This Gearbox Knows Its Position At ALL Times
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- Опубліковано 3 лют 2022
- Ever wanted a 3D printed servo motor? Here is a design that is based on a compound planetary gearbox and a brushed DC motor. By using an encoder and a limit switch the position of the output hub can be determined at all times even right after the system is powered on. Links to all the CAD files, code, and parts are listed below. Thanks for watching!
3D Printed Gearbox Video: • 3D Printed Planetary G...
Free CAD and Code: drive.google.com/drive/folder...
Thingiverse: www.thingiverse.com/thing:523...
Hardware List (Affiliate Links):
100rpm Geared DC Motor: amzn.to/3HrJoL9
IBT-2 Motor Driver: amzn.to/3J4O2is
30x42x7 Bearing: amzn.to/3felPsR
3x7x3 Bearing: amzn.to/3zROAoq
1/4x1/2x3/16 Bearing: amzn.to/3gm4n5Z
M3x10 Cap Screws: amzn.to/3zPQYwa
M3x14 Cap Screws: amzn.to/3GmKSWD
M3 Hex Nut: amzn.to/3rfN3Vm
Limit Switch: amzn.to/34arcHG
AS5600 Encoder: amzn.to/35QMXN1
The servo knows where it is at all times. It knows this because it knows where it isn't. By subtracting where it isn't from where it is, or where it is from where it isn't, whichever is greater, it obtains a difference or deviation. The guidance computer uses deviation to generate corrective commands to drive the servo from a position where it is to a position where it isn't, and arriving at a position where it wasn't it now is.
makes perfect sense
UNDERAPPRECIATED COMMENT RIGHT HERE
Beutiful
Bahh I wanted to make this comment haha
War thunder meme right here
THE SERVO KNOWS WHERE IT IS.
IT KNOWS THIS BECAUSE IT KNOWS WHERE IT ISN'T
This has quite some implications... It knows that it isn't in locations it doesn't know about... And therefore knows about the existence of those unknown locations?
@@steveman1982 By subtracting where it is from where it isn't, or where it isn't from where it is (whichever is greater), it obtains a difference, or deviation. The guidance subsystem uses deviations to generate corrective commands to drive the servo from a position where it is to a position where it isn't, and arriving at a position where it wasn't, it now is.
@@steveman1982 That's a meme reference don't think too much about it, if you want actual reason servo knows where it is then the answer is encoder tells it it's position.
I like the idea of mechanically adding one bit of precision by implementing a binary swich on the rotor. Pretty cool. The same switch can also be used for self-calibration since it defines the semicircle.
It won't be 13 bit instead of 12 because of :
innacurate magnet placement
output noise
gear backlash
@@kacperzurawski5699 well, you would have these noise sources there on 12bit anyway. With 13bit you can measure them more precisely. xd I don't say you gain anything by this one extra bit here, but as a concept it's a pretty cool idea that could be implemented somewhere where having one extra bit would really mean something.
Awesome man! Great design. I'm glad to have found your channel
Awesome work and fantastic video! It was a pleasure to watch.
This is really cool! One thing that that wasn't very clear and I'll be a bit pedantic about though is open vs closed loop. A stepper motor can do the same thing with regard to copying the angle of a potentiometer. A better demo would have been to stall your gearbox and show that even though it was interrupted it was still possible to know its position and continue to the target location. I am 100% sure you know this but for some viewers it may not be obvious.
Then I'll up your pedantism. A stepper motor may skip steps, and you will have no way to correct it, hence it's an open-loop system.
@@dthe3 Isn't that what the comment said ? or do I not understand pedantism
@@DemsW Pedantry ;)
It is a word that means you have a fetisch for feet.
@@DemsW Gremlin technically left that point _implied,_ and "for some viewers it may not be obvious"
Impressive mate. Amazing project!
Awesome video, no idea why I am just finding this now. Great stuff!
Amazing video with outstanding results. You gained a new subscriber here
Your calibrations on your printer must be hella on point
this is the 5th time I'm watching this video, and I'm learning new things every time I rewatch it.
[note: I'm trying to build my own servo and I knew nothing about motors. I watch other videos to understand the concepts and come back here]
Beautiful project.
Looks like an equatorial mount or a tracker of some sort you're working on. In any case, that gearbox has huge application potential.
Very clever. I like the choice of music too.
This is so smart and so so neat!
Cool. Nice set-up.
That was pretty awesome bro 👍 & I don't like the torque test because you heard that sound from the gears inside xD
You got a new sub bro ;)
your channel is dope. i work with ABB robotics so this is right up my alley
its super impressive how his basically stock ender 3 prints such good prints respect
Pretty good job mate
Awesome project! Thanks to yt algorithm for recommending your channel
Cool projects! keep it up!
This is avesome educational and entertaining content ^^
Gives me motivation go design my own :) Thanks a ton
Nice project !
Nice work. 👍👍👍👍👍
Congratulations!
Creative video, thanks :)
Nice mötör! Great work!
Very cool!
Cool but you should look up how ball mice work. They have 2 lights sensors and the encoders have slots offset from each other. So it's able to tell exact position and direction of the spin.
