3D Printed NEMA 17 Precision Gearbox with Position Feedback!
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- Опубліковано 8 чер 2020
- I'm so thrilled to present the final design of my 3d Printed Gearbox for a NEMA 17 stepper motor. The new design is a major improvement on the first prototype in so many aspects, just to name a few things: stronger construction, a lot of mounting points, position feedback with a hall effects sensor, more gear reduction and thus more torque.
The video has been some time on the way now, and has taken quite some effort, so I really hope you enjoy it!
If you haven't watched the first video already, you can find it here:
• NEMA 17 Gearbox with N...
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RESSOURCES
Files for 3D printed parts:
www.thingiverse.com/thing:444...
Additional parts needed:
- NEMA 17 Stepper motor + driver (from Banggood)
- Hall Effect Sensor (from Banggood)
- 3 pcs. 5x11x5mm Ball bearings (from Amazon)
- 25x37x7mm Ball Bearing (from Banggood)
- 2x3 mm neodymium magnet (from eBay)
- 5mm steel/aluminum round bar (from eBay)
- 2 pcs. 200 mm GT2 belt loops (from Amazon)
- Ruthex M3 Threaded inserts (from Amazon)
- M3 and M4 nuts and bolts (from Amazon)
NB: If you make it, let me know! Send me a link/photo/video of your build - or post a make on Thingiverse ;)
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/ emilostuff - Наука та технологія
appears out of nowhere - drops a couple of ultra high quality videos - disappears. fu**ing legend.
I wouldn't call it position feedback, but homing or indexing, still interesting design.
@Robo Cop lol, community disagrees ... content creator even refers to it as "zeroing" and "homing" in the actual video - as such title is a bit misleading as most people looking for position feedback are likely after more than a single position that is achievable with an end stop or homing switch on the axis as opposed to in the drive train.
I agree, surely an encoder would have been better.
@@teenflon even better, there are hall effect encoders, which can monitor the angle of the magnetic field. one radial magnet on the shaft center and such sensor near it
This channel is underated. Great content, looking foward to more!
Thanks again very much! I'm glad to hear that!
I agree that this is underrated and you deserve a lot more subscribers. Really good design and video - thanks.
Looks neat. Looking forward to next version with absolute encoding 👍🏼 Thanks for sharing! Subscribed
Great work - nice design!
Great content, fantastic ideas, nice video capturing, excellent voice over which is crisp, clear and always on point that explains well.
As Stefan said your channel is underrated. Please continue the brilliant work you will be definetly discovered.
I support you 🤗❤️.
This makes me so glad! I'll be continuing to make these videos and hopefully they will spread to more people. Thank you for the support!
Where have you been all my life? Very underrated channel. I give it 5 stars. Would watch again.
Must say bro you've done a precise work on it!
Thanks man! I'm glad you like it 😊
These are the slickest FDM 3D prints I've ever seen.
Excellent video and design process explanation - thanks!
Very very nice, looking forward to more videos!
Had a couple of ideas watching this, though they might require additional compute power compared to your current solution. First is that instead of a single Hall effect sensor, you could use two, with one each on the input and output spindles, hopefully allowing an increase in precision and accuracy and restoring some of the functional flexibility. Second is that with either one or two sensors, you could replace the solitary single-point magnet with a polarized magnetic strip along an inner circumference of the matching gear or pulley, essentially functioning as an absolute encoder, as you mentioned to Omar Aissani in a comment below.
Very impressive!
I think you should try an optical encoder, or use more magnets. I think it will make it respond and get back to the position pretty fast.
Because the EXPENSIVE servo motors or closed loop steppers respond to feed back in less than a millisecond.
Good luck
I love the camera application at the end! I could see a few of these being used to make a Timelaps rig
Great job men congratulations, just watched it and subscribed really well
Very satisfying to watch. Thanks 🙏
Glad you enjoyed it
This video definitely deserves more views!!!
