Harmonic Actuator RDrive 60 (Rozum Robotics)
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- Опубліковано 2 чер 2024
- I have tested the professional Harmonic Actuator from a real robot arm! This Actuator (RDrive 60 from Rozum Robotics) is very powerful (up to 5.4kg.m torque) for its small size. It has almost zero backlash. You can control it many different modes: position, velocity, current (torque), position with limited velocity and acceleration, and motion points. The motion points control allow very simple implementation of complicated trajectories. This should be especially useful for Robot Arm.
Link to the Actuator: bit.ly/2YRW76l
Special thanks to my special Patrons: Wesley Corp, RobotDigg Shanghai and Pierre Freyssinet!
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#Robotics #Robot #RobotArm - Наука та технологія
Link to this actuator: bit.ly/2YRW76l , in case you would like to have more info on it.
I wonder if you have seen the Simple FOC (for Arduino) project/library by this gentleman: /watch?v=N_fRYf7Z80k
It's pretty incredible. He's also coming out with a speed controller. askuric.github.io/Arduino-FOC/arduino_simplefoc_shield_showcase
Do they have a retail store or vendor who does where you can see prices? From their site you have to contact them and have it quoted. Tedious for price shopping.
hi, i'm from russia and want to buy, but their website is not working...
Безумная цена такого актуатора.
@@MrSasha3050 это конечно хорошо, но как собрать аналогичный по характеристикам дешевле? если есть конкретный совет, я бы с благодарностью выслушал.
"Price: Contact us"
No, I don't think I will
It's $2700ish
@@Spirit532 Is that an extra 0 in there oooor? XD
@@darksunrise957 No.
now, open the thing, understand how it works, and 3d print a replacement for the planetary reductor ;-)
Amaury Jacquot that is not necessary because there is none.
Job well done! Love your professionalism in the evaluation
Thank you!!!
Your videos are informative, inspirational and concise. All relevant data, great design ideas, no bullshit nor viewer time wasted. Hats off sir!
Thank you a lot for this kind comment!
You have the most amazing things to show, TY for sharing.
Thank you!
u r so awesome for sharing great knowledge and experience
I just stumbled onto your site and am very impressed.. Well done.. carry on and I will be back..
very informative as usual
Thank you.
Nice video.Thank 👍
Thank you!
This actuator is amazing! Just finished coding a DIY RPi X/Y camera gimbal, using NEMA 8 geared steppers and Python. It has many similar features, such as degrees rotational input and accelerated/decelerated motion. But, this actuator takes it to another level.
But, after following your link, I see that it's price is through the roof.🤑
Surely there are affordable mid-range alternatives. (I'm beginning to realize that your videos are going to cost me a lot of money, starting with a 3D printer.)😎
I love your high tech calibrated weights
Thank you :)))))
I wrote you email about harmonic drives but you don't need to answer. This was so helpful. Thank you very much. Keep up the good work
I've done the same thing in the past. Sooner or later, he always covers the topics that I'm interested in.☺️👍
I once emailed him for one of the magnetic encodes used in the 3d printed robotic arm actuator and he replied to it the same day ! I think your question must be very google-able that's why he didn't feel like replying to it. But anyways you can always post in the comments and someone will eventually reply :)
"Harmonic drive" seems to be a brand name by the group of companies who developed and trademarked it. I needed to look this up myself, but the more generic term is "strain wave gearing".
I think you completely right. But most people know better harmonic drive.
Much like "Xerox", "Tempo" or "Gilette".
Holycow. They use physical deformation to produce backlash free rotation - /watch?v=bzRh672peNk
@@dieselphiend people 3d print them out of plastic, but it seems the design exploits how metal deforms. cool stuff tho!
Thanks to you i bought a 3d printer and started designing a robot arm... :-)
Cool! Glad to hear this!
thanks to you i wrote this comment :)
Harmonic drives are mechanically amazing
сильный, беззвучный, красота) вот бы обычные сервоприводы были такими
Hey, I saw your comment on cycloidal drive reducers...are you planning to implement a cycloidal drive reducer at some point for your projects, or would you rather stick to 3d printed planetary gearbox?
good job skyentific, such an interesting video, but i think it's quite expensive!!
