3D Printed Robot Arm
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- Опубліковано 24 лип 2024
- Part 2 of the video now available at • 3D Printed Robot Arm -...
This is a 3D printed robot arm. Credit to the design goes to Jeff Kerr, who goes by LoboCNC on Thingiverse. I show how to assemble the actuators since they are the most detailed part of the build. I will be running ESP32's in each joint so I can control each joint via Bluetooth/Wifi so I only need to run 2 wires to each joint for power. ChiliPeppr and Serial Port JSON Server will be used to control the arm once all the code is written.
Jeff Kerr's Robot Arm. Printables: www.printables.com/model/1322... Thingiverse: www.thingiverse.com/thing:332...
Jeff Kerr's Actuators. Printables: www.printables.com/model/1322... Thingiverse: www.thingiverse.com/thing:329...
Jeff Kerr's UA-cam Video of his final assembled robot: • WE-R2.4 Robot Arm Init...
My Thingiverse Make: www.thingiverse.com/make:596644
Chilipeppr ESP32 for Lua Workspace where I'm writing the code for the ESP32's in each robot joint:
chilipeppr.com/esp32
3 steppers for small actuators:
www.moonsindustries.com/p/35m...
1 stepper for large base actuator:
www.omc-stepperonline.com/nem...
1 stepper for large shoulder actuator:
www.omc-stepperonline.com/nem...
1 stepper for medium elbow actuator:
www.omc-stepperonline.com/nem... - Навчання та стиль
Your audio quality is fantastic, it feels like you're talking to me in person with headphones on!
You realise I got a better mic for £30?
Very nice work. Looking forward to seeing how it works out. Super tricky project, so well done for tackling it.
Nice idea with the “mismatched” planetary gears. Now, you could add a potentiometer to register the absolute angle.
👍👍👍
You should do a final episode! It could help with maybe students who want to do robotics in the future (like me). Videos like that with the simplified robot would be much appreciated by not only me but a lot of people. Nonetheless, we thank you for keeping us updated and helping us with all the videos. Keep up the good work!
Yeah, but a final video on this would take it to like Part 30. So this will take years.
Beautiful, I'm quite curious about the next video where you hook up the bluetooth and use it!! Great design, nice to also see the small fans inside the housing. Nice details of your work.
Nice work John! I've been working on a multi-axis arm with planetary gears also and since I have no idea how these joints are supposed to be designed I've gone through a lot of trial and error. Taking a look at your design is really helping me improve my design (or pretty much copy yours) so thank you for sharing this
Guess credit for the design is Jeff, but your contribution helps immensely. Thanks again!
@@jaredgray7872 Check out the latest flex spline design of the actuator I'm now using. It's even better. ua-cam.com/video/4o3d7_WZ_DQ/v-deo.html
Fun project. Excited to see it running.
Great work, can't wait to see it move!
Absolutely awesome, can't wait to see more! (Especially the control interface!)
*eyes glued to the screen!*
I love technical builds like this :D
You should check out latest part of the build ua-cam.com/video/4o3d7_WZ_DQ/v-deo.html
Perfect! I realy appreciate your work. Keep uploading!
Nicely done, keeping an eye on this one
Cool project, looking forward to next video!
I'm glad I've found your channel!
This is so bad ass!
Great job with the build, looks really neat.
Thanks for sharing and as always Keep Building👍
Nice prints. Thank you!
That makes more sense.
I've always had really good luck Amazon filament. For me, around 200 maybe 210 if it's been out, it goes down nice.
Have you ran a PID tune?
This is amazingly inventive in the use of materials when considering the potential accuracy of the end product, have you tried making a new arm with the arm, that'd make for a good investment.
Verry good design of bearings
Wow, beautifully engineered. Great design and walk though as well. 👍
Thanks!
Beautiful Project. Congratulations.
Nice one. Had that exact gearing idea in my head a few years ago for a 'planned' robot idea that I never found time for. Nice to see it's out in the wild via the makerspace hive mind. Hoping to share another gearing design soon that will be better still for robotics (true zero backlash, high reduction, and very high load capabilities)
Ooh. Tell me more. It would be nice to have an even stronger gear reduction box. This one is decent, but the robot arm could be much stronger. Do you have any links to any designs? Or videos you've done? Or concepts?
