i'm studying industrial robotics at uni, and thanks to you i can see a pratical demonstration of what i study. this is incedible helpful to me to understand better the subject, thank you for your work.
I love how there are still people that use the Internet for what it's supposed to do, get us closer to each other and help us learn what we don't know. I love the quality of the material.
Yet another great video. I like the way you are sticking with the basics of the drive system and testing before you build a robot. I am worried about the overall mass of the drive, it's a bit like rocket science, the heavier the drive the stronger the frame the bigger the drivers and batteries. It's a vicious circle. The more weight you add the bigger parts have to be. If you want robot to interact with humans then the inertia has to be kept low to minimise hurting someone. I am not sure that metal parts are a good idea. It could end up like Jame's opendog where he uses a 2 ton engine hoist just to lift it !
This is very helpful as I'm planning to build a 5kg holonomic robot. I'm currently considering BLDC, but have no idea what torque @ what rpm should I look for in pre-assembled, or what gearbox ratio when using drone motors. Hopefully even dummy like me can learn enough here to figure it out :D
In the past I worked with portal robots. These were used to stack items like cans of paint on pallets. The motors used here had brakes so that the motor didn't need to keep the heavy load all the time only on electric power. I don't know if they use something similar with robotic arms but I guess they do. At least those arms have a hydrolic (?) cylinder to balance things out on the lower arm at the back.
I want to build a vehicle with high mass and high torque on the wheels... It was so hard to find good data on actually achievable torque. Thanks for your videos!
This is pretty inspirational, I might use a motor + gearbox like this for my RC Tanks. I've always used Pololu brushed gear motors but brushless motors would be very nice.
I don't think you measured the gearbox's backlash - at 5:51, as you're moving the arm, the motor also moves slightly. I.e. the motor's mount is somewhat loose and that's contributing to the arm's perceived backlash.
Yes you are right, these measurements of backlash are not very precise. But I checked this measurements off the camera: I fixed the motor completely and checked the amplitude of movements, and it still the 6mm. So I think these measurements are more or less correct. Thank you for your comment!
First of all, very good videos, congratulations for your channel 👍 Question: do you know any open source project of driver board to control the brushless motor??
Thank you! I think the previous version of ODrive is open source (the files on the GitHub), and the current version is not. There is also VESC driver, which I think is also open source: check out the video from "GreatScott" channel: ua-cam.com/video/SPoMvuRxwFw/v-deo.html
@@Skyentific I want to increase the pulling force I was trying to make implement that in my exoskeleton hand to enhance the pulling and pushing power of human hand
Normal i dont comment videos, but something i don’t like about your testing methods. To test the backlash I think a 3D printed bracket is not sturdy enough. Or did you tested the backlash of the yellow bracket that holds the aluminum extrusion. And to test the holding power of the actuators,with packages of Reis , is a bit crude. Would love to see a contraption of a scale(feather level) and a car jack or a threaded rod. To carefully increase the force to the extrusion. And than on top of that you could automatic it with a microcontroller, straingauge and stepper. So when the max holding power at a certain amp is reached to slightly increase the amps of the actuator. So you could get an awesome excel sheet. Greetings
Very interesting, keep the channel)) Try to make a 3D printer using your servomotor, it will be very interesting and useful for others)) a small amount of video with real use of odrive drivers))
I think this is a good idea. I will check how difficult to do this from software point of view. From hardware it should be straight forward. Thank you for this idea!
Hi, on the Odrive forum students made a robotic dog, please have a look at those actuators. very interesting and with a small gear reduction. And quite a lot of torque!
@@Skyentific Yes that robot. I do not have the numbers, but you can see the robot jump quite high, I am just guessing the weight of the total construction and the speed it jumps. Must be a a few kilo's. There quite a lot of info about the mechanism on the forum.
Very nice video - as usual. I find it always very funny to see products from coop in your videos as I live in switzerland too. :-) Where do you buy all the special parts like gearboxes and bearings? Do you have a link or exact name for the bearing you used in this video?
Thank you! Some products from Coop, and some from Migros :). Most parts I buy from aliexpress. Brushless motors from Hobbyking. Stepper motors from stepperonline. This bearing is 6707 (35mmx44mmx5mm), you can find it on aliexpress, and in many other places (I think this bearing is used in some of the bicycles).