Thanks man! 🙌
I thought you sounded danish, and When i Saw the danskvand, i was reassured! Nice video, will go and watch your other videos, but i can already say you got yourself a new subscriber😊
this thing is beautiful
This is awsome working ı very thank you for your hard working and sharing with us
I know I'm a bit late to the party, but - I think that the torque values are directly correlated to the holding torque of the stepper (because failing point was stepper loosing it steps)
Maybe it's an obvious remark, but I think it's worth to mention that this design won't overload itself and cause mechanical failure, which could be handy for some designs.
really nice design!
having minimal backlash can be critical and is hard to achieve on a 3d printed basis. great job
Thank you! Cheers!
Great work!
Thank you!
Damm...I expected you to have way more subs.....great video quality. Keep up the good work.
Thanks!
I admire how good it is described. I just see virtually every advantage and disadvantage of this solution now. The only thing I don't know is how will it behave after being worn off - backlash due to loosen off the pulleys. Actually I cannot name any more information I would strive. Good job.
Nicely done.
Hey Man, awsome work.
I just went to your channel to check out your other content.
I was shocked to see you didn't have 100k subs.
Your content is clearly A++ as im sure you already no.
As everyone is pretty much saying, ill be tuning in for your career👍
Keep up the great work 👍👍
I'm so glad to hear that! Thank you so much!
@@Emilostuff i agree. i think the youtube algorithm is holding you down. :P
Great work, good video and sound. Nice to see a Danish guy, making quality engineering content on UA-cam, looking forward to more content from you.
Thank you so much! Much appreciated :D
Good content and excellent video editing.
Thank you very much! Glad to hear that 😊
Engineering student here... I'm hoping to make a 3d printed robotic arm over the summer break. I might just have to bash together a few of these gearboxes to accomplish that! Great video, and fantastic instruction!
"We will be watching your career with great interest"
Very well thought out Project and Video. Nice clear Voiceover and easy to follow along. Good Camera shots and editing as well as a good choice of background Music.
The only thing left for you is the "and a special thanks goes to all of my Patreons and my sponsor Raid Shadow Legends" :D just kidding
Hi Beredro! This made me smile so much! Thank you for your kind words - I'm very glad you like the video :) Hopefully your prediction will come true some day!
Congratulations, great engineering....it's the IBM process "Plan your work, work your plan."
awesome design, I learned a few things :) thank you for sharing!
Great to hear!
wow! great work! instant subscribed.
Thanks a lot! 😊
Very nice implemetation! ty
I love your content!
What an awesome idea, I definitely know applications where the homing with a hall effect sensor would make all the difference. You should make a video about that (and most importantly the code!!) Thank you!
Great project. Liked and subscribed.
Loved it, it even feels as if Christoph Waltz is narrating.
subscribed. really nice project. i like how you designed the output plate and the inside equivalent around the bearing, its quite elegant and i assume strong
Good Job!
Nice Video!!😊
Good presentation of information. I wish you a speedy promotion of the channel and millions of subscribers.
Thank you so much 🙂
This does seem a lot better than the 3D printed gear based gearboxes I’ve seen.
Have fun with this! AS5600 you can very fine position feedback with this one!
well done!
thanks!
So good...
Excellent.👍
Full positional feedback next? :) Would be cool to have an open source affordable closed loop servo based on nema17 motors
Cool video/channel! Subbed.
I am very impressed with the outcome. You persevered in fighting back the results from the first attempt and building a better mouse-trap! I accept that there is a practically unbeatable issue with the flexibility of something that long and its ability to fight or resist movement. I personally don't call the movement backlash - I use that word to explain the exactness or sloppiness of gears and their mesh-ability! I know that the object you built, if made from large block of steel or aluminum and no plastics or belts involved, would not have that amount of movement. But you have made a strong servo. Haven't I heard of strong servos before? Made like a normal plastic servo but in metal? But you did have a self imposed problem to solve and I believe you did it.
I have a need for a stronger mechanism than I have now. I developed and built a vehicle platform that allows me to ride on it. It is basically something that allows a wheelchair to ride on top of and it uses 24vdc motors to move with and a car window motor to steer the front wheels. I use a DPDT switch to steer the wheels from left to right, but the centering is not self managed. I have to do it and it is difficult to get it in the middle. As well as the steering is not proportional. There are a couple ways to fix the overall problem but I want to keep it as a fly-by-wire system (isolated) so that I can implement other features down the road - like RC control of the whole vehicle. This is my pet project - just to see if I can do it. Don't we all have something like that we want to do?
