It's coming slowly but surely. Loving the design so far, I'm looking to make a few modifications to improve the rigidity of the pleuels and levers and try to go for just a bit more dynamic load and for counter load components like some of the industrial palletizing robots. I designed and added a printed fixed ball thrust bearings to cut a bit of cost. Have you considered open sourcing and distributing the high level design files?
I don't think a printed bearing is rigid enough or worth the few dollars it cuts down. Even though for example Emmets gear bearing is a very nice model, which works well for itself. I haven't planned to publish more than the stl-files at the current time.
Hello, the Projekt ist some years old. I Build up the robot complete mechanically and the Arduino Ramps 1.4, too I try to use RobotArm_v3.exe but I think the App not compatible with Windows 11 and Serial Port? I start exe successfully. Startseqence will be send and robot start moving, but the rest is not stable. After some commands the app fails. Using a Terminal works, but it is not useful to control like shown in this video. Which Programm can be used alternatively to write such a squence shown in the Video?
Hello, urgent, how did you connect the wire between stepper motor shaft and the gripper? Pls help. I dont understand how the wire can be connected between gripper and motor shaft
I made that thing a long time ago. Try testing where the fault is. is the command received correctly -> modify arduino sketch to find out. is the motor wired correctly -> write an arduino sketch which tests just that. Keep in mind that my computer software is not up to date and might not work anymore.
Hi Tobler, I’m trying to control the robot by using instruction in the firmware code with no success... I would like to put in the main loop some instruction to move the robot, for example MoveTo(x,y,z,speed). Can you suggest me some starting point? I have try to esaminate the firmware but I’m not expert in advanced programming.....
Hey man, awesome project! I was wondering; Are you using any kind of position feedback on the steppers, or are you just using it as an open loop system?
It's an open loop system. Since Stepper motors are synchronous, this works well unless you overload them heavily. 3D printers also have no need for a feedback system on the steppers. At least the standard ones.
@@visionaryrobotics4065 i just searched "power supply 12V" on amazon. This one seems capable as per specification: www.amazon.com/110V-220V-Converter-Lighting-Transformer-Flexible/dp/B073QTNF9F/
Bro i am doing same project similar to this but our college people are not accepting it, they are asking what new things does this robot have can you tell me any thing about this robot bro
G'day mate. Maybe just building or copying something existing is not what they expect from you. I think you need something new or special on or around the robot that comes from you mate.
Hard to measure, but I can calculate an estimation. I don't want to get too specific. But it ends up depending on the strength of stepper motors and your lifting distance measured from the center. With a position like shown on 3:30 and a small/cheap stepper motor with 0.25Nm you would have about 500g. With an expensive stepper with 0.6Nm it's about 1.2kg. I estimate my performance somewhere in the middle at about 0.8kg.
Thanks for your response. I am designing my second bot with steppers this time, not like my first servo based bot. I need maximum accuracy and payload.
Some mentions... You could try to make a counterweight, so without load the steppers have to actually push the actuator down, this could almost double the capacity. Next time I would make the base rotary part bigger or with a belt drive. For me it's the most critical thing if it comes to accuracy because of the backlash. The upper part of the arm is not so critical, because the gears normally have a good preload in one single direction, but this is only without counterweight.
i made the arm, but not work. all the motor move at the same time, a lot of vibration. can you explain me the regulation of the stepers... an the electrical conexion of the griper and the end stop thanks
Check the Wiring of your Motors. Maybe also your Drivers are not correct. It is normal that every motor turns on some moves. That is because you move a polar system in cartesian coordinates. I don't have endstops. Use the Mechanical endstop position and set it as your starting point before powering up the steppers
Thanks for sharing. Good you've kept the 'failed cuts' as it shows the real picture with this instance. I also like that you've used semi-transparent filament for a print. First of all, it shows well what the infill % was. It is also looking cool = real-life subsurface scattering :-) Btw, are you satisfied with the printed parts rigidity? I know you'd like to improve the base weight or use belts. But I'm asking about 3D-printed parts only.
Rigidity is good enough. Overall I rarely have problems with 3d printed parts not holding, as long as they are constructed and printed in a way where delamination cannot occur in load bearing direction.
I have two questions, one tutorial or photos of how the motors must be connected step by step in the RAMPS 1.4 and the other would be taking advantage of the driver could, so to say, place a 3D printer head and make prints with this robotic arm ?
Have a look in the code: robotArm.ino line 13 to 15 or even 16 if you want to have answer 2 resolved. I don't recommend it though, because it may not be stable enough. Most likely you will get massive ringing. github.com/ftobler/robotArm/blob/master/Arduino/robotArm/robotArm.ino
thank you for answering the first, but the second although it makes noise is the least important thing is that you can give or not a function as a 3D printer by placing the head?