Yes. But we know how it works!
How much is it?
I think that beauty would have deserved metal mountings instead of plastic, to demonstrate real stiffness due to absense of backlash, but away from that, an awesome video with tests and demostrations as always!
Agree, but I don’t have CNC at home.
Have you thought about reviewing the DJI Brushless DC Gear Motor (M3508 P19)? It is easy to purchase and I imagine provides lots of opportunity to be creative.
Jim
wow nice!!!
Nice!
Thank you!
Nice presentation sir! I have the following questions:
1. How effective is the torque control? What's the torque resolution? Since its reduction ratio is so high (100:1), I'm a bit skeptical about using current for its torque control.
2. Does it have a power-off brake?
3. Does it only have one encoder at the output? Is there an encoder for the input (motor) side?
Appreciate your replies!
Thank you.
1. I did not have time to make a super deep analysis. But the toque control was better than I expected. I agree, that high reduction ratio does not help here.
2. This one does not have brake, but I think this company also produce actuators with brakes.
3. It has two encoders.
@@Skyentific Thanks for the reply sir! Glad to hear that its torque control works well. Would love to buy one to try. The dual encoder looks interesting to me too. Kind of curious about how they integrate both encoders into 1 PCB.
Great info ....i would love to see you buid a heavier robot arm.... 3d printed neg mold then cast the the mold with mineral cast and epoxy....and then use clear plath servo with harmonic drives... for more heavy duty ie FANUC robots ... great job on the video
I need to mount 30kg router spindle on heavy duty robot... that why i need clear path motors
Can you please make more diy actuators
Plus if you can recommend Odrive alternatives that would be great
uhm... I wrote under your last video something about harmonic gears (dunno if you saw this but doesnt matter)
Actually I meant, that you could use a harmonic planetary gearset INSTEAD of the planetary gearset that you 3d printed. And that should work in the same way as your gearset, just with a higher reduction ratio...
Cool, a Migros and Coop buyer, like me. Regards from outside Zurich :-)
sorry if I missed something, but will this be part of the robot arm that you are building?
I don’t plan to use it. But I wanted to see what professional actuator is capable to do. Especially in terms of control. This gives an idea where we should go with our design.
гарна назва для гарного продукту. На сайті є технічна інформація. Маєте якісь прайси? Які умови спіпраці? (обсяги, тощо..)
It is good video. Make a video of any actuator with brake built-in.
Thank your for your video, can you please tell me about the rozum frameless motor FMI60 , regarding how to mount in robot arm?
I need it very urgently. Thank you and waiting for your reply.
Mind me asking an off topic question? I'd like to know what happened to the "orbital drive" you had developed some time ago. Only reason I'm asking, is because I thought it was so cool and never heard much about it since. It being also a high torgue, low backlash actuator (with the added benefit of low cost), just popped up in my mind.
Edit: Yeah, obviously long time fan here!
Nothing happens since then. I did not have time to work on it. But I still think that it could be used for robotics.
I hope you'll do. I'm also interested in that. A few weeks ago I made a spreadsheet, and calculated that close to 500:1 ratio is easily achievable with cheap off the shelf parts. It could be a good option for hobby robotics.
Nice!! Just think about Nema 23 112mm that has got only 3 Nm. Brushless motor is a revolution
Yet nema23 are brushless motors too. That is not the point here, just not the same type of actuator since here there is a reductor when nema are motors only. Plus, you should see harmonic drives efficiency, around 50%, nothing magical. No backlash solutions come with a price
@@MrWinterify : NEMA (short for National Electrical Manufacturers Association), is a mounting flange specification that defines mounting hole spacing etc. The motor and gearing spec is not defined to the best of my knowledge, so I believe you could have a NEMA 23 brushless motor that incorporates a harmonic drive and closed-loop feedback. Common usage has meant that this name has become synonymous with stepper motors.