Не совсем понял как он поворачивает на определенный угол, за счет определенной силы и времени подачи тока? Какие отличия от шаговика. Хочу роборуку по Вашим видео собрать. Удачи в проектах. Лайк за работу
@@SyreshamPBS This makes me think of another guy over here on UA-cam... you probably know 'The guy with the Swiss accent'. Great videos ! So are Skyentific's, 'The guy with the Russian accent'.
The spinning case is connected with the shaft. I think they are called outrunner brushless. The coil is in the center around the shaft, but stationary(here you mount the motor), the magnets are clued to the spinning case of the motor. The inrunner brushless motor are like normal 3ph AC motors: Coils are stationary, the core is spinning with the shaft.
BLDC and steppers are very accurate. For me it is difficult to say which one is more accurate. The BLDC is usually much more powerful for the same weight and size. That is why I try to build a good actuator with the BLDC. The industrial, expensive servo motors are also very precise, as precise as BLDC and steppers. But cheap hobby servo motors are super inaccurate.
It does increase the load and he is measuring it correctly Torque is measured in Newton metres It means the amount of force * the distance from the fulcrum People often mistakenly say Newton's per metre
Yes, you right, I need to precise, that the measurements are made in the Earth gravity. :) Seriously, kg.m is torque. 1kg.m ~= 10N.m (on Earth, on Mars it is different).
Попробуй, пожалуйста, еще гипоциклоидные редукторы. У меня получились очень неплохие результаты с двухступенчатыми мотор-колесами. Диаметр редуктора получился 55мм при длине 40мм и передаточном отношении 168:1. Самое главное что вынес для себя - надо делать два циклоидных диска на одну ступень повернутых на 180 градусов относительно друг друга для уменьшения вибрации.
А вы печатали редуктор на 3Д принтере или делали его из металла? Мне многие говорили про эти редукторы. Думаю надо попробовать... У вашего редуктора есть люфт? И если есть, то большой?
@@Skyentific Печатал на 3D принтере, для создания сплайна в CAD использовал GearTeq. От итерации к итерации люфт менялся в зависимости от точности прилегания внутреннего и внешнего сплайнов. В лучшем случае было меньше градуса, но я делал для колес и особо не добивался точности.
@@Skyentific Циклоидальные редукторы используются в манипуляторах Кука. А это планетарная передача. В циклоидальных редукторах соотношение 1:100 или 1:200. Вы представляете только сколько его мощность будет? Там уже не в килограммах будет а в тоннах. Конечно там коллекторные моторы, с энкодерами, я считаю что циклоидальный мощнее...
Техника-молодежи. Обьясните зачем эта колхозная фигня? Все элементы можно купить понадежнее чем 3д печать ненадежые элементы. Та же Pololulu. Скомбинировать сделать. Запустить. CNC better than 3d weak print
Конечно можно. Можно купить робота сразу. Вопрос в цене. Большинство моих подписчиков не может себе позволить купить профессиональный редуктор за 1000 баксов. А этот редуктор в сумме с мотором стоит около 100 баксов и притом у него неплохой момент 1.5кг.м. Поэтому и делаем колхозную фигню.
Please leave the comment. Comments will help to boost the video in the youtube algorithm. Thank you!
Great video! Where did you buy the motor and planetary gearbox?
Could you comment a link to the gearbox that you use?
I just found your chanell. I wish you all the best, because it's very interesting what you show. Thank you for all lectures.
Алюминиевая деталь в виде шестерни, сделана для дальнейшего применения с ременной передачей?
i'm studying industrial robotics at uni, and thanks to you i can see a pratical demonstration of what i study. this is incedible helpful to me to understand better the subject, thank you for your work.
I love how there are still people that use the Internet for what it's supposed to do, get us closer to each other and help us learn what we don't know. I love the quality of the material.
always love watching your robot arm videos!
Thank you!
Love this series! Thank you for sharing comrade!
Thank you for you comment! Btw, you name is great!
Thank you for creating these videos, amazing how informative they are!
I enjoy your highly “skyentific” weights. Great for testing arm torque and great for dinner also! Awesome video.
Your videos are always incredibly informative and concise. You just earned a Patreon supporter, keep up the great work!
