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HOX robotics
Приєднався 19 кві 2023
Hobby robotics channel
DIY Series Elastic Actuator for legged and humanoid robots: force control!
We build and test a DIY series elastic linear actuator that can be used in legged robots, humanoid and exoskeleton projects. The tests at the end of the video show how the forces exerted by the actuator can be accuratelly controlled.
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Переглядів: 2 071
Відео
DIY Robotic Leg for Quadruped Robot with Ballscrew Actuators: Strong! 💪🏻
Переглядів 2,8 тис.10 місяців тому
We make a powerful robotic leg that can be used to build a 25 kg quadruped, and we test it for maximum speed and force. The leg is based on a ballscrew actuator described in a previous video ua-cam.com/video/YrpHYPPWpIk/v-deo.html
DIY Cycloidal Laser-Cut All-Metal Robotic Actuator: Durable!
Переглядів 30 тис.Рік тому
We make a powerful robotic actuator based on a cycloidal gear made of metal laser-cut parts. At the end of the video we test it for maximum speed and torque. The cycloidal wheel generator has beeen taken from: EASY CYCLOIDAL GEAR WHEEL GENERATOR by kowalski.szymon.87@gmail.com grabcad.com/library/easy-cycloidal-gear-wheels-generator-in-english-1
DIY Actuator for quadruped robot based on a ballscrew: Powerful!
Переглядів 62 тис.Рік тому
We build and test a powerful robotic actuator based on a ballscrew, a brushless motor, an ODrive board and a magnetic encoder
Amazing design. Very inspiring by using inexpensive off the shelf components!
Your content is great thank you so much for putting the time! I am wondering how can we adapt this actuator in the forearm of a humanoid robot to pull tendons that power the fingers in a hand?
What is your SOLIDWORKS subscription? What works for you best?
Hi there: Would it be possible to specify the motor used and other parts?
Hi, please check in the video, you can see some captions there specifying the components when they are first presented (motor, encoder, bearings, etc.). The motor is of type 6374, 170 KV and 3000W, normally used for electric skateboards, produced by several manufacturers
Gracias por compartir tu tiempo y conosimiento en forma altruista
Very cool! I would love to build a smaller version using just a 3d printer for almost everything.
Thanks for uploading, you make very high-quality content. Hope you keep it up!
Awesome work, am keen to see an instructables page with it all laid out
looks too massive for humanoid robots
That is true, I´m working on a lighter, shorter and lower power version. The current version could be used for large legged robots, exoskeletons and perhaps hip/knee actuation of humanoids
Well explained thanks 🙏
fantastic design. Well done!
very impressive design
Kind of really good actuator, can I have your email/ LinkedIn/ Instagram to contact you?
You use a 1 700W motor for each joint?
please help me in making cycgear.SLDPRT file with 11 teeths. i could not make it.
The video shows the settings in the Excel file for 11 teeth. Depending on the size of your wheel, make sure the holes for the inner shafts and central shaft are not too big, and it should work
It would be nice to see a backlash test: by the way, very nice project
8:43 백드라이브 가능한 구조네. 신기하다
i believe that is good. but i cant build, it's very cosly for me.
I am very pleased that my work, after so many years, still helps create great things. Great invention. Share it ;)
Thanks for the cycloidal wheel generator, it was very helpful!!
My god!! This is a beast!!! 😁
Sometimes you come accros a small but very high quality channel. It's great ! THank you :)
thats an awesome design. Compact & strong. Useful as actuators 👍. Thanks for sharing ❤
You placed that actuator dangerously close to the laptop during testing lol
Woudnt want to destroy tat $100 laptop
Very cool! Thanks for sharing,
9:42 20kg at this angle are not 20kg perpendicular to the output axis, so either you need to calculate the torque with a shorter distance between motor axis and mount point of the spring
El O driver siempre fue tan caro?
Very nice, well done What is the ratio of the gearbox
Ratio is 11:1
Very nicely explained. Thank you for this video. I would like to learn more about this design. Is there a technical term for this actuator design? What terms can I use to search on Google? Thanks in advance!
LOL!! Nice work with laser cut. Simple but strong design. Please share more info
Very interesting. I hope you design exoskeleton too👍👍
In fact, I made the ankle part of an exoskeletion with a similar actuator design time ago... maybe I can recover it for a next video. Thanks!
Great job! Do not forget to lubricate the mechanics.
It is a very nice idea to use ball screws in all three joints but do you thing will you be able to fit this design in a quadruped chassis? It looks very big and not soo compact.
Yes they are a bit long, but they can fit in a 0.8 - 1.0 meter quadruped. I am trying to shorten them by avoiding the motor shaft coupling. Yo can see this in my next video. Thanks!
Good to see someone else doing interesting designs with flat laser cut parts (the offset crank) where machining isn't feasible or possible.
love this design
You make amazing content. Thank you. I wouldn't use the same approach. Ball-screw mechanism takes too much space and heavy. I would use ballscrew only on one joint, and would use harmonic/cycloidal reduction on other two joints.
That is the approach used in Boston Dynamics Spot, and it seems to be a good one. I agree ballscrews take much space, however I think they are not heavy at all (200 g for 100 Nm). Thanks!
Very nice! The cycloids look durable, but I think the mounting of the motor should be better. Only those 4 bolts on the housing keep everything in place. That would also help with positioning the motor for coaxiality. Great work, subscribed!
great work HOX Best i,ve seen yet,👍 did it have much back lash?
Thanks, it has a quite small backlash, but still noticeable. I would say less than one deegree.
amazing job! thank youuuu for such a detailed explanation! learned a lot of new things 🙂
I really like your designs. Have you considered removing the knee and using the linear motion directly to change the hip-ankle length? The may reduce your maximum torque requirements by removing the bent knee geometry.
Do you mean something like a telescopic leg? I think that would be extremely strong but very slow too (at least with the motors I am using), and in a quadruped you need to be fast. Note that the shank crank is 26mm, and the shank is 260 mm, then we are multiplying speed by 10 (and dividing force by 10 too). Maybe with a motor with a very high Kv (1700 Kv for instance) what you propose could be feasible... I will give it a thought!
Yes,I was thinking telescopic. You can get different ratios of rotation to screw-length which might help, although I'm not sure of the weight/size trade-offs.
Wow, great work! Thanks for sharing. I would like to try to build something similar, or your exact design, in the future. Very cool.
Incredible content, congratulations!
śruby nie mogą mieć gwintu w miejscach gdzie stykają się z elementami które przenoszą na nie obciążenia
Absolutely beautiful.
PEEK 3d-printed assembly like this should be much less noisy
Probably, but the idea was to make and test a full-metal gear to see if it was feasible
you dont even need PEEK, some of the nylons would be sufficient, and also printable on a bambu x1c. 3dxtech has a MoS2 infused nylon that i like a lot and intend to do this with, called WearX.
Fun project! but two things really grinds my gears. First of you used no lubrication at all, and secondly you use the heads of bolts as the transfer from the motor and the gearbox witch is a bold move to say the least.
There should be no friction, the cycloidal gears only touch the roller bearings, the eccentric shaft bearings and the output shaft bearings. But you are right, it would be good to put some lubrication
To improve accuracy, how about getting the holes cut slightly smaller, then using a reamer to ream out the holes to final dimensions? Also, using shoulder bolts instead of using all thread bolts?
Good suggestions, I will consider them in next builds, thanks!
Good luck amigo!
Solid and straight forward, good stuff. What's the cost per leg if you don't mind me asking?
More or less 150-200 Euros per actuator
Beautiful
Thanks for sharing this! But, normalize your audio in post!!! hard to hear you.