Aren't servo motors already brushless for the most part? They rely on a method very similar to a BLDC motor, and is why they are able to have such a powerful holding torque. Afaik, servo motors are a lot like BLDC, just with a lot more windings for fine adjustments.
According to the aliexpress page, torque is 15Nm, backlash is less than half a degree. Speed is very low at 600RPM in/20RPM out, so hopefully running it super fast like this under load won't hurt anything :)
@0:35 Just want to clarify. Those gearboxes are made for NEMA 17 and its type. They are not specifically made for Stepper motors. There are brushless DC motors that are made in NEMA formats, NEMA 17 being the most popular.
This is exactly what I'm looking for. Who makes something similar (not pieces that aren't made to work with each other and require a 3D printer and/or machinist equipment to make it work)?
Man you are awesome! I was smiling the whole way through and have found all your videos quite inspiring and i can't wait to use these ideas in the devices that i'm working on for my company.
Very interesting! For some reason I can't find the gearbox on aliexpress. You explain things in a great manner! Have you considered making a series of videos like "introduction to robotics for complete beginners"? Maybe there is enough information in your videos already, I'll make sure to check them out!
www.aliexpress.com/item/32837903150.html?spm=a2g0s.9042311.0.0.53164c4dDFQoSJ - this is the link where I bought my gearbox. I think this is a good idea to make such videos. I will try to make them, when I will find some time. Thank you a lot for your comment!
@@basementadmin Thanks, but I think that's an older one. I was just coming back to post that I found the new one :) dspace.mit.edu/bitstream/handle/1721.1/118671/1057343368-MIT.pdf Beautiful actuator design, fitting the gears into the center of the outrunner stator. Maybe not good for robot arms due to the lack of concern for backlash, but excellent for its intended purpose, which is closer to what I'm working on (robotic bird wings). I need to try making a version with carrier-driven compound planetary gears for higher reduction ratio.
Subscribed, excellent Project! Successful closed loop position and speed control of BLDC with DIY controller may initiate a new epoch in this area. Please keep up your very valuable work!
This is great! Do you have any tricks or designs for aligning the shaft alignment when assembling? It is assembled very roughly, but it rotates smoothly.
Love your content! Beginning to build a 5DOF robot myself and your videos are incredibly helpful for both design and component considerations! Curious how do you begin your search for brushless motor encoders?
what is the opposit of a planetary gearbox called sir? if i connect a drone motor, i want the opposit, create more spin from the same motor?? i would create a drone motor with the planetary gears inside the brushless motor? maybe inside the magnets ring... i would like more spins from the axis not less :D
@@Skyentific :) I have just seen onalibaba, that strain wave gears starts at ~400 USD for a single sample. Maybe also intresting. Thank you for your work.
It is not "Flyed away" when you tested, but the vibration is too high. If you use second the same brushless motor (without reducer) and use opposite direction of rotation in same time - it will remove the vibration?
If this "servo" will work in robot's hand - each manipulation will vibrate the whole robot. If robot draw text by this hand - then this text will not fine...
I hope you will eventually be incorporating your improved servo-motor designs into a new robot arm. I don't think I've seen any DIY robot arms that use anything but stepper motors.
strain wave gearbox would be even better. Also a bldc with less inertia - an in-runner or a hollow rotor one would be killer. Congratulations on the build. It looks really useful.
@@Skyentific Thanks for your reply! Unfortunately the price is an issue. I designed mine and manufactured them myself on a Mill, lathe and CNC EDM machine at the university where i teach.This is one of the reasons i am still hanging around there ;) I used to teach theory of machines and mechanisms ;)
Those gearboxes have nylon gears right? I am interested to see how well they can hold up to high torque/power applications because if they were designed for steppers they wouldn't need to be very strong. I wonder if we can convince some Chinese manufacturers to produce cheap metal planetary gearboxes in this size
All the gears in this gearbox are metal. The torque from stepper motor of this size is around 0.4-0.6N.m. The maximum possible torque from the brushless motor from this video is 1.2N.m, but at this torque the motor will heat up quickly. So practically better to use lower torque. Thus both torques are not very different.
