Wonderful project, I can't wait to see more of it. I have the same harmonic and my main problem was to make them go fast. Your emplementation is very very nice!
Hello, it is a great outcome! May I ask if your video was speed up? because I am about to make a robot arm using nema17. I am wondering the actual movement speed of your robot arm.
Very cool demo. With the steppers its a bit less important but are you going to explore dynamic modelling of the system? I suppose with knowledge of the stepper state + closed loop feedback you could predicatively throttle the motion based on the fastest joint rate to ensure stepper torque always exceeds the required system torque
Hey. Thanks for sharing your awesome work with all of us! Quick question. What software are you using to create your Forward/IK models and your motion planning? I am just starting building of an Annin Robotics AR4 Mk2, so I hope to join you in this field very soon! ;)
Such a cool build, 2-4mm accuracy seems too off, if this is more of a parts quality issue maybe you could add a redundant array of sensors to get positional data besides what the stepper motors provide and use that data with a PID algorithms to compensate it.
Great work! For what it's worth, I've got three of those X17-30A Nema 17 wave drivers, and while I was initially over the moon about them in theory, I discovered that they have enormous axial slop when any weight/leverage is applied. Like a solid degree or two of "wobble" you can squeeze out of them with a little leverage. Their bearings are simply not up to the task, IMO. I have three genuine Harmonic brand drives of similar size (CSF-14-30-2XH-J) I bough off e-bay and those things are tanks. While I had to print adapters to mount nema 17's to them they are flawless.
That's awesome! I really love seeing projects with CNC parts and harmonic gearboxes.
theres a harmonic gearbox on this?
@@justinc2633 all of them have a harmonic gear box at the end. I think it is a 1:30 one
I can feel how hot those motor must be getting...
They're not getting hot
Wonderful project, I can't wait to see more of it. I have the same harmonic and my main problem was to make them go fast. Your emplementation is very very nice!
the motor:everything-else ratio is off the charts
These new small harmonic drives for nema17 stepper motors are game changers.
100% agreed
absolutely amazing! I was hesitant to build a bot this size, but i think after seeing your model i think I'll take the plunge.
What is the language do u relays on to code please?
Very nice development. Coding looks good also. Well done.
Very good! This is a lot of effort and you are talented.
great work! can you tell me how thick are the CNC parts?
Hello, it is a great outcome! May I ask if your video was speed up? because I am about to make a robot arm using nema17. I am wondering the actual movement speed of your robot arm.
Wow, this is a great effort and you are very talented, I appreciate it for you.
What is the lifting capacity of the arm?
Ey Jashuang could you please share the pcb link. Thanks
Very nice, some rotary encoders to provide closed loop control would help a lot but you have already accomplished a lot.
Can you please tell me how to make it?
Would I like to make one for myself?
Very cool demo. With the steppers its a bit less important but are you going to explore dynamic modelling of the system? I suppose with knowledge of the stepper state + closed loop feedback you could predicatively throttle the motion based on the fastest joint rate to ensure stepper torque always exceeds the required system torque
Which field of engineering do you study to learn this?
hi would you like to give me a link where you buy this harmonic drive ? thankyou
Hey. Thanks for sharing your awesome work with all of us!
Quick question. What software are you using to create your Forward/IK models and your motion planning?
I am just starting building of an Annin Robotics AR4 Mk2, so I hope to join you in this field very soon! ;)
What is the language of code .?
Such a cool build, 2-4mm accuracy seems too off, if this is more of a parts quality issue maybe you could add a redundant array of sensors to get positional data besides what the stepper motors provide and use that data with a PID algorithms to compensate it.
Steppers are notoriously bad at anything more than 5% accuracy unless you get specialty stepper motors
Hi, can you tell me what gear model you used? I'm working on something similar and I can't find such compact gears.
Hi, it's a harmonic gearbox. It's part number is X17-30A which I purchased off aliexpress. All the best working on your project.
Great work! For what it's worth, I've got three of those X17-30A Nema 17 wave drivers, and while I was initially over the moon about them in theory, I discovered that they have enormous axial slop when any weight/leverage is applied. Like a solid degree or two of "wobble" you can squeeze out of them with a little leverage. Their bearings are simply not up to the task, IMO. I have three genuine Harmonic brand drives of similar size (CSF-14-30-2XH-J) I bough off e-bay and those things are tanks. While I had to print adapters to mount nema 17's to them they are flawless.
Hey Jason, checked your blog and really appreciate your shares....
keep going : )
That is some really good work! 😊
Well done. Must have been tedious to integrate all that.
I wanna see someone do this, but without encoders in their steppers...
Great project 💯
its super cool
Nice work.
Great work! We'd love to provide you with some PCBs if you need them in the upcoming content. (PCBway Daisy) 😀