Plus I liked the fact that you talked us through the process with explanations and discussion. That is becoming more of an issue with me - I'm not going to watch an entire video of hand movements!
Hey, just joining in with other comments - I subscribed after the very first video I saw back in April.
Thank you so much! Glad to have you here :D
could you make a tutorial on how is the electronic parts done?
great man..............looking more from you
Your videos are very well done, you got a new subscriber! Here is my idea for the version three, add a magnetic rotary encoder to make this a pretty nice hobby grade servomotor. Part four could be a video about designing a driver for it. Look up AS5600 for example, you would have to tinker a bit but maybe you can put this on the output shaft to reduce backlash even more, active backlash compensation. If that results in too much oscillation just put it on the servo itself.
Awesome project!
Concerning the M3 flat nuts I always print the square holes without any supports on my prusa Mk3.
If I can reach the holes afterwardsI clean up the drooped overhang with a knife but generally it isn’t necessary. Especially if precision of the nut position in the “z” axis is not critical I just oversize the z dimension slightly. For a good fit I use 2.2mm height for my square and it 98% fits without cleaning anything up. If I want to play safe I up the dimensions to 2.4 or 2.8mm that for me always fits the nut without any work. This way you don’t need to use expensive and difficult to implement threaded inserts. The nuts can clamp on the layer lines with minimal material in the x and y directions the inserts need more material all around taking up mich more space which you generally don’t want when building things with M3 bolts :)
Use selfcentering bearings for the belt tensioner axis, or use dedicated tensioner rollera and have the gear axles solidly mounted 😉
Found this channel, immediately subscribed ! That's a great design i want to see more.
Here are some improuvements i can think of:
- Stepper motors usually don't get hot so u can include it in ur enclosure.
- Adding a pcb that contains a small microcontroller and a stepper motor driver.
- Create a hole for a connector, so u can just provide 12V and pins for communication with the master microcontroler.
- Create ur own library, OOP will be the best route to take to get and set data E.g stepper.getPosition();
Hi! Thank you very much! And thanks for your suggestions - I like them a lot. I did briefly consider making it a more 'complete' solution with all the electronics inside. So maybe I will look more into that, If I revisit this design. However I do have another stepper gearbox design in mind that uses an absolute encoder. I think this would be an even better candidate to make fully integrated.
I recommend against including the stepper motor into the enclosure, personally, unless you also want to take the time to print or mount a set of cooling fins. Whether they get hot, how hot they get, etc; depends on a lot of factors, and plenty of people have had their stepper motors get very hot over the years, especially on longer or high-speed prints.
Adding a dedicated microcontroller and driver is fine for those whose projects require only one motor, but it tends to become a balancing act for people who need several motors and already have a monolithic control board (ex. RAMPS, etc). A reasonable compromise might be to include a simple coupling board so that your connectors are secure and all in the same location, and a list of recommendations for drivers and microcontrollers. This would also help to keep the production cost down in the end.
Stepper motors definitely get hot under load
And the ender3 pro is a great machine, mine printed great from the start, and 6 months later, still printing awesomely. In addition, Angus Devrron of MakerMuse, has a great little tolerance gauge that will help you dial in your CAD tolerances for your printer.
Thanks for the tips!
Nice video! Subscribed immediately :)
For my taste the background music is a bit too loud, but thats neglectable ;)
Keep up the great work!
Noted!
Great project, but could you please explain to me how you fit the small gear to the 5mm NEMA17 motor axle
Grande trabalhos amigo, parabéns !!!
Mas um inscrito em seu canal!!!
How you get the threaded inserts to work? Every time I use them they never work for. I make the hole to small and when I add the insert in fills into the threads. And if I make the holes just right they don’t hold when screwing in. How you get your room work?
Thanks a great video
amazing design just wondering is there an easy way to attach an output shaft?
Hi, great design thanks. Have you a link for the aluminium extrusions you talked about please?
Sir, may you tell us the length of the bar ( 5mm steel/aluminum round bar (from eBay) ) ?
