![Koal Designs](/img/default-banner.jpg)
- Видео 20
- Просмотров 116 296
Koal Designs
Добавлен 4 янв 2018
i make things when i have time and make videos when i am bored and when i want to
HALO (Infinite Rotation Arm)
This idea originally came from Nicholas Seward and Apsu. After talking with them I decided to add my own spice and ended up actually creating a prototype. The design seems to be totally feasible and practical from what I have found.
github.com/koaldesigns/HALO
0:00 Mechanical Design Explanation
2:22 First Prototype Testing
For more updates I have a discord (discord.gg/YDmBCW6YRD) and a GitHub where I upload files (github.com/koaldesigns/HALO)
github.com/koaldesigns/HALO
0:00 Mechanical Design Explanation
2:22 First Prototype Testing
For more updates I have a discord (discord.gg/YDmBCW6YRD) and a GitHub where I upload files (github.com/koaldesigns/HALO)
Просмотров: 2 742
Видео
Integrated arm harmonic drive system.
Просмотров 14 тыс.3 года назад
this video is about an integrated harmonic drive into an arm allowing for direct actuation. this will increase precision and accuracy of the arm movement and allow for a very elegant design. For more updates I have a discord (discord.gg/YDmBCW6YRD) and a GitHub where I upload files (github.com/koaldesigns/HALO) www.thingiverse.com/thing:4802917 #3dprinting #design #robotics
Assembling, testing, and ruining my harmonic drive.
Просмотров 7 тыс.3 года назад
in this video I assemble, test, and break the first revision of my 3d printed harmonic drive. (i was trying to break it) www.thingiverse.com/thing:4802917 For more updates I have a discord (discord.gg/YDmBCW6YRD) and a GitHub where I upload files (github.com/koaldesigns/HALO) 0:00 Intro 0:18 Assembly 10:38 Testing 16:21 Disassembly 20:38 Analysis 22:17 Summary #3dprinting #robotics #gears
Low profile, 3D printed harmonic drive/strain wave reduction.
Просмотров 3,4 тыс.3 года назад
here is the 1st revision of my harmonic drive. there are a few things I can change, but right now it runs really smooth and looks to be VERY promising. www.thingiverse.com/thing:4802917
From bad print quality to high on big prints - IBIS S1 SCARA 3D Printer
Просмотров 1,7 тыс.3 года назад
i made a small change on the printer that made a big difference by just adding a reverse bowden tube and now the prints are near flawless
The first successful print! - IBIS S1 SCARA 3D Printer
Просмотров 3,9 тыс.3 года назад
this is the first fully successful print from the arm. i think it needs a different cooling solution so im going to figure that out and see if it works better. For more updates I have a discord (discord.gg/YDmBCW6YRD) and a GitHub where I upload files (github.com/koaldesigns/HALO)
Many print failures - IBIS S1 SCARA 3D Printer
Просмотров 6783 года назад
I've been testing out the printer and am getting many failures because the hotend can't melt filament fast enough it seems.
Designing a 3D printable harmonic drive
Просмотров 3,1 тыс.3 года назад
This is the first video of probably 3 about designing a harmonic drive. I go through the inspiration, how I made it, and what I plan to use it for.
The first print - IBIS S1 SCARA 3D Printer
Просмотров 15 тыс.3 года назад
Super duper quick video of me showing the first print of the SCARA robot arm 3d printer thing For more updates I have a discord (discord.gg/YDmBCW6YRD) and a GitHub where I upload files (github.com/koaldesigns/HALO)
Nearly ready for printing - IBIS S1 SCARA Arm
Просмотров 1 тыс.3 года назад
A little update showing that all of the axes for the arm work properly and that (once an extruder and hotend are attached) it will be able to print.
IBIS S1 SCARA Arm - X/Y Homing and Firmware Bugs?
Просмотров 2,7 тыс.3 года назад
Making some very quick progress recently on my new revision f the ex-EON now-IBIS S2 SCARA 3d printer/robot arm.
First Movements - Distal and Proximal Arm of Eon2 SCARA
Просмотров 2,1 тыс.4 года назад
Here is a little update of the printer, the arms finally move, I just have to get calibration working properly.
Eon2 SCARA Belts and Control Board Installed
Просмотров 2,7 тыс.4 года назад
Still working on the SCARA bot slowly but surely.
Eon2 SCARA Z Axis Complete
Просмотров 1,6 тыс.4 года назад
Yeah, so I built the Z axis. It's pretty big and cool and stuff. Goodbye.
Eon SCARA Update - HEVO500 - Channel Update
Просмотров 7315 лет назад
Eon SCARA Update - HEVO500 - Channel Update
Eon SCARA - Harmonic Drive Progress
Просмотров 4,4 тыс.6 лет назад
Eon SCARA - Harmonic Drive Progress
Eon SCARA - X/Y Homing and Z Movement
Просмотров 36 тыс.6 лет назад
Eon SCARA - X/Y Homing and Z Movement
Excellent work
Hi my dear. Can you helpme?
harmonics are not backdrivable. wouldnt you want to have your to be backdriveable?
