Orbital Drive Reducer with ODrive (Old Reducer, New Driver)
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- Опубліковано 21 бер 2019
- I used the old reducer (actuator) which I built long time ago. When I built it I did not know about ODrive. So I used the simple ESC, with which I was not able to properly control the position or even speed. And today I finally modified the reducer to be able to use it with ODrive. I don't yet have a good application for this system, but I love how it runs!
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#Robotics #ODrive #Brushless - Наука та технологія
Nice, I really want to see soon torque tests with this reducer :)
Very nice design! It looks promising. I will soon dive into this kind of mechanica for my channel and i am glad i found so many information here. I also loved the robotic arm and brushless o drive axis! Keep up the good work :)
Thank you! Glad to hear this!
That reducer is so cool!
Love your work man. New sub
Is very inspiring,thank you so much!
this is great! thanks for doing and sharing!
Thank you!
Yes! It is beautiful l. Thank you for video
Good work.
great work
Very neat, kind of like a harmonic drive out of cheap, toothed belt transmission components. Quite an invention!
Super cool👍👍
Потрясающе, никогда не слышал такого прикольного акцента :)
Nice unit :)
Man, you are a genious! I'm so glad I found your channel... I'm an engineering and mechatronics teacher in Brazil. Recently I've bought my first 3d printer also, and I'm looking forward to start printing projects! Thanks so much for your work, it is gonna help me and my students. Which 3d printer model and material do you use? Your prints are magnificent!
This thing would be incredible for something like the open dog project from James Bruton! You guys should do a collab 🙌
Great actuator with odrive! It will be a good fit for a robot arm i guess :)
Nice work! You make some cool stuff. How many teeth? Gear ratio? Have you measured the max torque? Does the belt slip before the motor stalls?
Fascinating. Would work for moving the X axis on my mini mill
Wow, I finally understand how your reduction works, and it is really neat! too bad the torque is limited by the belt slipping load.
I would imagine putting some idlers on ther would mostly sort that problem out
Fantastic video as always. Do you know if this mechanism is back drivable? For my project I am trying to keep a < 5:1 reduction ratio so that my arm can be as compliant as possible. Do you think this mechanism could be built to a lower reduction ratio or would I run into the same restriction that cycloidal and harmonic drives have? Thanks!!!
Hello! To control motor torque should i read the current going into the motor and increase the voltage using pwm to get the required current or should i use current limiting?
Hello, your robotics videos are incredible. Could you please tell me what is the model of the encoder that you are using in this reducer? Thank you!
Good design!! Have you a good transparency torque with this reducer, for example with 10 or 20 ratio? My idea is for regenerative braking applications.
If you use gears instead of belt you can have a whole "crown" of pins around the large ones, which should help distributing the torque/stresses to more than two pulleys.
Congratulations. Its good aplication for cnc. Like servomotor. Wich encoder use it? Odrive?
Really a wonderful work, have one concern... Dose the output pully slip wile taking load?... I got the issue. Please help
Will you patent the orbital drive? Has it been done before? Can it be used on commercial products?
У вас наверное язык русский был родным :)
Классный робот! Спасибо!
Я тоже спрашивал, он не ответил
Он не русский. Вроде бы живет в Швейцарии. Но акцент наш)
7:00 lol, "this is beautiful" followed by mad scientist chuckle. There couldn't be a more appropriate response :)
Glad to see you working with this reducer again. After watching your old videos on it, I went into a frenzy and came up with a gear version (works with planet gears going around the outside of large gears, or flipping the large gears inside out to become internal tooth gears like the ring of a regular planetary gear set). Then I went searching and found the youtube channel "Gear Down For What?" who had already done it ua-cam.com/video/5HQalZzB_zQ/v-deo.html
Judging by the results he's gotten in other videos, this method of leveraging gear/belt teeth does indeed result in crazy high torque to weight ratio. I'm not sure which version is best. Belts should have the least backlash, and don't need oil. Internal gears should be the most compact and lowest angular momentum (but most expensive). External gears may have the highest torque to weight ratio since you can fit a larger number of planets around the outside. Even better if you eliminate the weight of a coupling between output gear and load by cutting gear teeth into the end of a shaft so the planet gears turn it directly (although that would also be expensive).
very interesting how they will behave under load
Print in a fan cooling system into that spin..
You could put a threaded rod on the end, and use as part of a gripping system.
Or it could be used in a duel drive system!
Where a fast moving ring with a gear drives something, and the slower moving core dives something else...
also the spinning system will act as a flywheel. Allowing for a higher stopping torque.. Useful where stronger movement is needed..
Sorry out of any ideas..
Other than, it is cool, and good luck!
Hi. I find this reduction design very nice, and I would like to ask if you can make any comment about its back-driveability and also its stiffness when blocked. Thanks!
very nice work. can i use it for my project?
That's cool, What is the deceleration ratio?
This very cool video made me thinking "What could be a reason that it eventually would not work ?"... you see, in this kind of transmission, each of the two 'flying' shafts will be subjected to a large torque perpendicular to its axis of rotation. So, in this specific prototype, as soon as you apply torque, the light orange clips will be teared apart from the outer shell of the motor. The two 'flying' shafts together will wring the 'flying' base of them. It will not be easy to withstand that with a 3D printed plastic part. I am not saying it is not doable, but it will sure substantially increase the mass of inertia of the fast rotating 'flying' base.