Nice Video, i have couple of questions
-when the 7 DOF robot will be finished
-i saw one of your video when you increase the robot speed (the one you built) the motor skips why is that ?
What do you think of roller pinion gears for actuators?
so all these actuators seem really interesting but they are also kinda expensive for hobby use. can you revive some cheaper options if they exist ?
Thanks for the video(s) friend! You should invst in an electric screwdriver XD
Thank you! I will think about it :)))
Hi Skyentific, what should be the route to learn robotic from a beginner online? Accept sugestions from everyone
Awesome actuator, wish prices were on the website :/
2800 USD
excellent video! What is the approximate price of that actuator?
very thankful!
Thank you. Apparently around 2600USD.
Marcelo Buteler .... 2,600 USD ?
What is that device with the screen?
Посмотрел все ваши ролики, очень познавательно и интересно! но лайки не всем поставил извините просто не дотянулся, за все ролики огромный лайк! Ещё нравится что всё понятно, все слова международные и знание английского не нужно.
where can I find the motor driver please?
According to there website the drive price is $2399? That must be a typo?
Very nice!!! But how much does it cost?
2600 usd
@@alexsulzhits4247 ha ha ha .... no comments
Can we control this motor with PLC?
Shouldn't it be 3kg * 9.807m/s/s * 0.861m = 25.33Nm just to hold the arm steady?
You did not take into account the weight of the aluminium bar (which adds 0.29kg.m). Also the weight was 3.15kg (in order to have exactly 3.0kg.m).
Ahh cool, so I am at least in the ballpark of understanding how all these parts fit together then. Thank you very much!
Yes, but how much does it cost...
Are you living in Switzerland 😍? I didn't know that...
Yes, in Lausanne. Very beautiful place.
@@Skyentific do you recommend some university for there for doing robotics cotutele Ph.D.? :)
@@Skyentific Waaaaah I just realized you lived in Switzerland by the Migros bag! I live in Lausanne too! What a small world, I promise to say hi if I walk past you in the street :D
Skyentific But you speak with slavic accent :)
are you gong to make an exo suit some day????
How much does it cost 😬?
Great question. I don't know. They send me the actuator for free for the test.
@@Skyentific rdrive 60 cost about $2700
@@bortechпол года работы на детский электромоторчик, дайте два!
@@kokotmkokot4926 это не дорого за pmsm двигатель, волновой редуктор 1:100, 2 абсолютных энкодера 19bit и контроллер в одном компактном корпусе. Конечно это не для любительских проектов. В целом белорусы молодцы.
so the 7 DOF arm project = $18,900 ... :-0
Step 1: see how it works - check !
Step 2: take it apart and make a DYI version
:) :) :)
Great comment!
Sounds great but price
That board looks and functions awfully similar to ODrive. I wonder what the story there is.
price?
Does anyone know pricing? Their site says 'contact us'
Been reading 2600 yankee doll hairs. 260 would be pricey for a 10cm diameter actuator. Strain wave drives are no joke.
how much this harmonic drive actuator cost?
this one 2700 USD
the actuator looks nice but I couldn't find the price o.O
Almost 3000
Really cool motor so of course it's $2799 on their website. Now if someone could make a hobbyist quality one for $80 with whatever performance you can get for that.
Yeah he should even mention that in the video, I get all excited till I see the cost 😲😲
Imagine making a Quadruped from these motors. 32,500 dollars just for the motor :P (considering that 12 motors are used).
how to buy it ?
Through their website, link in description.
Have you changed your hair colour?
No, they just got tooooo long. :)
Hi there's a model I want that you have. Please I can pay you through PayPal, can you send cad files ? Thanks
пазишн, три килограмм )))
a comment! ;)
Thank you!