Yet another great video. I like the way you are sticking with the basics of the drive system and testing before you build a robot.
I am worried about the overall mass of the drive, it's a bit like rocket science, the heavier the drive the stronger the frame the bigger the drivers and batteries. It's a vicious circle. The more weight you add the bigger parts have to be.
If you want robot to interact with humans then the inertia has to be kept low to minimise hurting someone.
I am not sure that metal parts are a good idea.
It could end up like Jame's opendog where he uses a 2 ton engine hoist just to lift it !
This is very helpful as I'm planning to build a 5kg holonomic robot.
I'm currently considering BLDC, but have no idea what torque @ what rpm should I look for in pre-assembled,
or what gearbox ratio when using drone motors. Hopefully even dummy like me can learn enough here to figure it out :D
In the past I worked with portal robots. These were used to stack items like cans of paint on pallets. The motors used here had brakes so that the motor didn't need to keep the heavy load all the time only on electric power. I don't know if they use something similar with robotic arms but I guess they do. At least those arms have a hydrolic (?) cylinder to balance things out on the lower arm at the back.
Very good results for the price and size!
Interesting if anything can be done to reduce backlash.
I actually have one idea to reduce the backlash, I hope it is going to work.
Does the arm under weight reduce the effective backlash?
@@Skyentific for a vertical rotational axis, applying some kind of torsional spring load (maybe a permanent preload)? Would that work?
I want to build a vehicle with high mass and high torque on the wheels... It was so hard to find good data on actually achievable torque. Thanks for your videos!
I can’t wait to see whatever robot you’re planning on building once you figure out which motor and gearbox combo is the best.
This is very helpful for me to learn robotics. Thank You!
Next time we'll do something fun ?! It sure sounds great, since I already had fun with this episode....
Thank you! :)
Great step foward
Thank you!
Wow so educational! Good video
Nice ! I always enjoy your videos. Keep going :)
Thank you for your kind comment!
Great job sir,
btw what do you think about designing a harmonic drive gearbox to decrease backlash?
It would be tremendous.
This is pretty inspirational, I might use a motor + gearbox like this for my RC Tanks. I've always used Pololu brushed gear motors but brushless motors would be very nice.
it so cooool, I respect you sir
Thank you!
Great work
Thank you!
Great video as allways! :)
I don't think you measured the gearbox's backlash - at 5:51, as you're moving the arm, the motor also moves slightly. I.e. the motor's mount is somewhat loose and that's contributing to the arm's perceived backlash.
Yes you are right, these measurements of backlash are not very precise. But I checked this measurements off the camera: I fixed the motor completely and checked the amplitude of movements, and it still the 6mm. So I think these measurements are more or less correct. Thank you for your comment!
@@Skyentific May be you can measure it precisely using a dial gauge indicator
First of all, very good videos, congratulations for your channel 👍
Question: do you know any open source project of driver board to control the brushless motor??
I Think he uses O-Drive
Thank you! I think the previous version of ODrive is open source (the files on the GitHub), and the current version is not. There is also VESC driver, which I think is also open source: check out the video from "GreatScott" channel: ua-cam.com/video/SPoMvuRxwFw/v-deo.html
Exactly! :)
@@Skyentific I'll check both. Thank you!!
Hey that looks great! Which 3d printer you're using to print all the staff? Will you recommend it?
Most useful result required for building robot
I was wondering , can you make a video about linear stepper motor
Thank you! I used several linear stepper motors in my old projects. What would you like to know about them?
@@Skyentific I want to increase the pulling force
I was trying to make implement that in my exoskeleton hand to enhance the pulling and pushing power of human hand
Interesting video! Looking forward to the next one! How would obe calculate how much torque is needed for a certain application?
Super ultimate your done great job
Thank you!
Normal i dont comment videos, but something i don’t like about your testing methods. To test the backlash I think a 3D printed bracket is not sturdy enough. Or did you tested the backlash of the yellow bracket that holds the aluminum extrusion. And to test the holding power of the actuators,with packages of Reis , is a bit crude. Would love to see a contraption of a scale(feather level) and a car jack or a threaded rod. To carefully increase the force to the extrusion. And than on top of that you could automatic it with a microcontroller, straingauge and stepper. So when the max holding power at a certain amp is reached to slightly increase the amps of the actuator. So you could get an awesome excel sheet.
