloidal drive is stunningly elegant and simple
What cnc are you using? Do you have a link?
It’s a carbide 3d nomad
Взял винт руками со стола, сунул в пассатижи, потом воткнул в корпус. А сразу руками вставить нельзя было?
That cycloidal drive is going to wiggle a lot.
Just wondering, instead of make a input shaft with a offset, can't you just offset the hole in the middle of the cycloidal gear?
Excellent demo- exxplain of harmonic drive assembly with motor Kami
Cycloidal Drive, not Harmonic Drive
Any indication of the efficiency? A similar design in youtube with steel pins instead of bearings has an efficiency of 35% which sounds like a lot of waste. Also do you have any ideas if the wear on cycloid discs would be acceptable? Thanks
I should read your post before apply steel pins to my design instead of bearing. Using PLA as gear material is not a good idea, too soft and friction too large. My gearbox efficiency is 34.9%, which makes my motor can only operate at very low velocity. After I switched to bearing I got 86.5% efficiency, but because I use it to lift heavy load, my gear wear immediately and causing huge backlash.
mathematically, the cycloidal disk does not slide against the pin but roll over it instead, very much like spur gear. It gave me the confidence to stick to dowel pin as long as i am able to manufacture the cycloidal disk as close to the calculated profile as much as possible.
Is this system reversible?
so easy a rank amateur like myself can do it
:)
How is the durability? Plastic gear over roller pins is probably ok with some grease, but the plastic over plastic output pins could wear out. Really nice design btw.
So much complexity and precision components. I'm glad you figured out the simpler version to this.
thanks! hope you have found it useful!
Great job on the design and the explanation. Thank you for sharing!
Thanks glad u found it useful!
Good. helpful.
In Design the Cycloidal Disk,what is the length of the secondary lines .which drawn in diagram
the secondary lines are for drawing the cycloidal profile. In actual mathematics, the cycloidal profile is created by a smaller circle rotating around a bigger circle so the secondary are formed by a small circle rotating around bigger circle.
hi sir can you say that how do calculate the ratio in cycoildal drive
Hi niyas, the ratio in cycloidal drive are selected based on torque requirement. And also, we try to select numbers that 360 deg can easily divide. for example 360 divide by 30 is 12deg per pin and 360 divide by 48 is 7.5 deg per pin. weird number like 19 complicates calculations
hi man, very cool design! I'm trying building one from your stl with PLA but i'm having the problem that the cycloidal disk can't move because of lack of enough space from 3mm pins. The disk is stuck. I notice with multiple prints that maybe the holes for the pins are a little too small resulting in bad positioning of pins. Do you have any suggestions? Thankyou!
Hi thanks for liking the design. typically a printed part is slightly oversized around 0.1mm extra on each side. You have to try print some simple sample and measure if the actual size match the designed size and apply offset to your 3dprinter accordingly. My Prusa does it for my automatically so i have no issues, i am not sure about other printer. And in another video of mine, i drilled the hole through 3mm drill bits to ensure it has enough clearance for the pins. hope it helps!
@@thewhiteowls1320 thankyou!. I will try! 😀
@@thewhiteowls1320 I got the same problem as davidenardi536 experienced. It seems the set of 'cover & disk casing' and 'gear & disk casing' are not matched. cover and gear are unexpectedly lardge and disk casing is small. Thus, i decided to fix the size of the disk casing but, it might be able to affect the whole reducer in a negative way. I am worried but I will also try to fix it :)
I noticed that the two files, STL files and STEP files, are not same in the same zip file.
@@user-yp9wd3ry9p I increased the size of pins holes and I increased the circle's diameter where they are generated and after several prints I managed to obtain a very good zero backlash result. I think that this could be the best 3d printable drive for NEMA 17 on youtube. I also tried very a promising harmonic drive solution (ua-cam.com/video/DlZzknQdTlU/v-deo.html&ab_channel=FlexibleBlade) but it is more exprensive because of bearings and more fragile.
It's unbelivable. I was trying to find or build the cycloidal drvies for my robotic arm. But, this is the best cycloidal drvie ever i have seen. Perfect. Thank you for your kind explanation and free publishing
Hi thanks for your kind comments. I look forward to your creations too. feel free to subscribe so you get notified when i post new contents. thanks!
Harmonic drives no longer in use? Sorry, I got no robotic knowledge update since 20 years ago.
Yes harmonic drives are the gold standards in robotics but they need specialized equipment to manufacture. I am just a home based hobbyist so cycloidal drives is the best I can come out with. I am glad you are back with robotics!
@@thewhiteowls1320 3D printer should be your best friend. No more relying on CNC machining.
@@mtay65 haha i kinda like cnc machining tho
I'm not sure this is better than spending €15 on a 80x100x10 bearing and altering the design a bit!
That's actually one of the best, if not the best explainer on how cycloidal drives work.
Thank you, I am glad you found it easy to understand. I was concerned the last time that I might over-explain.
you should add the second cycloidal disk 180 degree out-of-phase to eliminate vibration.
James Bruton reference?
@@godamkeras4144 SUMITOMO reference.
Yes that will be quite helpful. Currently, I am going at rather slow speed so vibration has yet to be significant. I guess i will need to implement your suggestions when I am doing high speed rotation. Currently, having a single disk seems to distort the torque pin quite badly and lead to significant backlash, i am guess that a second disk would help balance out the forces.
Nice. How many attempts?
Thanks for kind words. It took me several attempts to get to this final design and I learnt alot. I try to document what i learn on my website. Feel free to drop by!