Cheap optical encoders do not have absolute positioning. Only relative using deltas. The magnetic encoder he used in the video uses grey code which allows you to know the absolute angle (within 0.1 degrees) even between power cycles. Optical and rotary encoders need to be homed every single time you power cycle since they do not guarantee that the axis was not rotated while powered off.
The gear box knows where it is, I knows this because it knows where it isn't
I am very impressed by your servo and stepper gear box. Do you have a link for the bracket or arms used for holding or using the gear boxes?
This is awesome. The only criticism I have is that you need to recalibrate your bed as its too close to the print head and is 'plowing' the first layer. Keep the awesome designs and content coming!
great quality video
Very nice! I think there would be interest from people building flight simulators in using this process to create instrument gauges: if you look at some of the 3d printed servo gauge builds, they are considerably less elegant than this. And although steppers do work, they have their own clunky problems.
I like it! Telescope base in the future?
hey michael, congratulations! are you planning to make any video evaluating if apply any load on it? like if it's easy to break
The gearbox knows where it is, because it knows where its not.
Very well done, can't you use, say, an outer race of a suitable bearing to strengthen the outer gear? It would obviously move the encoder gear, but those bearings are quite cheap, easy to open and have excellent strength.
The other place you can find those compound gearboxes is in the winches, even the cheap car winches have metal gears in them and often pull 600kgs on 60mm pulley (making it about 180NM if you every would need to build something particularly powerful).
Great video and design, wonder if drone motors would work this way too?
nice work! subscribed...
Very nice - I was working on similar last year and hopefully will pick it back up soon. How are you finding the AS5600 reliability?
"3 axis turd" i was confused for a while
Who’s channel do I have to subscribe to around here to get a linear servo design? Awesome project
Awesome !
1:35 that song is fire, i checked DivKid's channel and oh boy! He's a madman
"The gearbox knows its position at all times. It knows this because it knows where it isn't."
Excellent video... planetary gears... compound gears would give more procission higher monitoring accuracy using agc... automatic gain control... and a digital comparator with positive or negative feedback... would loose the need for a limit switch... I can't believe the number of 3d printer materials being released every week... a very exciting time for 3d printing... Thank You my friend...
Amazing
wow! congreatulations...good job..... question: ¿which program for make robot parts use?
Nice servo! Would really like to know your print parameters too cuz those prints look awesome!
It counts 👌all industrial machines have DC servo
Thanks! Also possible to record and playback.
for high resolution of feedback(encoder position) single magnet on end shaft isn't enough. use disk with rectangular flat magnets vertically. commercial servos use glass disk either slots with tiny magnets or with optical sensors with slits on glass disk. to store the accurate location even with power losses, supercapacitor with flash memory or always on lipo battery.
How small do you think you could get one of these? They'd be incredible for tiny animations for model railroads or christmas village projects! :) Thanks!
Not questioning your choice of a hall sensor to figure out your position, I just wanted to let you know that you could also have used a trim potentiometer (german "Spindel Poti"). Those Potis need eg. around 10 turns to change their resistance from 1 extreme to the other. They are used eg. in sailing winches used in model sailboats to move the sailes. The drum which operates the sailes usully needs to make 3 or 4 turnes to move the sailes from the "innermost" position to the "outermost" and needs to be able to hit the same positions extremely accurate. No homing sensor needed, since the Poti does the job without any needed additional help.
Rheostats and potentiometers use brushes which limit their life cycles significantly when compared to this magnet based encoder. They can be used, but its not recommended.
@@SEGnosis
My winches operate my sailboat (actually racing in regattas) since more then 5 years without problems.
Do the brushes create problems eventually? Sure, they will. It all comes down to how long you need them to operate. As said: mine work since more then 5 years without a problem. If they do create a problem, then they get replaced and all is well again. Homeing with and end switch however would create a problem, since I simply cannot allow the winch to turn until it reached its end position. You see the motor has plenty of power. If it turns the spindle to its maximum position it would crush the whole mechanism due to excessive force. This is so, because the innermost sail position does not correspond with an end point.
@@kallewirsch2263 Sounds like you're using a big pot with big brushes. In the case of this makeshift servo motor. You shouldn't use a pot bigger than the motor. Even if you could.
I feel like this is a sidegrade, not an upgrade, and is only recommended depending on the application of your servo. For a servo that only needs a limited range, sure. But he stated in the beginning of the video that one of the disadvantages of typical RC servos is their limited range. With a hall sensor, you have continuous rotation, which might be a constraint of certain usecases.
I know this is really late , but what size nozzle are you printing with ? Is it a .4 mm or smaller to get the tooth detail for the gears
Hey how do you get such clean gear prints? I printed with some PLA for a mechanical Jellyfish and while it technically turns and I'm proud of that the gears came out a bit choppy. Thanks!
can you make servo using off the shelf gearbox and make attachment for encoder? that will be awsome
Those FDM prints look very precise.
are you using an unusually small nozzle and layer height?