Greetings
On 5.52 you show quite significant backlash. Why does is happened? It's via planetary gearbox or it's via 3d printed details??
Es un muy emocionante ver sus video, es usted uno de mis idolos hace ver esta bonita área de la electrónica muy fácil.
Very good project,congratulations😃. but why 360p ? video quality very low, please fix it 😄😄
I think this is just because, I've just uploaded the video. Normally I uploaded 1080p video. I hope it will be fixed soon. Thank you for comment!
ı understand, thank You😄
Very interesting, keep the channel))
Try to make a 3D printer using your servomotor, it will be very interesting and useful for others)) a small amount of video with real use of odrive drivers))
or at least put the servomotors on the x and y axis))
I think this is a good idea. I will check how difficult to do this from software point of view. From hardware it should be straight forward. Thank you for this idea!
Hi, on the Odrive forum students made a robotic dog, please have a look at those actuators. very interesting and with a small gear reduction. And quite a lot of torque!
Do you mean Stanford Doggo? It is a really great project! Do you know the torque from their actuators?
@@Skyentific Yes that robot. I do not have the numbers, but you can see the robot jump quite high, I am just guessing the weight of the total construction and the speed it jumps. Must be a a few kilo's. There quite a lot of info about the mechanism on the forum.
Very nice video - as usual.
I find it always very funny to see products from coop in your videos as I live in switzerland too. :-)
Where do you buy all the special parts like gearboxes and bearings? Do you have a link or exact name for the bearing you used in this video?
Thank you! Some products from Coop, and some from Migros :). Most parts I buy from aliexpress. Brushless motors from Hobbyking. Stepper motors from stepperonline. This bearing is 6707 (35mmx44mmx5mm), you can find it on aliexpress, and in many other places (I think this bearing is used in some of the bicycles).
@@Skyentific thanks for the info!
I will take a look :-)
when doing the last movements between 50000 and 80000, you can really see the power cables bounce when applying power
Great work! A question what way would you go if you where to build a fast and strong robotic arm?
This is so good to use for SIM car Force Feedback wheel!Small too! Subscribed and liked! Maybe you can make a project Force Feedback wheel?
Nice video!
Very interesting
Thank you for your comment!
Не совсем понял как он поворачивает на определенный угол, за счет определенной силы и времени подачи тока? Какие отличия от шаговика. Хочу роборуку по Вашим видео собрать. Удачи в проектах. Лайк за работу
How to purchase
Такои шикарный привод, но почему такои большой люфт???
Я тоже очень удивлен люфту. Я надеялся будет раза в два меньше. Весь люфт в планетарном редукторе.
Is the backlash due to the planetary gear?
Yes. Exactly.
Could you say when it is appropriate to test the accuracy and repeatability of this setup?
i have a question, wy not use the encoder at the output of the reduction drive?
Btw, you are from which country (original) ?
Originally from Russia. But I live and work in Switzerland since 2004.
@@Skyentific Ah, I thought I recognized a certain accent... You're English is quite good ! Continue the good work !
@@PhG1961 I would go so far as to say that his English is excellent! 😃👍
@@SyreshamPBS This makes me think of another guy over here on UA-cam... you probably know 'The guy with the Swiss accent'. Great videos ! So are Skyentific's, 'The guy with the Russian accent'.
Can this actuator could work for a Pick and Place machine ?
Have you considered cycloidal reducers?
What about a harmonic drive? Really good gear reduction.
Can you tell the app that you used to control that brushless motor?
The controller which I use called ODrive. And the software is Odrivetool. It is specially made for this controller.
@@Skyentific Thankyou sir
Is hall sensor and encoder are same? For a bldc??? Thanks
How would you compare this solution to the OpenTorque style?
please can you put a link of the STL files, for printable parts used in this video
I have rainbow allen-key envy, This cannot continue!
It is a Swiss made Allen-key. They are very good :)
Nice!
What is the purpose of these parts after the gear unit?
I don't understand...
This can be used for robot arm he showed how much wait it can handle
It is a robot actuator which could be used for robotic arm, for example.
Great vids :D
Why is the body of the brushless motor spinning instead of the shaft?