@@JohnLauerGplus not yet but hopefully will have something to share in a few months or so. I'll shoot you a link once I'm ready to share it with the world :) probably via a Kickstarter if prototyping goes as planned.
@@JohnLauerGplus in the meantime check out Jeff's new design ua-cam.com/video/sdRGrTHq4hA/v-deo.html
Nicely done!
Oh damn, I wish I have some free time to try to make your arm, nice job.
Very cool. For the bbs, (or however it's spelled), I wonder if printing a separate assembly - like a self-contained thrust bearing - might solve the problem.
So impressive. Thanks for sharing!
That's a lot of work........Good job 👍
Thanks for doing this. I am printing an actuator as we speak.
Check out the new anti-backlash 50% better torque small stepper motor actuator at www.thingiverse.com/thing:3566678
Wonder if you can make same with one stepper and air pushing from set stepper to get same movement less power parts?
Thats passion, really inspiring.
This is awesome! Nice work👍
@03:35 You can simply create a press fit cover for the inside which will in turn hold all the nuts in place. Falling nuts into a PG system is no fun and will not be an issue if the cover is placed.
Good idea. It would add some height to the system, but probably could make the cover be 0.6mm height, so wouldn't add much. Those planetary gears do rub along the top where those nuts are. The top sun gear does push itself up towards the roof of the gearbox. So do the planetary gears, so the smoother the roof, the better. A cover could help that be even smoother than having those nuts exposed. As I've seen the grease squeezes up into the nut holes over time. Although, I do think it makes sense to have some gunk repositories where over time the shreds of plastic can bunch up and get pushed into depressed areas to help give longevity.
Awesome!
Great video for me. I'm working on a robotics project for precision agriculture and received pretty good ideas. Thank you.
Cool, what's your agriculture robotics project? I'd love to see more of an open source community sprout (pun intended) around this design so we all benefit.
@@JohnLauerGplus I'm looking at a "something" to select and pick up fruits. Initially.
If possible, I would like to share in private. May be through Linkedin. Thank you.
Would you be able to modify the design to use inserts instead of the M3 nuts? I find they work a lot better if you can heat the plastic and insert them instead of using nuts in a hex pocket.
Hey thanks for the great video! Subscribed. :)
That is SO COOL! I want to do something like this!!!
AMAZING JOB! Wow
In my experience, Zyltech's PLA is amazing. even Uncle Jessy suggests it.
She Looks Nice!
hi there! Love the video! Keep up the great work!!!!! :)
Excellent video. Which 3D did you use and/or recommend?
Very nice project! Have you tried any other lubricants? I like white lithium grease since it's not absorbed by the plastic.
I took your suggestion and got the white lithium grease. I'm using that now instead of vaseline. Thanks for the idea!
maybe you could fine adjust the extrusion multiplier so that you don't end up with a lot of sending.
Awsome voiceover
Nice one mate
This is actually genius! And controlling it via BT makes it modular too!
Cant wait for the next video!
GJ!!!!
And, part 3 is now posted ua-cam.com/video/4o3d7_WZ_DQ/v-deo.html
amazing work, you should print a tripode for your camera ahaha.
That wooden table is so nice
That's so funny. Although the video is all about the robot arm, I do think the table behind it helps glorify the whole thing.
Great job!! Has you finish it?
So sick!
good job , it's awesome
Please show how it works, it would be nice.
Working on it +Mikael! The next step now that the actuators are assembled is to get the electronics going. Using ESP32's in each joint to generate stepper pulses and then will use ChiliPeppr's Cayenn protocol to upload all Gcode moves to each joint. Stay tuned.
@@JohnLauerGplus thanks for the answers keep up the good work. Very interesting content. 👍
Wow..... this is really good job. I hope your effort easier access to robot technology for anyone around the globe. #globalpride
@@mohdyuzairin8719 Thank you.
@@JamecBond not if you want a touch sensor in each actuator for record and playback. Also, they are $3 each. That's so cheap you can sprinkle them everywhere. Also, running wires is a serious problem and this avoids that.
