Now it works! Spherical Parallel Joint (stepper motors, 3DoF)
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- Опубліковано 23 бер 2023
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I have revised my Spherical Parallel Joint design. There are two main improvements: 1. additional reduction stage, which increased the torque significantly; and 2. higher stiffness of the link. I am happy with this current design. It could be used to move something (for example camera). Next time I plan to address the inverse kinematics.
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#DIY #robotics #3dprinted - Наука та технологія
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Glad to see you looked at the Agile Eye paper I mentioned on the last video! Indeed, the frame is a bit tricky, as I recall its located at the center of rotation and aligned to each of the joints attached to the EE... and mirrored through to the input "motor shaft" axes.
Stepping down the motor with the pulley is a nice touch!
Could you tell me what the paper's name, I'm very interest about Agile Eyes, but yet couldn't found the resource.
It's fascinating how it works, reminds me of an eyeball while in action.
I love watching this just for the design ideas and different techniques for putting things together! Definitely going to try and incorporate some of these ideas in the future!
You could probably further increase rigidity by taking the first two links (colored green and yellow in your CAD model) and combining them into one part without the 90 degree joint up top.
Yes a direct arm is all thats needed
Wouldn't a slimmer (still Ridgid) design be better for more clearance and rotation range ?
So basically, a curved diagonal piece.
I was really thinking this through and I think you are right. There would just need to be a shift partway along to clear the neighbor motor hub. Great observation.
Making the arms in sheet metal would probably be nice for compactness, rigidity etc, then 3D print bearing mounts where necessary, also, if the arm's bend inwards a bit more, they would clear the neighboring motor hub which might increase the rotational angle limits
Absolutely beautiful looking mechanism, can't wait to see it moving with IK.
Always enjoy your content!
Awesome! Great ingenuity and a wonderfull piece of techonology! It's even a wonderfull piece of art too!
Brilliant work, thanks!
just found this channel today. What an awesome project. Could be a very cool widefield astrophotography camera mount and tracker. Great work.
Love the work on this project and seeing updates. It really inspires me to work on stuff! Thank you for these!
What type of filament and infill do you use for these parts?
Super interesting! Good luck!
I'm speechless love love it
Excited for the IK :) Very cool
3:40 Looks like it is related to the quadratic equation.
awesome work!
Cool Project.
Very impressive
Может стоит лучи, жестко соединённые между собой 4-мя винтами по углом 90 градусов, заменить одним лучом? Таким образом и длина плеча короче и при этом углы соединений не перекрывают собой "зрачок" в определенных положениях.
loveeee it!
amazing work, keep going!!! maybe you could be an engineer when you grow up.
Chelo man, du ju sink is a guud aidea made it from so meny parts? It luuk lislle bit wobbly.
Amazing!
Spherical coordinates are commonly used in electromagnetic classes
Sickness!
Would you be able to inverted the system with the motors being internal? Then the yellow spherical like ring should be on the outside allowing for more movement if something were mounted. Be able to move more like a shoulder joint with a wide range of motion.
Man mount a couple of these on your porch with lasers built inside would be sweeeeeeeet!
Really awesome! Got a few questions...
What is the maximum degree you can turn the yellow ring ultimately? Can it go over 90°?
Also could you share any materials you're using regarding reverse kinematics, super interesting. Thanks a lot!
I wonder if a URDF model and Gazebo can render it and manipulate it through ROS. Would be amazing ! For the controller, I would have test it with ros2_control
Awesome video. Do you have any resource recommendations for a "high level" engineering understanding of robotic kinematics? It would be great if you could someday make a video on homogeneous transformation matrices or Denavit-Hartenberg parameters. Those are quite tricky topics and there's only a few UA-cam videos discussing them :)... your practical approach to learning robotics with hands-on building could help so many people.
Is it possible you share the design of the project online? It would really be helpful! Thank you for all your great work, great explanation
Can you reverse the order of linkages in-to-outward so that the end effector is on the outside/larger?
Brilliant. Any chance you make a videos on how to write and implement custom kinematics on Linux/ LinuxCNC?
What would this be good to use for?
Iron Man Suit joints(you just need to hide the components in the fourth dimension)
That's a great idea 💡 🙂 I'll try this @@tristancole8158
I have no idea, but my first thought was Optical contrast seeker for missiles
Another channel showed this being ideal for holding an object that needs to be viewed from multiple angles under a microscope. Very smart
the big piece with the fixed 90 degree angle... can that not be a different shape so it gets out of the way of the cetre thing? i feel like anything one might want to do with this, that piece getting in the way is going to be a problem.
Hi, would adding ridges instead of increasing thickness add rigidity?
how does adding 2 initial links work to the advantage of this mechanism? Aren't the 2 first "links" just bolted together, wouldn't it just be easier to make a solid link? (from motor to first joint)
Thanks to them the space under the moving part is empty all the time, so this joint can manipulate long objects.
@@Skyentific hmm, I suppose it's hard to see. I started to suspect it might help with clearance, but couldn't wrap my head around it. I noticed other comments saying the same, so maybe an opportunity for further videos! Thanks for the reply!!
Can you reverse it? Have the motors on the inside of the sphere with the links going in increasing layers out words? Better packaging and a smaller sphere would lead to better rigidity
I feel like the arms impinge on the "Top" of the output at certain angles.
Is it possible to mount the arms "upsidedown", so their movement is "below" the output? (I am trying to picture it in my head and I feel like with the other arms coming out 90 or 180 degrees they can still fundamentally attach to the output in the same location)
What do you want to attach on that? The yellow circles get everytime unstructured when one of the axes tryst to max out that thing looks pretty useless to me. I'm not convinced of this construction. Proof me wrong by implementing as it is to a leg or something
Ah the pulley act as reduction gear. Good thinking.
Great work! thanks for sharing! , do you have any discord server we can join? thanks
Nice. What would be a practical application for this?
high dimensional 3D printing could be one. just mount a nozzle to the 'eye' and a y-axis table under it
Видео классное.
Really cool project 👍
P.S. Which accent type that is? I think about Russian, but i dont really know 🤔
I wish I could be smart 🤓
Biblically accuracte robot joint 😉Very interesting!
Thank you!
8:10 Chevron 1 encoded. Chevron 2 encoded. Chevron 3 LOCKED!
You really need to get rid of the stiff joint and the second arm. Thicken up the 3rd arm and bearing shafts and bearings themselves. It will be a lot rugged. Can't say anything about inverse kinematics.
looks like an eyeball
He really made them more sickness
It seems not easy to make rigid enough by 3D printing.
Вот так выглядит русский акцент))
The arms are too long and the platform is useless because it is buried in the arms....
you never should go into anything with teaching first, then you have nothing to apply it to, its useless
when you have motivation as yourself then you also know where/what you would need, not worth knowing
not worth learning something you never use by your own motivation, and serving people is most horrible ending
if you serve knowledge/people, you do things you never need actually to be doing
first comes "law" then "going to work", both useless applications
k.i.s.s. teacher-engineers :) glhf
Now you can aim the Death Star's laserguns
Мужик не ломай себя рассказывай на русском