The spinning case is connected with the shaft. I think they are called outrunner brushless. The coil is in the center around the shaft, but stationary(here you mount the motor), the magnets are clued to the spinning case of the motor. The inrunner brushless motor are like normal 3ph AC motors: Coils are stationary, the core is spinning with the shaft.
@@Orbis92 Thank you very much!
Did you build the planetary gear yourself?
No, this is standard planetary gearbox made for stepper motor.
In terms of accuracy which motor is best
bldc or stepper or servo for robotic arm
BLDC and steppers are very accurate. For me it is difficult to say which one is more accurate. The BLDC is usually much more powerful for the same weight and size. That is why I try to build a good actuator with the BLDC.
The industrial, expensive servo motors are also very precise, as precise as BLDC and steppers. But cheap hobby servo motors are super inaccurate.
What is your tool for technical drawing?
Before I was using the SolidWorks for my job. But now I am using Fusion 360 and I love it.
@@Skyentific thanks for reply
I will learn Fusion
Doesn't the length of that rod increase the load due to it acting as a fulcrum? So really.. isn't it working better than rated?
It does increase the load and he is measuring it correctly
Torque is measured in Newton metres
It means the amount of force * the distance from the fulcrum
People often mistakenly say Newton's per metre
can i have the link of the gear box
Please, can someone tell me where I can find these planetary gearboxes?
you are great
One little thing that's bothering me is kg*m is not a unit of torque.
Yes, you right, I need to precise, that the measurements are made in the Earth gravity. :) Seriously, kg.m is torque. 1kg.m ~= 10N.m (on Earth, on Mars it is different).
@@Skyentific Yes, of course, but my OCD doesn't understand that.
chesshooligan 1 my PhD in Physics is ok with this. :)
nice
Sir please share the link for the planetary gearbox on AliExpress.!!!!
Please sir please
i suppose its for every robot, especially to robot arm applications
You have fantastic videos in to your chanel! I learn a lot, thank you!
I have some videos in my chanel that I hope it may interest you.
Mmmm. Buckwheat. Yummy 😋!
Рашен федерейшин видео канал е ?
Попробуй, пожалуйста, еще гипоциклоидные редукторы. У меня получились очень неплохие результаты с двухступенчатыми мотор-колесами. Диаметр редуктора получился 55мм при длине 40мм и передаточном отношении 168:1. Самое главное что вынес для себя - надо делать два циклоидных диска на одну ступень повернутых на 180 градусов относительно друг друга для уменьшения вибрации.
А вы печатали редуктор на 3Д принтере или делали его из металла? Мне многие говорили про эти редукторы. Думаю надо попробовать... У вашего редуктора есть люфт? И если есть, то большой?
@@Skyentific Печатал на 3D принтере, для создания сплайна в CAD использовал GearTeq. От итерации к итерации люфт менялся в зависимости от точности прилегания внутреннего и внешнего сплайнов. В лучшем случае было меньше градуса, но я делал для колес и особо не добивался точности.
Спасибо за инфу. Я никогда не слышал о GearTeq, но это именно то что мне надо! Спасибо!
Mmmm, such a yummy end ;)
Редуктор хорош, но циклоидальный будет лучше и мощнее...
Ne pravda. :)
@@Skyentific Циклоидальные редукторы используются в манипуляторах Кука. А это планетарная передача. В циклоидальных редукторах соотношение 1:100 или 1:200. Вы представляете только сколько его мощность будет? Там уже не в килограммах будет а в тоннах. Конечно там коллекторные моторы, с энкодерами, я считаю что циклоидальный мощнее...
You're going to give that motor diabetes...smh
a comment ;)
Thank you! :)
Техника-молодежи.
Обьясните зачем эта колхозная фигня? Все элементы можно купить понадежнее чем 3д печать ненадежые элементы. Та же Pololulu. Скомбинировать сделать. Запустить.
CNC better than 3d weak print
Конечно можно. Можно купить робота сразу. Вопрос в цене. Большинство моих подписчиков не может себе позволить купить профессиональный редуктор за 1000 баксов. А этот редуктор в сумме с мотором стоит около 100 баксов и притом у него неплохой момент 1.5кг.м. Поэтому и делаем колхозную фигню.
you always design expensive projects :(