Very nice... love it! For those looking for the BOM he mentioned in the desc: 1. Brushless Motor: bit.ly/2KisrrU 2. Planetary Gear Box 30 to 1: bit.ly/2Mgl7zl (I think but not sure if this is the exact model shown) 3. Encoder AMT102-V: bit.ly/2HMQVb6
Hi Skyentific! I was wondering if it is the best way to achieve a 30:1 reduction in terms of weight. That geartrain looks way heavier than the motor....Will you do a video about actuators weight (motor+geartrain) based on your experience?
I wonder if these types of motors are designed to be cooled by the air that the blade creates that they're designed to spin? Be careful when running them on higher power without any forced air circulation? :P
Try to search on Aliexpress with the key words "planetary gearbox nema 17". You will find a lot of different planetary reducers. Here the exact link, where I bought mine: www.aliexpress.com/item/32837903150.html?spm=a2g0s.9042311.0.0.53164c4dDFQoSJ
Hi i am new to robotics but i build cnc machines myself. How such a actuater is controlled by lets say Mach4 or mach3. do you have to change the whole controller or is it possible to mix steppers and actuators like this?
Also have you looked into 3d printable harmonic drives? I've been playing with some designs but haven't been able to make one that doesn't skip teeth with more than ~1.5nm. I've only tried low reductions (15-1) but they have been back drivable so far.
In fact, the outer housing is the rotor, the magnets are on it, and on this type of motors, the magnets are spining, and the copper coils are staying in place
It would be very difficult. Because of the backlash on reducer, the motor position would not be precise in this case, and controller will have a difficulty to run the motor. Usually in such cases people use two encoders: one on the motor and second on the output shaft.
Welcome! :). I did not do the stress test. But the only downsize that I aware: it is more expensive. But at the same time brushless motors usually lighter and more powerful. This is why most of the time people use them for professional robotics.
The in runner would have less inertia, but it would have also less torque (for the motor with the same mass). Normally inrunners should be used with higher gear ratio compared to outrunners.
Please, do not hesitate to leave the comment. This will help to promote this video in youtube algorithm. Thank you!
Dude this was super cool.
how much hold torque does the motor have with and without the gearbox?
You just basically made a brushless servo motor. Good project!
Thank you!
Aren't servo motors already brushless for the most part? They rely on a method very similar to a BLDC motor, and is why they are able to have such a powerful holding torque. Afaik, servo motors are a lot like BLDC, just with a lot more windings for fine adjustments.
Wow, want that for my projects too.
Can't wait next episode with torque test :)
Thank you! Theoretiacally it should handle 1.5kg.m.
Let's drink to the UA-cam algorithm. 🍻
Yes! :)
Wonderfull ! This is it ! Hurry and show us more. Can't wait....
This was an amazing video, I was looking for exactly something similar. Loved it !!!!!!!
great job can't wait for robotic arm in action
Thank you!
Am going to use it for single axis solar tracker with threaded long shaft rotating inside a nut for getting linear motion with good torque.
This is great! Really curious about the output torque and backlash.
Thank you. I am curious too! I will check this.
According to the aliexpress page, torque is 15Nm, backlash is less than half a degree. Speed is very low at 600RPM in/20RPM out, so hopefully running it super fast like this under load won't hurt anything :)
Hey, you are amazing and you are my inspiration, thanks a lot.
@0:35 Just want to clarify. Those gearboxes are made for NEMA 17 and its type. They are not specifically made for Stepper motors. There are brushless DC motors that are made in NEMA formats, NEMA 17 being the most popular.
Yes, you are completely right! I agree.
good work bro really clean setup
Ultra-high resolution CNC use sounds like a possibility. Thanks for the video.
High resolution but there's a lot of backlash
Thank You so much for this channel!!! Please keep up the awesome work
Your done a great job man no one done this before
great work
Thank you!
