Getting into mecha construction? Fun. To reduce the servo count, you might consider a single pull strap for the entire finger, then springs to push it back open, and then pressure sensors under the finger tips for limiting.
When Ivan single-HANDedly created a shortage on red PLA, he turns to white😂 Nice build! I'm excited for the rest of this project! I think Mirandabot would be a fitting name.
At first, I didn’t even understand that this was his video, but when I realized it was - I didn’t believe it. I still don't believe it, but it's cool. It's just the embodiment of childhood dreams.
My two big notes on this video: 1) its NOT red...? Whaaat? 2) He DOES own a hammer! This is the first time I've seen him use one and not the back of a screwdriver.
For a Hexapod project, I once also had the idea to solder a wire to the potentiometers of the servos. As I had 18 servos to control, and I did not want to use 16 ADCs I used some analog multiplexers. This did not work at all. Somehow the analog multiplexer did not have a high enough input resistance in order to decouple the potentiometers from each other and the whole thing worked like a big resistor network and the servos started acting chaotically, as moving one servo also resulted in a resistor change in the other, which they then tried to compensate in the control loop.
I feel like all of your projects are to celebrate the fact that you’re not confined to your cupboard anymore 😆 Love it Ivan, looking forward to seeing more of the Miranda-Mech!
Nice project! But for the servo's, maybe the pca9685 is a nice option to consider in the future. A single board can drive 16 servo's via I2C without any issues, and you can chain them to drive up to 992 servo's or other PWM hardware over a single connection!
Amazing, I cannot wait to see the finished mech suit! One note, I would suggest figuring out a way to get the fingers to move side to side, like a normal human hand would do in order to properly grasp objects of all sizes and shapes.
You are forgetting that fingers can move sideways to a degree as well, and the hand surface flexes to a cup shape so that the tumb and little finger can meet. It's why making a robot hand is hard to get right.
The word is mecha, and I would love to see you make one. It would make your tank and your gocart (did you win?) look amateur in comparison. I can’t wait.
A system using strings and where the servos are in the palm of the hand would significantly reduce weight and thus increase the strenght of the fingers
I would suggest possibly modifying one of your large printers to be 'infinite z-axis' conveyor printers, in order to deal with larger limbs and the torso of your Mech
You should design the palm like the tesla robot. all the fingers are the same but they are positioned on the palm at different heights to give a more natural finger height difference
ha... Terminator: The Beginning. Not in theaters this summer but live in the world... Consumers will be able to have the most realistic experience ever... Love it, your channel is so awesome.
I think it needs stronger motors with lower gear reduction to be more effective at grabbing things. Those servos have little 5v motors with high gear reduction. Great vid! Keep it up!
Yeah , having only 11 and 25kg seems insufficient with something this big, the servos should be 50kg+ and there are some 3d printed gearboxes which he could use for the fingers
@@ulforcemegamon3094 Yes agreed. Also to add to that, there is a slight belt reduction at each finger joint but the leverage that is lost from the fingers being so big is not helping. I think one larger motor for each finger and then each finger joint is connected in a way would be a better solution than small motors at each joint. I'm studying engineering right now and could calculate the current max leverage at the finger tips if we knew the finger length, pulley diameter, and the belt reduction. I have a feeling Ivan didn't do any math for this lol. (Which I don't blame him tbh)
Interesting choice to control every joint with an individually controlled servo. I would have either wired them all to the same signal wire so they moved together or used a sort of tendon to pull on them all at the same time. But I've never done a project like this, so good job.
If you are thinking to control all the servos of one finger you don't need to use one servo each joint. But by doing it you can archive much more accurate and realistic movements
Commenting to say that the "good thumbnail" pun made me very happy, (and to feed the UA-cam algorithm and let it know that I'm clearly engaging with this content.) Your sign-off "Now go make something!" is causing me to feel bad about not doing so right away. If only feeling bad about not creating stuff was helpful for getting me to create more and not less... (That said, I have enough projects running in paralell to make it feel like I am at least creating stuff occationally.)
If the ridable robot resembles an animal, you could call it a Zoid (I'm sure the trademark/copyright holders would be cool with it - after all, trademark/copyright law is always so welcoming and inclusive).