Très jolie canalisation d' évier.
Super nice!
Now all we gotta do is get a ROS package going for this!
Totally agree
Totally agree
Great work ... 😍😍
It's a really cool project, but the shaky camera drives me crazy!!
may i ask you 3d CAD blueprint file?
Спасибо! Золотые руки.
GREAT Stuff !.. and a lot of great info on building it. However, I noticed you didn't put ( or at least I didn't see?) you put vaseline around the airsoft BB's?? Also.. I built one a few years ago, similar to this. but I have never seen anyone use vaseline? I'm curious how long it last? as I used a tube of Lithium White grease that works really really slick and well.. still lasts after a few years!! But cost a lot more than a jar of vaseline . LOL.. so if it works as good. .I'll try vaseline next time !!
Subed for Shure! Awsome sound and text!
Wonder if this would have good precision. Making it hold a pen and somehow follow a 2D path on a plane taken from an svg would be fun as a demo. Will you eventually control it via something like G-code?
Yeah, it's going to get controlled by chilipeppr.com from Gcode. However, since this is a six axis plus gripper design, you'll have to train it by moving it into a position, snapshot that position to create a line of Gcode, and then play it back. That will be done from ChiliPeppr.
Wow, this video is very informative and challenging as well. Bro ,can you please tell me what is the size of BB ? Whether is it 2 or 5mm?
hi, can you show me the algorithm flowchart? I follow your project slow enough but I still cant understand the whole process of the robot and how the robot works?
ive heard some bad things about mixed vaseline and plastics, it supposedly breaks the plastic down. I personally use white lithium grease. not sure if its true, but better safe than sorry. great video btw
I was worried about that. I searched online and couldn't find much data on the correct lubricant. If vaseline breaks down the plastic, then indeed something else should get used. I'll try the white lithium grease like you suggest.
@@JohnLauerGplus I definitely second the suggestion of white lithium grease. You'll commonly find it used in joysticks and things because it's plastic-safe. 👍
I thought the same.
I believe it depends on the type of plastic, some plastics react to it and some don't. Would depend on what type of filament he used for the print.
Can't go wrong with silicone grease. Used in distillation lab equipment because of how little it reacts with other chemicals.
can you maybe link all the electronics here i relly wanna print that robot arm. relly nice projekt thats insane
Thanks for sharing!
What is the output torque with the planetary gearbox included?
It begins!!
I have nema 34 You did a very good job Can you do a larger model I would like to buy its longest get hold of Milling I am trying to build a milling machine with an actuator arm
Thats really sweet
Thanks!
Sir this is the very nice project and I want to implement it too but I'm unable to find the STL of all actuators ... Could you please help me please 🥺
I just wanna point out that metric isn't the 'english' measurement, mostly everyone in the world uses it except for US. Imperial is actually the 'english' measurement that they moved out of which is 'inches, feet, etc.'
Yeah that's what he said, the model is in english "imperial" however the nema holes are in metric
This is awsome
I always found PLA was prone to cracking, I now exclusively use PETG ... just a thought
I am now using PETG on my latest design as you can see in Part 3 ua-cam.com/video/4o3d7_WZ_DQ/v-deo.html, but I am hearing robot guys using 3D printing like the flex on PLA better for gears. I'm not quite sure yet.
What is the cost for this arm until this moment? Do you have in plan to do a “metal” version?
So far the arm is like $95. No, doing this in metal would be very hard given the intricate details. Maybe 3D metal printing could work, but the weakest point isn't the plastic, rather it's the stepper motors. So the material doesn't matter as much as you think. Going stronger would require more gear ratios. Harmonic drive would be amazing if we could all figure out how to print a harmonic drive.
Vey nicely built. What kind of load capacity do u expectt on this?
1lb maybe. Maybe 0.5lbs.
Why not use servo motors and forget the gears?
hello,
It's an impressive design. can you also do a video on inverse kinematics...