The problem I have with Razum is this ignorant idea that to buy it I have to send them a message. I mean if you intend on selling something, setup a cart where I can click buy now and just buy it without having to jump through a bunch of hoops. All this tells me when I see things like this is they are embarrassed about the absurd price they want and dont want that showing up in a shopping cart before they have a chance to get your contact info so they can spam you! Thanks but I will find my parts somewhere else!
I don't like the practice either. Local plumbing, building, and electric supply stores do the same thing so they can charge each customer differently. You walk thru the whole store and there is not a price on anything. At least post a list price for rough figures and comparison to other similar items. It is OK if there are different discounts on the list prices for bigger or smaller customers, but not having any data is counter productive. I refuse to give these companies my business, and instead buy online instead of the local place. If they want to complain about people not buying local, it is their own fault.
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$2799! If i want one i guess i better learn to make it. Yikes
The cynic in me always wonders if any of these fancy actuators ever get any use beyond youtube videos on the various channel free samples get sent out to.
They used a lot in industry and in universities. Really a lot.
It is used a lot in space because of its low weight, part count, & reliability. I think strain wave gears were first used on the lunar rover wheels. Also the Canadarm and mars rover arms. lots of robot arms in space
they only get used by people who have free money, not by people who have to save for a year to buy one.
@@atomipi They get used by people who save more money than it costs to buy one. As soon as you add in labor costs for development of a custom actuator w/ software stack and maintenance, commercial solutions quickly become the better option. Of course Hobbyists have a different use case and it's basically never worth it to get one.
Great review, thank you!
BUT: If you do a review of a product, please give the price of the product as well. Always. What good does it do to us, to find out that it is a fantastic product, only to realize eventually it is much too expensive for a hobbyist? Somebody here wrote, that the price for this actuator is 2700 USD. If that is true, it will be unobtainable for 99.5% of your viewers.
My reason, for this review, is to find out what it is capable. And like this I know what I should aim with my diy actuators.
Если бы еще он не стоил 3000 долларов(
Price on website?
"Contact us"
😒
$,3200 - I see why you didn't want to break it! 😂
$3000 it better be accurate
Nice but not affordable, at $2600 indicative price, what ever that means..
I agree that this is expensive. But at least now we know what actuators from robot arm are capable of.
Так звучит Русский английский ;)
Правильно я понимаю, что rozum robotics создали русские?
Белорусы
По-моему белорусы.
В Минске ребята делают, вы можете найти их через минский хакерспейс
@@skrebneveugene5918 www.rozum.com
a 100 euro cordless drill has double the torque as this thing, It's not worth 2700$, also almost no backlash and only 18v system
High voltage is good. High voltage => low current => thin flexible wires. Drill without backlash does not exist. And I really doubt that a drill can make 30Nm torque.
nice specifications. way out of the price range of hobbyist
#Migros
Это акцент Рязанский .
So Russian accent :)
It sounds to me more like italian.
What?
Если ты русский по русски можешь говорить?))
This is not what's known in the industry as an actuator. Actuators move out/in, this looks more like a motor with slow gearing or a servo. Closely resembling a stepper motor
This is not industry. This is robotics. Actuator in robotics is any source of motion (linear or rotational). Usually actuator have a motor, a electronic driver and a reduction mechanism.
Чизес Крайст ю донт ивен трай ту толк визаут зис рашан гонор! Камон бро трай ту спик найсер! Ит из катинг еарс!
Энд гуд лак!
I HATE WEBSITE WHERE IS NO BUY BUTTON AND PRICE.EVEN IT WOULD COST 999 BUCKS I BUY IT IF I NEED. IF I NEED ASK HOW MUCH IS IT TODAY? 200 BUCKS I WOULD BUY MULTIPLE OF THEM..bad business not tell how much is it
Адский русский акцент, прям facepalm.
Учите русский а не английский потому что ето слушать невыносимо...
Get a better microphone. Your accent plus the fuzzy microphone makes you hard to understand.
Я понимаю, я и близко не могу говорить на английском так как Вы, но,...блин русский акцент, это просто пипец, ua-cam.com/video/LhXXiVgILKQ/v-deo.html