Thanks to UA-cam for changing the push algorithm, I didn't know this had come out for a month... Next build should be tech upgrades. Add pressure induction pads to the fingertips and palm. Create a haptic control glove so you can move the bot with your own motion.
"The Prince Of Print" Ivan Definitely has taken over as the most entertaining 3d print channel by far. the print guy nerd cant touch this guy or any 3d channels. Big Upss Ivan. Keep up the great work and videos. Your Nesh is strong
Personally I’d like to see you continue developing your Miranda blocks and maybe use them to build a robot. I really want to see you finish the car and stuff and those blocks are a really versatile and interesting project!
Its seems you don't need the motor in the finger's joint at the top. Only those in the hand's joint and the middle section. I'd connect the tension belt from the middle section motor to the finger's tip, bypassing that third motor. Just watch how your finger moves!
if you used a stepper motor and a tendon design, the voltage spike of the load of gripping something could be used in lew of a pressure sensor. less parts is better. then you have one per finger. then the motor can even be in the arm, so the hand is lighter.
Me causa mucha gracia, yo no me animo a imprimirme un ventiladorcito a manija para encender el carbon y vos estas imprimiendo a tamaño dinosaurio!!! Excelente trabajo!!!
something to possibly consider that would let you simplify wiring, human hands don't have individual joint control of fingers instead, it's just a long tendon connected a muscle in the upper arm you could have a pulley connected to a far more powerful motor hidden in the arm or hand of the mechanism, that way you can get something more powerful, and each joint could bend to fir the form of the object it's holding automatically to a degree also, the movement of the thumb is extremely important for grabbing. It's why people talk about humans having opposable thumbs being so important. Without that 2-axis movement on the base joint, grabbing becomes a logistical nightmare
I’d be tempted to use larger DCmotors in the palm, and ditch the servos all together. The motors could drive ‘tendons’ that go down the fingers, like in a real hand.
So many applications! You could make a second hand so they could be twiddling thumbs for you while you wait for another huge 3D-print. Or have them do the sign-language translation in the background of your videos 🤓
You should consider using actual servo drivers rather than just the arduino mega. The arduinos, especially with complex code can end up with jitters or unwanted movements on the servos since the arduino servo library is interrupt based and only controlled by software. This could end up with issues as the code gets more complex like reading the positions and implementing feedback. Using hardware timers is the best way to do it and is how servo driver boards do it, you could also get and use a microcontroller with enough hardware timers like some STM32 microcontrollers but you probably want to stick to using arduino. Two options are to use a commonly available servos driver board with 16 outputs, or to use the servo 2040 board from pimoroni which uses an rp2040 to drive the servos since it can use the pio to drive the servos properly. The common servo driver boards have an arduino library that makes them very easy to use and are probably your best choice.
Super project and super complicated. With 15 servo motors, each with 180 degrees of freedom of movement, you have an infinite number of combinations, isn't that super hard to program? But I would have a recommendation that strikes me in each of your videos in the eye, get the makita cordless screwdriver with 12 volts, this has more than enough power for your kind of projects, but is also much more handy and smaller! What I find great that you no longer in red 3d prints, looks much better without the red Pla from 😃
The palm should not be flat, the pad at the bottom and the L pad should be more thick, like 2 or 3 cm or even more but the width should be less like half, so when the fingers closed it create a "box" result in more "grip", like that the balloon would be block, didn't try to slide out like 10:11 because the palm pad is too thin.
I always thought sooner or later you will end up building a death star 😂 the giant robot will help with the construction. And also another interesting project could be too 3d print a Jeep Willy's. It's fascinating to read why they build it the way they did..
Pretty cool, and yes, it'll be pretty entertaining to see you build a ridable robot! Though I am a little surprised you made all fingers the same size. I get the huge extra effort, but I think it be worth it
Love your videos! I'm confused by your design and the complexity of having servos in every joint. Why not a single servo controlling each digit and a spring to open?
Nice build ! I have a design recommandation for you. Check how Boston dynamics robot dog legs works to avoid having torque issues and belt tensionning problems. Having all the motors in the palm and ball screws or other mechanisms to control the 3 parts of a finger could make this hand very agile, what do you think?