In terms of hardware it's doable. The software i provide has the E-stepper implemented and can therefore execute the gcode. There is no look ahead buffer, so moving in a circle is very slow. Also no features like extruder or bed heating are implemented. Unless you gonna modify existing firmwares like repetier or marlin you will have issues. So again, I do not recommend going that way, but it's possible.
and you could upload a video about what I asked you about putting a 3D printer head because I would use the head on the part that would be the hand which the filament will be moved by means of the MK8 so the extra weight is removed from the support of the hand
No, I don't make more videos for this robot. For me the Project is "as is" finished. Mechanically the robot is able to lift a bowden style extruder as you described.
hello again now I have problem with your code I jump error and I do not know how to use the other tool if you do not have a video that explains the programming part
@@saileedominguez6571 No I do not make modifications. What do you want to do? Program the arduino with custom software or control the robot by pc? Does the Robot work properly?
@@ftobler You want to do? To program the arduino with customized software or to control the robot by pc? I want to manage it using PrintRun software, but first I want to understand how to use your software and I also skip error when compiling in the arduino Does the robot work properly? the problem is already the code and program that you give in your documentation
Not shure if I understand your question correctly... Do you mean the .h and .cpp files? They are part of the project, so it is more readable when split to multiple small files. To open the project these files must be in the same folder as the main .ino file, which contains the setup() and loop().
@@jasonjackie6274 it's just trigonometry. On the thingiverse page are the formulas for the inverse kinematic calculation. Its explained in a hand drawn sheet.
RobotArm.exe is a bit deprecated. Some users report it only works with Arduinos using the CH430 controller. I suggest using the Terminal build in Arduino IDE and sending Gcode manually.
Gracias por tu respuesta! Otra consulta. Para enviar el gcode manualmente, este tiene que estar incluido en el sketch de todo el programa arduino del robot? O puedo utilizar otra interfaz (creada por mi, o a traves de ros) para enviar el gcode al arduino y mover el robot?
Epic build my guy, just what i was lookin for. keep up the great work!
This is a very nice build. Looking to make a robot of my own design using stepper motors. Thanks, this gives me some ideas. :)
Awesome job, looking forward to printing my own!
Can't wait to see the result!
It's coming slowly but surely. Loving the design so far, I'm looking to make a few modifications to improve the rigidity of the pleuels and levers and try to go for just a bit more dynamic load and for counter load components like some of the industrial palletizing robots.
I designed and added a printed fixed ball thrust bearings to cut a bit of cost.
Have you considered open sourcing and distributing the high level design files?
I don't think a printed bearing is rigid enough or worth the few dollars it cuts down. Even though for example Emmets gear bearing is a very nice model, which works well for itself.
I haven't planned to publish more than the stl-files at the current time.
Great project, thanks for sharing here and on Thingiverse.
I love it! Thank you, Florin!
Lovely End Actuator!
Hello, the Projekt ist some years old. I Build up the robot complete mechanically and the Arduino Ramps 1.4, too I try to use RobotArm_v3.exe but I think the App not compatible with Windows 11 and Serial Port? I start exe successfully. Startseqence will be send and robot start moving, but the rest is not stable. After some commands the app fails. Using a Terminal works, but it is not useful to control like shown in this video. Which Programm can be used alternatively to write such a squence shown in the Video?
yeah, the project is quite old by now. I would recommend to control it through something like python.
hola amigo, excelente trabajo... nice
qué algoritmo utlizas para lograr mover los stepper simultáneamente??
Hello, urgent, how did you connect the wire between stepper motor shaft and the gripper? Pls help. I dont understand how the wire can be connected between gripper and motor shaft
how much weight the robot can handle?
hi tobler i am doing the same project and i have a problem. i can't turn grimper on and off please can you help me
I made that thing a long time ago. Try testing where the fault is. is the command received correctly -> modify arduino sketch to find out. is the motor wired correctly -> write an arduino sketch which tests just that. Keep in mind that my computer software is not up to date and might not work anymore.
Hi Tobler, I’m trying to control the robot by using instruction in the firmware code with no success... I would like to put in the main loop some instruction to move the robot, for example MoveTo(x,y,z,speed). Can you suggest me some starting point? I have try to esaminate the firmware but I’m not expert in advanced programming.....
use interpolator.setInterpolation(...); Make sure that your code runs fast and through. Any delay or wait in the main loop will stop movement.
ftobler ok. I Will try and let you know. Thank you very much.
Do you connect jumper in X Y Z motordriver on the ramps 1.4 board?
yes, I think i used 16x microstepping.
@@ftobler okay, thank you, it solved my problem
Hello urgent, how did you fix the small gear with motor shaft? Did you use grub screw? i dont have grub screw...
you can use normal screws. he screws are located at the tip of the motor axis, opposite of the flange. This is a bit unusual, but works.