Yeah, I've been trying to design a more rigid version of this thing. I doubt you'll ever get near the torque capacity of the belts using plastic, but it is still great for prototyping. Incorporating the motor rotor as part of the structure is clever, but even that may be bent before the belts fail, so my current design puts the motor outside the reducer mechanism: imgur.com/fvjbW25
The carrier is supported by two large bearings around the base of the fixed pulley and the output shaft. The skinny shaft is the input, which will go to the motor, and transmits torque to the carrier via the bar between the large pulleys (it really doesn't need to pass all the way through like this, it could end at the bar). A ceiling and floor are needed to support the mechanism. The fixed pulley will be bolted to the floor, and motor to the underside surface. Then the output shaft goes through a hole in the ceiling with a bearing (similar design to Harmonic Drive... could use a cross roller bearing here, or ball bearing here plus another ball bearing supporting the far end of the load). The small pulleys are glued to a tube, and then a rod is pushed through the tube and the bearings in the carrier.
But this structure may still not be stiff enough even if the carrier is made from aluminum. There's also still the problem of not being able to adjust the tension on the belts. But carrier inertia must be minimized since it will be spinning at the motor RPM, so if an adjustment system is added it will have to be very lightweight.
Messing around with this some more, I'm starting to think the best carrier design is simply a large square aluminum or braided carbon fiber tube (side length around the same as the pulley height). Compared to my previous design, the large pulleys have to be spaced apart father for it to fit between them, but then the top and bottom sections of the carrier aren't necessary so the total height is similar. And it should be much easier/cheaper to fabricate, and lighter weight. Not as compact as Skyentific's design with the motor in the middle, but still reasonably good.
@@dekutree64 check out this one, it is like yours turned inside out. ua-cam.com/video/P-Obt-9tZVo/v-deo.html
Hi, would you be open to sharing blueprints/models of the drive? Cheers
I couldnt find about orbital drive but is similar function logic about planetary drive and harmonic drive :) if you have more information about orbital drive please tell me!
Круто! Вот что детям в робошколах вместо лего надо показывать!
Can you use this for a wrist on a robotic arm? Possibly use this to tighten bolts. Then it would be cool to sense the torque applied to the screw, so you know its torqued down properly
Nice job. Are you going to use it in a robot arm?
I am also curious which motor you are using. I also just found odrive ans think it might be perfect for my app.
It appears to be a Quanum MT 5208 335KV, you can briefly see the text on the side of the motor at around 1:08.
Where can I get the CAD files for that reducer?
?
Очень интересно
Is that a"genus" keyboard? I liked them; they don't take up desk space.
Looks like mine Genius LuxeMate i200.
Hy, very good Job. Can u put a link for the brushless Motor?
From 1:12 in the video, Quanum 5208 MT Series FPV brushless motor 335KV
www.aliexpress.com/item/Clearance-sale-Quanum-MT-Series-FPV-brushless-motor-MT5208-360KV-well-dynamic-balanced-No-Warranties-No/32821117047.html
What is the encoder you used? Please help lol
Класс! Какая управляющая программа? Было бы интересно прикрепить цефирблат с градусами и стрелку.
Программа называется Odrivetool, она написана людьми из Odrive Robotics. Программа написана на Python и у нее открытый код, так что можно менять все что угодно...
@@Skyentific спасибо, надо будет глянуть)
Весьма интересна тема, жаль что железо под ODrive весьма сложное и его сложно купить. Мне кажется, было бы круто приспособить под эти цели регуляторы от гоночных квадрокоптеров, они очень маленькие и токи порядка 30-40 ампер для них не проблема. Тут по сути основная сложность именно рулить силовыми ключами, а остальное можно хоть на AVR запустить обычном. Но это к сожалению работа явно не для одного человека( кстати,вы не думали о перемотки двигателей? Мне кажется, вы бы смогли достичь заметно более интересных результатов в вашем прошлом манипуляторе, если понизить KV в 2-3 раза.
I really like this design. How come you didn't pursue it further?
I still think this is a good actuator, but I don’t have much spare time to develop it. I hope one day I will do this.
we want to see torque test :D
Torque. Torque. Torque. What’s the torque? I’m hesitant to believe the belt won’t slip. You are likely to need more wrapping of the belt around the upper gear.
No. No. No. This reducer was not made to withstand high torque. These are the weak belts. And yes they could slip. This reducer was made to show that such reducer could work. For the high torque reducer I should redesign it completely.
@@Skyentific Please do it! Would be verry interesting to see! Nice Work!
You could build a telescope mount with 2 of those
tu peux placer un pointeur laser au dessus et le faire pointer vers un mur pour mesurer la précision
nice (y),i m trying to build a legged robot can you help me to find a low cost high torque brushless motor
По данному произношению можно изучать английский для русскоязычных)) слова слышно крайне чётко! Буду рекомендовать))
Can I use your STL and software for business? Thank you.
From this project?
@@Skyentific Yes. I make motor and driver myself.Just use your STL.
Itfanr Beta , yes, you can use this. No problem.
@@Skyentific Thank you very much. I have followed your project for about 3 months.
This is kinda the same principle I used for a gear I built recently, only more complicated. Here you can find a video of it: ua-cam.com/video/bxXyXcu7HF4/v-deo.html
Your mic input is clipping, hard to listen to you talk. Otherwise good info.
когда будут уже ролики на русском?
patents.google.com/patent/US4321842
this is the patent
harmonic gear is a hundred times cheaper! ingenious! I will watch you and your ideas despite the horrible accent -)
Do not hesitate to leave your comments! This will help me to promote this video. Thank you!
Hello, i am fascinated how well all your own printed parts fits. Can you make a video, how you messure everything that it fits always so good how do you plan to make such things?
на русском канала нету? или хотя бы субтитры?
Не пойму, вы Русский?
он русский судя по произношению...
Ну или из России
Твоё произношение ужасно.