Great work man. Very well made video. New subscriber here. As some already mentioned this is not true positional feedback but more of a homing feature. You should have a look at implementing a proper encoder in there 😃
Next step is a rotary encoder (those looking like a pot or those Will Cogley uses) on the driven gear!
curious.
at 8:35 into demonstration you discuss back lash.
was current being applied to the motor during the back lash test
Cool!!! If you had 4 magnets in the hall effect sensor would it's accuracy be better?
I know I'm kinda late to the party but there's an easy upgrade for your system, you could place a potentiometer (variable resistance) without stopper attached to the gears, by doing that you would be able to know the exact position of the arm simply by reading the voltage of the potentiometer and utilizing the magnet to "zero" the system or reducing complexity, just home it yourself
But using potentio means using analog signal which usually means *noise* . I'd rather get myself an encoder.
But if you want to keep the price cheap, yea i'll go with the potentio as well
@@rizalardiansyah4486 I've made pure analog control systems, if you know what you are doing noise it's not an issue, first of all, get good potentiometers, not cheap ones, second as long as you have a stable input voltage and your cables are good the result will always be the same, encoders are only needed in hostile environments, like a factory with a high degree of temperature variation or high amount of vibrations
Great video, the parts look very crisp and clean. What 3D printer are you using?? I am thinking of buying one for making some small parts for prototyping.. what design software you use??
very nice performance. but i wonder, how long will it last? how much will the setup be influenced by wear?
Nice work! I tried designing a gearbox like this, but ended up abandoning it. Mine was going to be driven by BLDC motor, and have a gear stage before the belts. That would give very high power to weight ratio, and still much lower backlash than a servo since there is only one gear stage, and the backlash from it is reduced by the total belt ratio.
I kinda wanna put this on a 3d printer now. Just gotta see if there is a way to integrate it to certain parts.
The deflection I'm going to guess is in part due to the tensile elastic strain of the belt or the bending elastic strain of the aluminum bar. I think you could create a closed loop system to correct the angle from the displacement on static positions using a rotary encoder over a Hall sensor. That would be more difficult to incorporate though.
I have a question though. I've seen that a lot of people usually go between three different approaches: a belt, a planetary gearbox, and a strain wave (harmonic) gearbox. What was the reason you chose the belt system over the other two?
Edit: My apologies for any inconvenience in necroing a two-year old video.
nicely done, just one thing , this is not position feedback but built in homing
position feedback is that it will report at every position where it is. , can be done with hall effect sensors as well
thankx for posting and explaining.
You're right!
What is the extrusion you used called? I can't find anywhere selling that kind of extrusion with 16mm spacing holes.
UA-cam recommendations are getting better later
What do you think of the ender 3D-printer that you are using? Can you compare it to another 3D-printer that you used or own?
Nice project. Your video is well done also. Going to download the files now to see the details. Can you tell me the ratio of the gear reduction that you achieved?
How long does that metal 5mm shaft you used have to be?
Is there a way to use software to add position feedback to a stepper motor? Like every time you turn it for a specific time, you calculate what the position is
This is incredible - I've just placed an order for some NEMA17 stepper motors and most of the necessary items, as I want to try and incorporate this into a project I'm working on. Is there any way you could upload the 3D file (.f3d file if Fusion360) for the output plate so it can be edited to edited to fit other types of attachments?
Please provide a link to the hall effect sensor you used.
I'm having a huge hard time trying to design and print some GT2 pulleys, did you use any reference that you won't mind to share?
Great Project. I built it. and works fine. Thanks a lot. unfortunately I was not able to get the Aluminum Extrusions. where can I get them. without that I am not able to use it in any project. Please help
New subscriber here...no skip
whats that lens on the gopro? (great video btw)
Can you reliably discriminate between (full) steps with that setup? Because I was looking for a feedback mechanism that counts completed steps?
What's the name of the aluminium construction rail he is using?
I am curious about those metal frame parts you are using
I was looking for repurposable gearboxes for different types of motion. This should meet that need nicely.
One solution would be to give a precise encoder at the output. You can make sth similar to digital caliper around the circumference of this output holder.
How does your position feedback work? Does it give continuous position data, or data when it passes a single home point?
Why does this channel not have a million followers
I’d love to make a star tracker with something like this
which contact lens release is the song from?