Wow! Nice. The Skyentific touch:)
Thank you a lot! You comments are always very kind!
This is exactly what I'm looking for. Who makes something similar (not pieces that aren't made to work with each other and require a 3D printer and/or machinist equipment to make it work)?
Man you are awesome! I was smiling the whole way through and have found all your videos quite inspiring and i can't wait to use these ideas in the devices that i'm working on for my company.
cant wait for the max torque testing! keep in mind this motor can stress the gearbox way above its limits :p
Lovely results, congrats!
Greetings. like the video. can you make video on controlling dc motor controlling with e
ncoders.
Interesting. Nice video. Thanks for sharing.By this experience, I have learned a lot of new things.
Thank you for your work. This is very useful.
Thank you for your comment!
how did you make that stainless steel plate?
It might have been a good idea to seal the encoder electronics with epoxy.
There is a moving parts there (in encoder), so it would be very difficult to seal it...
I love it
great succes!
Nice job, seems to work great.
Thank you for your comment!
Very interesting! For some reason I can't find the gearbox on aliexpress. You explain things in a great manner! Have you considered making a series of videos like "introduction to robotics for complete beginners"? Maybe there is enough information in your videos already, I'll make sure to check them out!
www.aliexpress.com/item/32837903150.html?spm=a2g0s.9042311.0.0.53164c4dDFQoSJ - this is the link where I bought my gearbox.
I think this is a good idea to make such videos. I will try to make them, when I will find some time.
Thank you a lot for your comment!
@@Skyentific And thank you for your reply!
This is so great! This will be very usefull!
Thank you!
Did you check out the PDF released by MIT on their cheetah robot motors? Very interesting read.
Just found it thanks to one of the viewer.
Link?
@@dekutree64 fab.cba.mit.edu/classes/865.18/motion/papers/mit-cheetah-actuator.pdf
@@basementadmin Thanks, but I think that's an older one. I was just coming back to post that I found the new one :) dspace.mit.edu/bitstream/handle/1721.1/118671/1057343368-MIT.pdf
Beautiful actuator design, fitting the gears into the center of the outrunner stator. Maybe not good for robot arms due to the lack of concern for backlash, but excellent for its intended purpose, which is closer to what I'm working on (robotic bird wings). I need to try making a version with carrier-driven compound planetary gears for higher reduction ratio.
could you make a video on how to use an AMT102-V encoder with a stepper motor / brushless motor and arduino?
Good question. I will think about it. Now I use ODrive, and it is very easy to use this encoder with the ODrive controller.
@@Skyentific yes of course, but not everyone has ODrive. in most arduino it costs very little
Subscribed, excellent Project! Successful closed loop position and speed control of BLDC with DIY controller may initiate a new epoch in this area. Please keep up your very valuable work!
This is great!
Do you have any tricks or designs for aligning the shaft alignment when assembling?
It is assembled very roughly, but it rotates smoothly.
Those planetary gearboxes usually have a lot of backlash
This one does have backlash, but a small one.
Would love to see another vid going into detail on this
Anyway in most cases you can preload construction on output shaft to compansate backlash.
For zero Backlash gearbox, kindly visit www.meliormotion.com
@@amanawale9 haha looks beautiful the question how many times more does it cost???
I like this channel
Very interesting and „real world“ stuff. Also thank you for improving the audio.
Awesome work! Could you please list the parts you used in the description? :D
Thank you! Just added in the description.
Love your content! Beginning to build a 5DOF robot myself and your videos are incredibly helpful for both design and component considerations! Curious how do you begin your search for brushless motor encoders?
Thanks You!
thats really good. thanks for sharing
what is the opposit of a planetary gearbox called sir? if i connect a drone motor, i want the opposit, create more spin from the same motor?? i would create a drone motor with the planetary gears inside the brushless motor? maybe inside the magnets ring... i would like more spins from the axis not less :D
I am interested in watching you measuring the torque and comparing with other solutions
this is great. thank you
Thank you for your comment!