This is really cool and I like the finished look of it. I was wondering if the servos were going to be able to move so much weight and it looks like they soft of can, but the belts aren't helping them any. Would it be too over-built and expensive to switch those out for chains and sprockets? Maybe also some motors or servos with worm gear drives to improve torque? I'm also wondering if instead of a belt or chain you could use a thin steel cable and the motor could be fitted with an oval shaped cam to pull back on the cable. You could add springs to return the fingers, but maybe another cable going the other direction around the cam would work better.. Maybe a spring keeping tension on the motor mount/gearbox assembly. You probably already have a better solution in mind, so I'm curious to see what you come up with!
I am very excited about this project. I hope your build will be weather-proof. I hope this King Kong 2.0 will be street-legal and you can move it around.
Not sure how exactly to explain this but since the fingers can't really move laterally compared to a human hand wouldn't it make sense to maybe instead of having 5 fingers to for example combine the pinky and and ring finger as one assembly? and just use the free up space to add combined servos or a bigger servo?' in this case, if you use a big enough servo you can even maybe eliminate the middle finger and make It more efficient maybe?
That hand looks good, but also limited. The third section of the finger is too short. It should be about double the size, occupying half of the space in the palm and half out of it. By doing so, the hand would get much more mobility
You also need at least one pressure sensor per finger for feedback (read some of the earlier story from Isaac Asimov). To be extended on every phalange.
Very nice build. Actually I’m building a humanoid robot and just finished my controller for the arms and hands, to control them with ros. If you could use some help you’re welcome to ask or maybe even get my spare pcb s.
you should make a program that looks at your hand and tries to copy your hand configuration with the robot! I'd love to see that! Amazing work by the way :)
i think there exists some metalic strips that change resistance based on stretching so if you put it on a glove in the knuckles it can accurately detect angles
Getting into mecha construction? Fun.
To reduce the servo count, you might consider a single pull strap for the entire finger, then springs to push it back open, and then pressure sensors under the finger tips for limiting.
When Ivan single-HANDedly created a shortage on red PLA, he turns to white😂 Nice build! I'm excited for the rest of this project! I think Mirandabot would be a fitting name.
At first, I didn’t even understand that this was his video, but when I realized it was - I didn’t believe it. I still don't believe it, but it's cool. It's just the embodiment of childhood dreams.
He still has to be red!
Ivan Miranda; better red than dead. I for one is heartbroken that there is no Ivan Miranda red filament in the finger!
OMG, lol... Single-handed. Yup now going over to white. I think Ivan The Great is a suitable name for the robot
People, they don't have to be Identical, Be an Artist! £♡✌️€
My two big notes on this video:
1) its NOT red...? Whaaat?
2) He DOES own a hammer! This is the first time I've seen him use one and not the back of a screwdriver.
I think it's fair to say that we would all love to see you stride across the land riding a "Miranda Mech".
Great video. Keep up the good work.
Would love to see your design process. I feel you could have a whole other channel of just cad design and workflow
Same
Awesome. Yes please.
For a Hexapod project, I once also had the idea to solder a wire to the potentiometers of the servos. As I had 18 servos to control, and I did not want to use 16 ADCs I used some analog multiplexers. This did not work at all. Somehow the analog multiplexer did not have a high enough input resistance in order to decouple the potentiometers from each other and the whole thing worked like a big resistor network and the servos started acting chaotically, as moving one servo also resulted in a resistor change in the other, which they then tried to compensate in the control loop.
I guess you finally used up PolyMaker's red PLA. Looking forward to the full-sized print-in-place mecha suit. 😁 Thanks for sharing!
I think "Mech" is the most common term, but exo, gundam, power armor, there are many names for this concept.
I feel like all of your projects are to celebrate the fact that you’re not confined to your cupboard anymore 😆 Love it Ivan, looking forward to seeing more of the Miranda-Mech!
...or a Mechranda?
i love it the Miranda Gundam or Miranda Zaku i'm looking forward to it will it walk or roll?
Having watched Will Cogley and James Bruton, I got to say I'm really looking forward to this.
Nice project! But for the servo's, maybe the pca9685 is a nice option to consider in the future. A single board can drive 16 servo's via I2C without any issues, and you can chain them to drive up to 992 servo's or other PWM hardware over a single connection!
Amazing, I cannot wait to see the finished mech suit! One note, I would suggest figuring out a way to get the fingers to move side to side, like a normal human hand would do in order to properly grasp objects of all sizes and shapes.