I achieve a high quality FDM print on these parts with a .6 nozzle and .30 layer heights using a Prusa MK3S
How did you design the gears? Which software did you use?
the mechanical switch is viable but a optical method would be far more reliable or even a reed switch or hall sensor with magnet in your large gear set
can you make a video on modifying one of the cheap ones into being able to do this?
Cool thing!
Where can I find the correct library for the AS5600 in this Arduino sketch?
greetings from Switzerland
Awesome. What's the approximate cost per unit, before labor?
very nice. im interested in speed... how fast can it be?
AMIGO O BRIGADO POR DISPONIBILIZAR ESSE LINDO E MARAVILHOSO PROJETO. ONDE CONSIGO O DIAGRAMA ELETRÔNICO DESSE PROJETO ? NO DOWNLOAD NÃO TEM O DIAGRAMA ELETRÔNICO DESSE CIRCUITO QUE ACIONA O MOTOR.
FRIEND THANKS FOR MAKING THIS BEAUTIFUL AND WONDERFUL PROJECT AVAILABLE. WHERE CAN I GET THE ELECTRONIC DIAGRAM OF THIS PROJECT? THE DOWNLOAD DOES NOT HAVE THE ELECTRONIC DIAGRAM OF THIS CIRCUIT THAT DRIVES THE MOTOR.
hi you video is amazing can you make a video about the basics about gerbox and thanke fore this informations i hope you can complete
Cool🔥
What kind of spray do you use for your 3d printer ???
could u share which slicer and settings you use?
Damn this gearbox is also a position
For a little more money you could instead have a FOC actuator using a pancake brushless motor. Probably a superior choice. But nice video!
Вот подобные видео я люблю.
This is an awesome video. It unfortunately justifies me in buying more components though....
Is there any chance of a wiring diagram please?
Do you have a wiring diagram or know of any info videos on it? I bought it based on this video and am struggling with it.
Cool idea of making an own servo :D
would a planetary gearbox with a BLDC motor fit for driving a platform on tracks instead of wheels? I mean..due to torque?
Would be PETG better for a gearbox, when working with a way faster BLDC motor?
The moment you have an encoder the BLDC can have maximum torque from 0 RPM - you can use the FOC algorithm. And this thing gives you an encoder.
Do the two outer Rings have different number of teeth? I'm a little confused how the transmission is achieved because they seem to be the same size and and the caseing und output shaft therefore shouldnt move indipendently (or maybe i'm just missing something obvious ^^).
Hi that also servo from stepper motor.?
A gearbox is never there, Frodo Baggins. Nor is it here. It arrives precisely where it means to.
Genial!!
Maybe you can resin-cast the 3D-printed gears to make them more durable? I do not have the money right now to buy expensive resin and silicone but it could be a fun project in the future.
I don't know how much more durable resin would be. Where the 3D printed gearbox can flex a bit when it skips, I'd think with resin the gear teeth would just shear off and jam up the mechanism. That said, you don't have to give Smooth-On your firstborn child to get started with mould making and casting. Everything you need can be found at your average hardware store for pretty cheap: silicone caulk, plaster, epoxy (J.B. Weld might be interesting to cast with). I'm sure there are plenty of UA-cam videos that can explain the "how-to" of it better than I can.
What Brim do you use? It's massive but I like it lol 🤣
the picture at 3:00 is wrong. u compare the input with the output. (input minus output). the difference is fed into the controller.
why the magnet for the encoder it's like slided and not the poles facing the encoder?
Great videos for only having 6.99k subs (sorry for bad English)
It knows this, because it knows where it isn't.
By subtracting where it is from where it isn’t or where it isn’t from where it is
Hi!
Do you have the code but using a stepper motor with the AS5600? Thank you.
Are you building a camera platform?
I was thinking antenna tracker
Salut! Do you always use rafts for your 3D prints or is a gears only setting?
Mostly just for gears or parts where I don’t want any “elephants foot”
Hey does anyone know how to figure out how to fix a ender 3 from having thermal runaway errors?
Is there a tutorial for this any time soon?
What size magnet did you use?
I'm doing a project similar to this at the moment, but to clarify my understanding, is the AS5600 encoder an absoloute encoder giving a bit code for the exact angle of the shaft, or is it an incremental encoder telling only the direction and amount of movement? I am building a robot arm and want the arm to know the current angle of the joint when powered on without having to home, will the AS5600 provide this in the form of the bit code?
Absolute iirc
Yes i use it on my own robot arm but the as5600 has only one, I2C address so you will need to use an i2c multiplexer
I am curious as to why you chose a mechanical switch in the gearbox assembly, instead of a tiny magnet and a hall sensor? The switch will wear out pretty quickly I would imagine.
If by quickly you mean in twenty years, then probably.
@@dieselguy62 Only 20 years? That thing could sit on a shelf for at least a few hundred before the metal bits corrode.
What printer do you use?
The large bearing looks expensive but isn’t really in bulk and 7N/m is 5.2 lbs/ft
how does a servo do it without homing?
It took me a few moments to realize that you didn't actually mean to say "three-axis-turd", but still that's what I heard.