@@Skyentific :) I have just seen onalibaba, that strain wave gears starts at ~400 USD for a single sample. Maybe also intresting. Thank you for your work.
Nice! thanks for the link to the encoders in particular - they seem pretty decent for the price.
I completely agree, these encoders are very good. Thank you for comment!
It is not "Flyed away" when you tested, but the vibration is too high. If you use second the same brushless motor (without reducer) and use opposite direction of rotation in same time - it will remove the vibration?
Good question. I don't know. But I should say that the vibration is not super high... I think it is normal for this speed.
If this "servo" will work in robot's hand - each manipulation will vibrate the whole robot. If robot draw text by this hand - then this text will not fine...
I hope you will eventually be incorporating your improved servo-motor designs into a new robot arm. I don't think I've seen any DIY robot arms that use anything but stepper motors.
Wow works so gr8 , make a robotic hand
I agree, this should be interesting!
Why did you put the encoder to the output of the motor instead of the output of the gearbox (i believe this is the actual output angle you care about)
This is awesome! Could you please provide us with the price of the components - motor, encoder, and gearbox?
strain wave gearbox would be even better. Also a bldc with less inertia - an in-runner or a hollow rotor one would be killer. Congratulations on the build. It looks really useful.
Thank you! I agree that strain wave gearbox (hormonic drive), is great reducer. The problem, is the price. The cheapest one cost around 500$...
@@Skyentific Thanks for your reply! Unfortunately the price is an issue. I designed mine and manufactured them myself on a Mill, lathe and CNC EDM machine at the university where i teach.This is one of the reasons i am still hanging around there ;) I used to teach theory of machines and mechanisms ;)
Because this part is so sick so we will srow away ze kover. 🤣🤣🤣🤣
Yep! :))
awesome!
Thank you!
Congratulations for the channel is incredible! I really like a question can you put the sketch of the control from arduino? thank you
Fantastic work! Can you post purchase links and prices for the motor and gearboxes?
Those gearboxes have nylon gears right? I am interested to see how well they can hold up to high torque/power applications because if they were designed for steppers they wouldn't need to be very strong. I wonder if we can convince some Chinese manufacturers to produce cheap metal planetary gearboxes in this size
All the gears in this gearbox are metal. The torque from stepper motor of this size is around 0.4-0.6N.m. The maximum possible torque from the brushless motor from this video is 1.2N.m, but at this torque the motor will heat up quickly. So practically better to use lower torque. Thus both torques are not very different.
Very nice... love it!
For those looking for the BOM he mentioned in the desc:
1. Brushless Motor: bit.ly/2KisrrU
2. Planetary Gear Box 30 to 1: bit.ly/2Mgl7zl (I think but not sure if this is the exact model shown)
3. Encoder AMT102-V: bit.ly/2HMQVb6
What is the purpose of the encoder that was placed in between the motor and gearbox?
Amazing. This is precise and have high torque? Can be used in MEdium sized CNC?
Hi Skyentific! I was wondering if it is the best way to achieve a 30:1 reduction in terms of weight. That geartrain looks way heavier than the motor....Will you do a video about actuators weight (motor+geartrain) based on your experience?
Hi! You are asking a very serious and great question! I should think about it. I don't have simple answer to this. I will think about it.
I wonder if these types of motors are designed to be cooled by the air that the blade creates that they're designed to spin? Be careful when running them on higher power without any forced air circulation? :P
You completely right. That is why I always check the temperature of this motor when I test them.
Have you think about using encoders from the printer ? It is very thinh, cheep and has 1200 or more steps per circle. Thanks.
could you please provide the model of the motor and gearbox you used? thanks!
I really like the idea. Could you post a link to the gearbox because I can't find it under that name.
I confirm: in AliExpress it is not possible to find AMT102-V or 42XG30-ZYC. May be you can write links to motor, gearbox and encoder?