You are forgetting that fingers can move sideways to a degree as well, and the hand surface flexes to a cup shape so that the tumb and little finger can meet. It's why making a robot hand is hard to get right.
The word is mecha, and I would love to see you make one. It would make your tank and your gocart (did you win?) look amateur in comparison. I can’t wait.
A system using strings and where the servos are in the palm of the hand would significantly reduce weight and thus increase the strenght of the fingers
I would suggest possibly modifying one of your large printers to be 'infinite z-axis' conveyor printers, in order to deal with larger limbs and the torso of your Mech
Ivan gets the most out of our Engineering Resin, just 30% mixed in to make this monster hand move! Cant wait to see this huge project evolve!
You should design the palm like the tesla robot. all the fingers are the same but they are positioned on the palm at different heights to give a more natural finger height difference
ha... Terminator: The Beginning. Not in theaters this summer but live in the world... Consumers will be able to have the most realistic experience ever...
Love it, your channel is so awesome.
It feels weird not hearing him say spacers and not complaining about the wiring
I think it needs stronger motors with lower gear reduction to be more effective at grabbing things. Those servos have little 5v motors with high gear reduction. Great vid! Keep it up!
Yeah , having only 11 and 25kg seems insufficient with something this big, the servos should be 50kg+ and there are some 3d printed gearboxes which he could use for the fingers
@@ulforcemegamon3094 Yes agreed. Also to add to that, there is a slight belt reduction at each finger joint but the leverage that is lost from the fingers being so big is not helping. I think one larger motor for each finger and then each finger joint is connected in a way would be a better solution than small motors at each joint. I'm studying engineering right now and could calculate the current max leverage at the finger tips if we knew the finger length, pulley diameter, and the belt reduction. I have a feeling Ivan didn't do any math for this lol. (Which I don't blame him tbh)
well done chief , i like that you start with entire small robot after you can make it bigger
Interesting choice to control every joint with an individually controlled servo. I would have either wired them all to the same signal wire so they moved together or used a sort of tendon to pull on them all at the same time.
But I've never done a project like this, so good job.
If you are thinking to control all the servos of one finger you don't need to use one servo each joint. But by doing it you can archive much more accurate and realistic movements
Finally a practical use for 3d printing
Commenting to say that the "good thumbnail" pun made me very happy, (and to feed the UA-cam algorithm and let it know that I'm clearly engaging with this content.)
Your sign-off "Now go make something!" is causing me to feel bad about not doing so right away. If only feeling bad about not creating stuff was helpful for getting me to create more and not less... (That said, I have enough projects running in paralell to make it feel like I am at least creating stuff occationally.)
A MECH! AMAZING!
You are, as always, my kind of madman Ivan. Building the MMech... Miranda Mech!
If the ridable robot resembles an animal, you could call it a Zoid (I'm sure the trademark/copyright holders would be cool with it - after all, trademark/copyright law is always so welcoming and inclusive).
Thanks to UA-cam for changing the push algorithm, I didn't know this had come out for a month...
Next build should be tech upgrades. Add pressure induction pads to the fingertips and palm. Create a haptic control glove so you can move the bot with your own motion.
Have you thought about replacing the belts with surgical tubing to help with griping parts by apply a constant force using back emf on the motors?
This project is so exciting to me. TONBA Technologically Oriented Neo Battle Armor.
Perhaps you could use a glove like LucidVR's DIY glove to control the positioning?
Love watching your videos since years. It never gets boring!
james bruton would be a great help
if you really want to manifest this gundam
I think that type of robot is called a mech.
You’re right I was going to say that. 👍
"The Prince Of Print"
Ivan Definitely has taken over as the most entertaining 3d print channel by far.
the print guy nerd cant touch this guy or any 3d channels. Big Upss Ivan.
Keep up the great work and videos. Your Nesh is strong
Personally I’d like to see you continue developing your Miranda blocks and maybe use them to build a robot.
I really want to see you finish the car and stuff and those blocks are a really versatile and interesting project!
Ivan ! You are the best !! Muchas gracias por todo !
Its seems you don't need the motor in the finger's joint at the top. Only those in the hand's joint and the middle section. I'd connect the tension belt from the middle section motor to the finger's tip, bypassing that third motor. Just watch how your finger moves!