That's going to take a while to get all of that going. You will be able to send Gcode to the robot arm from ChiliPeppr from a new workspace, so you'll be able to visually see the robot arm move in the 3D viewer. A typical Gcode command would look like "G1 F200 X2000 Y3000 Z500 A234 B111 C222 D300" where G1 is a move that supports feeedrate which is the F value. XYZ are the base, shoulder, and elbow so going from bottom of robot up. ABC are the 3 wrists from base towards gripper. D is the gripper.
Is it possible to use a NEMA 14 Bipolar 200 Steps Rev 35×28mm 10V 0.5 A Phase stepper motor for the small acuators?
Yeah, you can use any motor you want, but you'd end up redesigning the 3d parts a bit for fit. If you do try out a NEMA 14 and rework any of the CAD, could you please share it because even I would like to see some stronger motors on these actuators so we have choice. The stepper motor driver in this design is 2A capable so the electronics are ready to go for bigger motors.
You should do an ASMR 3D printing! Voice is very soothing. All love from Pakistan!!! 😃
How much was your 3D printer? And would you advise buying a 2nd hand ?
perfect dizayn
Nice work!
I'm just wanna know how did you wire the motors?
There are planetary gears and no space for wires.
And There is no wire outside at your final shot.
How did you wire??
Well, in Part 3 I show you creating a slip ring on each actuator so there are no wires. ua-cam.com/video/4o3d7_WZ_DQ/v-deo.html
@0212 Nice job but why don't you adjust the 3D model to create a counter-sink for the screws. I don't see an issue here since these were printed in-house.
Yes, I agree. That base should be raised by about 0.5mm or even 1mm to sink the M3 screws further. The downside is the sun gear height is exactly the shaft gear height to get full contact, so you'd end up with the sun gear 0.5 or 1mm higher, but that probably is an ok tradeoff.
@@JohnLauerGplus Nope, no trade off at all. shit the base of the PG system by making it a little thicker to compensate for the inner nut cover. that way everything inside stays the same length.
cannot open the steppers web links, is there a new BOM list?
it's so awesome ~!
very good job, i start to print the same, i just don't understand why some motor are in 2.8V and some in 12V if someone has the schematic i'm interested. ;)
the high torque nema 17 is not meant to be on rotation, its the medium torque in there... the high torque is on the shoulder, as it has to support all of the weight of the arm...
Yes, i think i messed up putting the larger motor in the base. I caught that too. Good eye.
it looks like you printed this on the ender 3, if you did, Thank you for doing so, that lets me know big prints are possible on a small machine
I've been very happy with the ender 3. However I did have to replace the extruder plastic parts with aluminum ones because they cracked
This is amazing!!. So clean and robust. What is the load it can carry? Any tests carried on that?
It can carry 1 pound.
@@JohnLauerGplus what would be the possible changes for 4 pound payload.? Motors and higher reduction ratios I guess?
@@sharath_naik yes, I think that would be the trick but you may have to move to metal to do that.
Hi.. I love robots and how they works.. I work to try and build this could you kind of give me a guide on how to build the one in your video..
I would say watch Part 2 and Part 3 because it gives you a great rundown. I'll keep posting more videos too on the build. So, subscribe for updates.
What is the maximum payload for it
Very impressive, and looking forward to your updates. Probably me being an idiot, but how is power/signal fed through each joint?
There will be 2 power wires going to each joint. They're not wired up yet. I may end up with a sync signal wire as well unless I'm happy with the Bluetooth or WiFi command sending being close enough on timing.
BTW, check out my new approach of doing a slip ring in the actuator for the 20v power so this turns out to be a zero wire robot. I'm not perfectly happy with it yet because I get some blips on the power, but it may pan out if I can get the design tweaked. ua-cam.com/video/4o3d7_WZ_DQ/v-deo.html
Adjust the current , that screaming is due to too high set voltage regulator on the stepper driver. The stepper motors shall be dead silent
Hi there! You cannot imagine how this kind of things makes me happy. Keep going that way! I just bought 3d printer and started with Drone( arduino)
I would like see more of this project. I would like know which CPU you are using and how you program it.
Best regards!
Then you should watch part 2 and part 3!
John Lauer thanks John! Subscribed!
Nice bro...
Nice very nice