Try to search on Aliexpress with the key words "planetary gearbox nema 17". You will find a lot of different planetary reducers. Here the exact link, where I bought mine: www.aliexpress.com/item/32837903150.html?spm=a2g0s.9042311.0.0.53164c4dDFQoSJ
Hi i am new to robotics but i build cnc machines myself. How such a actuater is controlled by lets say Mach4 or mach3. do you have to change the whole controller or is it possible to mix steppers and actuators like this?
Also have you looked into 3d printable harmonic drives? I've been playing with some designs but haven't been able to make one that doesn't skip teeth with more than ~1.5nm. I've only tried low reductions (15-1) but they have been back drivable so far.
Not yet. But I agree that this would be very interesting.
Шикарный сервопривод! Интересная конструкция энкодера. Испытание гречкой будет?)
Точно! :)))
Perfect work :)
This is very good ! But I can't find this gearbox in Aliexpress. A link, may be ?
Just type "planetary gearbox" in the aliexpress search. Any of the NEMA17 gearboxes will work.
Exactly!
www.aliexpress.com/item/32837903150.html?spm=a2g0s.9042311.0.0.53164c4dDFQoSJ -this is the link where I bought it.
@@Skyentific Thank you !
the only problem is the grease goes to encoder without the sealing
Awesome content! Can you leave links to the motors,components used in your videos?
So you know of a compatible controller compatible with The simplefoc Software?
Amazing!!
Bldc size please? And also esc in your can it handle 60amps?
Nice :)
Thank you!
Verry interrestin
Thank you!
Is there motor needs to be calibrated always?
only problem is this planetary gear is long ...some people make a disk planetary gear for be short size
Hi. Could you please make a video about a motor for a DIY exoskeleton?? I want to develop one as OpenSource and I am looking for help. Thank you.
Which touchscreen did you use btw?
amazing
Hi skyentific, recently I have a robotic project with AMT10 absolute encoder but I cannot configure its rs485 address. Did u face this problem before?
probably a dumb question: why does the outer housing of the brushless motor rotate? Is there some advantage to not having it fixed in place?
Yes, these motors have higher torque for lower RPM, which is perfect for robotics.
In fact, the outer housing is the rotor, the magnets are on it, and on this type of motors, the magnets are spining, and the copper coils are staying in place
Are you able to run it with the encoder on the reducer output shaft instead?
It would be very difficult. Because of the backlash on reducer, the motor position would not be precise in this case, and controller will have a difficulty to run the motor.
Usually in such cases people use two encoders: one on the motor and second on the output shaft.
Sir how to use esc in planetary motor
And a link for the encoder?
new subscriber!! how long does this last? is there any downside of using that kind of motor?
Welcome! :). I did not do the stress test. But the only downsize that I aware: it is more expensive. But at the same time brushless motors usually lighter and more powerful. This is why most of the time people use them for professional robotics.
Can you tall ass about the accuracy of this servo motor ?
why i never see the sensor on the output shaft of those planetary reducers ....
Why someone would put it there?
Wouldn't an inrunner bldc be better because it has less inertia?
The in runner would have less inertia, but it would have also less torque (for the motor with the same mass). Normally inrunners should be used with higher gear ratio compared to outrunners.
@@Skyentific but if you're already using a gearbox wouldn't a high rpm motor be better off with less inrtia?
wheeen ? Когда продолжение)
we are waiting for the roboarm with this setup :)
Great question! I hope soon! :) I am working on this!
Good mod. Could you tell us the torque this mod is giving you? Thanks a lot!
Theoretically it should give 15N.m (1.5kg.m). Practically I will test it this weekend. Stay tuned for my next video :)
Чётко вообще! Момент большои?
Спасибо. Еще не мерил, по паспорту должно быть 1.5 кг.м.
Great Video! Put some weight on that thing and let's see how many kilos it can lift! =)
Yes! I will! :)
No test under load from 0rpm? :(
Not yet. But I will do it in future.
Is there a speed Increaser??
Отлично, получается недорого
How much torque does it has?
Theoretically 15N.m, but I will test this in my next video.
Noice
Yes! :)