It is necessary to have pressure sensors in the fingertips to feel with what force the object is compressed.
if you used a stepper motor and a tendon design, the voltage spike of the load of gripping something could be used in lew of a pressure sensor. less parts is better. then you have one per finger. then the motor can even be in the arm, so the hand is lighter.
An Ivan inspired rideable gundam style robot or something like that . Yes I want to see that.
Me causa mucha gracia, yo no me animo a imprimirme un ventiladorcito a manija para encender el carbon y vos estas imprimiendo a tamaño dinosaurio!!! Excelente trabajo!!!
Giant 3D printed GUNDAM robot. Such a cool idea. Can't wait to see the next episode.
I recommend calling it an Ivandam (riffing off the Gundam giant robots, but being legally destinct)
something to possibly consider that would let you simplify wiring, human hands don't have individual joint control of fingers
instead, it's just a long tendon connected a muscle in the upper arm
you could have a pulley connected to a far more powerful motor hidden in the arm or hand of the mechanism, that way you can get something more powerful, and each joint could bend to fir the form of the object it's holding automatically to a degree
also, the movement of the thumb is extremely important for grabbing. It's why people talk about humans having opposable thumbs being so important. Without that 2-axis movement on the base joint, grabbing becomes a logistical nightmare
I’d be tempted to use larger DCmotors in the palm, and ditch the servos all together. The motors could drive ‘tendons’ that go down the fingers, like in a real hand.
So many applications! You could make a second hand so they could be twiddling thumbs for you while you wait for another huge 3D-print. Or have them do the sign-language translation in the background of your videos 🤓
I wish I had a 3-D printer 24 years ago wen I was 14 ❤😂
Sorry that's wrong I think im thirty eight now 😂
After watching your videos for years, I have every faith that we will see you on the streets in your G.R.R soon.
You're building a mecha?!!?!?😍
You should consider using actual servo drivers rather than just the arduino mega. The arduinos, especially with complex code can end up with jitters or unwanted movements on the servos since the arduino servo library is interrupt based and only controlled by software. This could end up with issues as the code gets more complex like reading the positions and implementing feedback. Using hardware timers is the best way to do it and is how servo driver boards do it, you could also get and use a microcontroller with enough hardware timers like some STM32 microcontrollers but you probably want to stick to using arduino.
Two options are to use a commonly available servos driver board with 16 outputs, or to use the servo 2040 board from pimoroni which uses an rp2040 to drive the servos since it can use the pio to drive the servos properly. The common servo driver boards have an arduino library that makes them very easy to use and are probably your best choice.
Super project and super complicated. With 15 servo motors, each with 180 degrees of freedom of movement, you have an infinite number of combinations, isn't that super hard to program?
But I would have a recommendation that strikes me in each of your videos in the eye, get the makita cordless screwdriver with 12 volts, this has more than enough power for your kind of projects, but is also much more handy and smaller!
What I find great that you no longer in red 3d prints, looks much better without the red Pla from 😃
The thumb should go in first to act as a drop barrier but last out when opening.
The palm should not be flat, the pad at the bottom and the L pad should be more thick, like 2 or 3 cm or even more but the width should be less like half, so when the fingers closed it create a "box" result in more "grip", like that the balloon would be block, didn't try to slide out like 10:11 because the palm pad is too thin.
I always thought sooner or later you will end up building a death star 😂 the giant robot will help with the construction.
And also another interesting project could be too 3d print a Jeep Willy's. It's fascinating to read why they build it the way they did..
Pretty cool, and yes, it'll be pretty entertaining to see you build a ridable robot! Though I am a little surprised you made all fingers the same size. I get the huge extra effort, but I think it be worth it
You already have the best name. GRR!!!! (complete with growling noises) when in automatous mode, and GRRIM! When you are onboard
It's good to see some non-red prints
Love your videos! I'm confused by your design and the complexity of having servos in every joint. Why not a single servo controlling each digit and a spring to open?
That was my thought. This isn't the way a human hand works. IRL you can't really control each finger joint individually.
GRR! Giant Ridable Robot!
I love the idea of a Miranda mech!!!