Hello. Very cool your project. What motor are you using?
Stepper Motors with A4988 drivers.
good morning, we built one based on your prototype, however the program to give it steps fails, probably because of the code?
yeah the computer application has issues....
@@ftobler how do You solvet it ?
@@luisdavidchamorro2962 if you really want to use the robot arm, then you will need to write your own pc software.
Hi, I built the arm everything is fine the problem is with the speed. The movements are very fast. Is there any way to reduce the speed. Thank You
G1 F10 should do the trick.
@@ftobler It worked thank you :)
Can you please share the code and schematics to make this..
Hey man, awesome project!
I was wondering;
Are you using any kind of position feedback on the steppers, or are you just using it as an open loop system?
It's an open loop system. Since Stepper motors are synchronous, this works well unless you overload them heavily. 3D printers also have no need for a feedback system on the steppers. At least the standard ones.
Thanks for the fast reply!
What happens then if you shut it off in a non-starting position? Will this not lead to the robot getting 'lost'?
I have a defined mechanical endstop for that.
Okay, sweet, thanks for the answer :-)
hi there! may know what mechanism you used for the gripper? Thank you!
dont know what it is called. maybe this video answers it. ua-cam.com/video/-LztK9TKcZk/v-deo.html
Wow that was very cool, what did you use to program the arm and how many volts and amps did you use?
Software: Arduino and Delphi.
A Power Brick with 12V output and at least 3A. cheap alternative is about any computer power supply.
@@ftoblerdo you think that you can give me a link to a good power supply that I can use?
@@visionaryrobotics4065 i just searched "power supply 12V" on amazon. This one seems capable as per specification: www.amazon.com/110V-220V-Converter-Lighting-Transformer-Flexible/dp/B073QTNF9F/
Bro i am doing same project similar to this but our college people are not accepting it, they are asking what new things does this robot have can you tell me any thing about this robot bro
G'day mate. Maybe just building or copying something existing is not what they expect from you. I think you need something new or special on or around the robot that comes from you mate.
Has how to make the inventor's drawings available so that I can assemble and understand the design
Depends on your motors and the extension. But generally I would say about 200g, that is not much.
Nice bot. How much load can it lift?
Hard to measure, but I can calculate an estimation. I don't want to get too specific. But it ends up depending on the strength of stepper motors and your lifting distance measured from the center.
With a position like shown on 3:30 and a small/cheap stepper motor with 0.25Nm you would have about 500g. With an expensive stepper with 0.6Nm it's about 1.2kg. I estimate my performance somewhere in the middle at about 0.8kg.
Thanks for your response. I am designing my second bot with steppers this time, not like my first servo based bot. I need maximum accuracy and payload.
Some mentions... You could try to make a counterweight, so without load the steppers have to actually push the actuator down, this could almost double the capacity.
Next time I would make the base rotary part bigger or with a belt drive. For me it's the most critical thing if it comes to accuracy because of the backlash. The upper part of the arm is not so critical, because the gears normally have a good preload in one single direction, but this is only without counterweight.
Thanks for the counterweight suggestion, I may just do that, since I mounting my motors directly to joints, so no worries on backlash.
Hi, I have now decided to make my second bot using stepper motors. Just wanted to know if you did some microstepping on your steppers?
una pregunta yo use cnc shield en vez de ramps 1.4 crees que pueda funcionar ?
Yes, ramps should work. I used A4988 stepper motor drivers. If you have to buy them anyway, I would recommend using these.
Hy, i have a question to your software on the raspberry pi4. Can you say me what software do you used?
Best Regards
i made the arm, but not work. all the motor move at the same time, a lot of vibration.
can you explain me the regulation of the stepers... an the electrical conexion of the griper and the end stop
thanks
Check the Wiring of your Motors. Maybe also your Drivers are not correct.
It is normal that every motor turns on some moves. That is because you move a polar system in cartesian coordinates.
I don't have endstops. Use the Mechanical endstop position and set it as your starting point before powering up the steppers
do you have a test program, to verify that the motors go to the correct direcction.
why you use 1/16 steps?, in 3D printers, use full step.
thanks
The Motors run smoother and more quiet. Also more accurate.
can you send me a photo of the correct position of the pins for 1/16 steps of the 4899 driver?
wow how nice movement! can you share your arduino file? I want to make the motion with arduino source code.
please follow the link in the description. its all there. CAD, code...
Thanks for sharing. Good you've kept the 'failed cuts' as it shows the real picture with this instance.
I also like that you've used semi-transparent filament for a print. First of all, it shows well what the infill % was. It is also looking cool = real-life subsurface scattering :-)
Btw, are you satisfied with the printed parts rigidity? I know you'd like to improve the base weight or use belts. But I'm asking about 3D-printed parts only.