You'll definitely need positional or force feedback If you want to be able to grasp things firmly without squashing them
hell yes giant robot will be so cool looking forward to more vids thanks
So good. Every time!
Amazing! Great ingenuity and craftsmanship!
Nice build ! I have a design recommandation for you. Check how Boston dynamics robot dog legs works to avoid having torque issues and belt tensionning problems. Having all the motors in the palm and ball screws or other mechanisms to control the 3 parts of a finger could make this hand very agile, what do you think?
11:18 I see what u did there! haha incredible job as always!
This is really cool and I like the finished look of it. I was wondering if the servos were going to be able to move so much weight and it looks like they soft of can, but the belts aren't helping them any. Would it be too over-built and expensive to switch those out for chains and sprockets? Maybe also some motors or servos with worm gear drives to improve torque? I'm also wondering if instead of a belt or chain you could use a thin steel cable and the motor could be fitted with an oval shaped cam to pull back on the cable. You could add springs to return the fingers, but maybe another cable going the other direction around the cam would work better.. Maybe a spring keeping tension on the motor mount/gearbox assembly.
You probably already have a better solution in mind, so I'm curious to see what you come up with!
Wow looks cool
Yesssss, lets gooo, the Ivanbot!
I am very excited about this project. I hope your build will be weather-proof. I hope this King Kong 2.0 will be street-legal and you can move it around.
A great project. But there is missing one axis to do the vulcan salute...
It's really incredible Ivan, buuuut... it's not... it's not.... how to say.... it's not RED!!!! 😂 Of course I'm jocking! Great job!
i want to see Him , james bruton, colin furze, Mr. Volt and the hacksmith working on this giant robot.
Not sure how exactly to explain this but since the fingers can't really move laterally compared to a human hand wouldn't it make sense to maybe instead of having 5 fingers to for example combine the pinky and and ring finger as one assembly? and just use the free up space to add combined servos or a bigger servo?'
in this case, if you use a big enough servo you can even maybe eliminate the middle finger and make It more efficient maybe?
Hello Ivan. My dream would be to see you build a Thundertank!!! With all the Thundercats inside!!! It would be wonderful and epic!!! Cheers.
Yes I would love to see it!
Miranda Mech!
Giant + Ivan = GIVAN !!!
Hey Ivan! The belts look really cool, but I don't understand how they work. Can you explain it more in your next video?
That hand looks good, but also limited. The third section of the finger is too short. It should be about double the size, occupying half of the space in the palm and half out of it. By doing so, the hand would get much more mobility
would be awesome to use OpenCV in order to control the hand. Great project Ivan!
i think what you mean by "giant rideable robot" is a mech or a titan from titanfall (for example BT-7274 from titanfall 2)
This is so cool!!!
That is fantastic... You have an extra joint in the thumb though!
You also need at least one pressure sensor per finger for feedback (read some of the earlier story from Isaac Asimov). To be extended on every phalange.
not needed. if you used stepper motors then the current would spike when encountering a load. its how 3d printers with no homing switch find home.
Love the Community sticker!
Eventually there will come a time on this channel where the only way to keep momentum would be for Ivan to 3D print his new house.
Gotta hand it to you, that grabbed my attention.
Gotta give Ivan a hand at this project
Very nice build. Actually I’m building a humanoid robot and just finished my controller for the arms and hands, to control them with ros. If you could use some help you’re welcome to ask or maybe even get my spare pcb s.
A diy robot is a must
you should make a program that looks at your hand and tries to copy your hand configuration with the robot! I'd love to see that!
Amazing work by the way :)
i think there exists some metalic strips that change resistance based on stretching so if you put it on a glove in the knuckles it can accurately detect angles
A giant robot would be awesome, call it Miranda Mech!
Are you still up to making your large dragon
No rude finger gestures , I guess you must have forgot to edit it in Ivan ...
9:04 Two in the pink, One in the stink
Love your content, can not wait to see the next episode in the Giant Robot build!
Fingers have a single tendon, one on the inside and one on the outside, ie, a single motor with thick belt will save 2 motors per finger.
"I don't have a lathe" - I see an opportunity here to 3d print your own lathe (would be a first online I guess :))
Ivan, me das la vida con cada locura que haces, ¡que ganas de ver como haces que se sostenga a si mismo con todo el peso que va a tener!