Rigidity is good enough. Overall I rarely have problems with 3d printed parts not holding, as long as they are constructed and printed in a way where delamination cannot occur in load bearing direction.
I have two questions, one tutorial or photos of how the motors must be connected step by step in the RAMPS 1.4 and the other would be taking advantage of the driver could, so to say, place a 3D printer head and make prints with this robotic arm ?
Have a look in the code: robotArm.ino line 13 to 15 or even 16 if you want to have answer 2 resolved. I don't recommend it though, because it may not be stable enough. Most likely you will get massive ringing.
github.com/ftobler/robotArm/blob/master/Arduino/robotArm/robotArm.ino
thank you for answering the first, but the second although it makes noise is the least important thing is that you can give or not a function as a 3D printer by placing the head?
In terms of hardware it's doable.
The software i provide has the E-stepper implemented and can therefore execute the gcode. There is no look ahead buffer, so moving in a circle is very slow. Also no features like extruder or bed heating are implemented.
Unless you gonna modify existing firmwares like repetier or marlin you will have issues.
So again, I do not recommend going that way, but it's possible.
and you could upload a video about what I asked you about putting a 3D printer head because I would use the head on the part that would be the hand which the filament will be moved by means of the MK8 so the extra weight is removed from the support of the hand
No, I don't make more videos for this robot. For me the Project is "as is" finished.
Mechanically the robot is able to lift a bowden style extruder as you described.
how to do drawing with this robot?
Search the net for text to gcode
hello again now I have problem with your code I jump error and I do not know how to use the other tool if you do not have a video that explains the programming part
No, I don't have a video and no plans to make one.
Please ask a specific question, I can't comprehend what you mean.
@@ftobler
that you do not use the software that you left to handle the robot
@@saileedominguez6571 No I do not make modifications.
What do you want to do? Program the arduino with custom software or control the robot by pc?
Does the Robot work properly?
@@ftobler You want to do? To program the arduino with customized software or to control the robot by pc?
I want to manage it using PrintRun software, but first I want to understand how to use your software and I also skip error when compiling in the arduino
Does the robot work properly?
the problem is already the code and program that you give in your documentation
@@saileedominguez6571 you can't program the arduino when you have a compilation error.
thanks a lot，ftobler.
can it move line
Yes, it can move in a straight line.
thanks,Thank you for your reply
Hello my friend,I just saw your RobotArm in the thingiverse.com. And I have some questions about robotgeometry.Could you help me please？❤️
just ask
@@ftoblerSorry, I can't insert the picture here.Please leave your email address,and I will contact with you as soon as possible,Thank you🌟
@@aaronhuang6498 I do not post my email public
@@ftobler So how to contact with you😳
@@ftobler I just want to show some photos in the PDF which is in the project.According to your mark,I can't come up with the same equality.
hi, can you provide step by step guid
No, there is no such thing
una pregunta; cuando uno da clic en Arduino RobotArm, cuales de esos documentos es la programación o que significa cada software arduino
Not shure if I understand your question correctly...
Do you mean the .h and .cpp files? They are part of the project, so it is more readable when split to multiple small files. To open the project these files must be in the same folder as the main .ino file, which contains the setup() and loop().
Here is a direct link to the actual arduino part: github.com/ftobler/robotArm/tree/master/Arduino/robotArm
si, hablo de esos archivos; entonces todas esas carpetas es toda la programación en arduino para el brazo
Yes. When you open Arduino IDE you should see these files opened in different tabs.
aa ya, gracias; alguna duda te escribire gracias
what did you use to program it
Arduino
Bro did you design this
Yes, all designed by me. The Idea with the parallel mechanism is not from me tho.
@@ftobler bro is there any website link to understand kinematics of this.
@@jasonjackie6274 it's just trigonometry. On the thingiverse page are the formulas for the inverse kinematic calculation. Its explained in a hand drawn sheet.
@@ftobler k bro thanks for the reply I will check it
Hola, funciona la aplicacion RobotArm.exe? No entiendo como enviarle las ordenes a los motores para mover el robot
RobotArm.exe is a bit deprecated. Some users report it only works with Arduinos using the CH430 controller. I suggest using the Terminal build in Arduino IDE and sending Gcode manually.
Gracias por tu respuesta! Otra consulta.
Para enviar el gcode manualmente, este tiene que estar incluido en el sketch de todo el programa arduino del robot? O puedo utilizar otra interfaz (creada por mi, o a traves de ros) para enviar el gcode al arduino y mover el robot?
When you use the arduino IDE Terminal, the sketch must not be loaded, its independent. You an use any other Terminal or program to send data.
Hanzhen harmonic drive gear , over 30 years experience , robot arm gear reducer,
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