This is really cool; it would be interesting to see how well it does on parts with large z-axis dimensions.
nice work. is there a particular reason to have it continuous full rotation? Instead of just moving it back?
like the way you optimize it with aluminum extrusions
This is awesome! Really cool idea, can't wait to see more!
That’s a cool robot. Good work 👍. I usually scara moving very fast, can this go faster?Thanks for sharing💕
Is this model available to download anywhere? It would suit my need quite well :)
Little late to suggest this, but one way to remove some of the cable issues would be to couple its rotation to the 1st arm segment using the shaft you already run up there. This would keep the the cable from being draged around by the the arm. One thin i would be wary of is the spool placement, as it might get in the way especially if you want to use a springsteal strip to keep the wires from drooping into the toolpath when you raise the arm. Looks awsome, good luck!
what controller are you using
Thank you for the video. How did you calculate the tooth profile for the output ?
Lots of trial and error. Generally based off of a circular tooth profile, but it really doesn't matter as the accuracy of 3D printing is very limiting.
Please show us more! I love it!
Working on it currently. Aiming to add custom hall effect sensors for homing and porting SCARA kinematics into Klipper. Progress is very slow due to classes.
I think this is the future of 3d printing. The SCARA can print objects that are larger than itself.
What bearings are you using on the arms?
Love it!
wow that thing looks amazing
Did you ever do a torque test?
what are the number for the big belt
Just found ur project, awesome! First thought: why do u have a turning effector unit? Stiff mounted would save so weight. Or do u need it for calculating/ controlling the movement?
Rotating effector is to reduce the error of arm sag. Because the arm is angled under its own weight, having the rotating end allows the hotend to maintain the same relative angular position in all directions with the base.
I don't understand how output ring is attached to the flexi spline.
Hanzhen harmonic drive gear , strain wave reducer, over 30 years experinece
Hanzhen harmonic drive gear , strain wave reducer, over 30 years experinece
Wow, great machine! I just built a mini scara printer. What is the print volume om this printer?
Can you give information about the motors and belt you use?
hi, can u let us know what the frimware is? it wuild help alot whit my build
Hanzhen harmonic drive gear , robot joint, strain wave reducer, over 30 years experience
Great design! The problem of the wires wrapping around at higher z coordinates should be a non problem if the printer is direct drive, because the filament should be taught enough to spin the spool
Can you give the bearing dimensions?
Amazing ! It is so relaxing to sit and design in cad, I need to get back to it!
nice
Is there a benefit to the end with the extruder rotating? Is that for if you do something other than 3D printing with it?
Make a 3D printer version of this pls!
Why, Mate?? It makes no sense!
What is material of flex gear .Or belt ?
SLS Nylon
That is genius dude. This is basically a massive format 3d printer, with a footprint of a ender3
Amazing work
Very nice! Looking forward to see it perform. For the SCARA arm I've been planning for ages I wanted to go cable drive but infinite rotation is just too good to forego. So belt drive it is, but aren't you worried about backlash? GT2 or GT3? Expected precision at end effector? Lately, I've been trying to figure out ways to get rid of the slip ring rotary contacts. Rejected low power, low efficiency induction coils. Landed on thrust bearing pairs for power transfer. Might also work on bearings designed for axial load, but only with electrically conductive silicone lube. Might. For data, either something wireless and low latency (RF24?), but I'm looking at an optically isolated half duplex serial bus right now (so like RS485), where the twisty turny bit has the photodiode/LED pairs looking at each other through a darkened joint shaft. It would be cheaper than slip rings, less noisy, less wear. Potentially slower, though I think 38400 baud should be doable. Also it still needs to be developed. Sorry for ranting, this has been keeping me up at night.
For a general robotic arm that probably could work. For my use case I'm just using a cheap slip ring I bought on AliExpress (I think it's rated for 2A per wire which is fairly low). I'm running this at a higher voltage (24-28V) as to not put too much current through the slip ring. My plans don't entail using anything with a high power draw I think it will work fine. Your idea of a main power system with digital signals being sent externally would work fairly well I think but is more suited to larger applications (I assume) because you still need some form of conversion from power and digital signal to analog for motors and sensors to use.
@@KoalDesigns Agreed, not everyone wants MCUs strewn along the length of their arm. And stepper drivers aren't weightless. Those 2A wires can also be doubled up for more power and less noise, so there's that. There are 3 points of infinite rotation in my design, so that's what put me on this trail. Thanks for your input!
hey, great to hear from you! this is so cool! i was pondering 360 degree scara mechanics not long ago and here you are again with such an amazing new idea. i wouldn't have thought that motor mass is a particularly big concern for scara mechanics as long as it is close to the centre column... and so it wasn't a major design goal in my thinking, but your solution for leaving them ALL in the base is genius. really creative, effective, interesting, and definitely brings a bunch of additional advantages. any hurdles it brought, you seem to have already overcome. its extremely cool to see it working so well! keep up the great work and please do keep posting videos. have there been any developments with your larger scara? the (was it cycloidal or strain wave most recently?) gearbox looked really promising, it would be nice to see it working with the latest refinements. thank you for sharing your ideas, i really find these videos very cool. until next time, best wishes!
I actually put the large SCARA arm on the back burner due to the complexity of it and having failed many times (I think I did 4 or 5 total rebuilds with all of them failing in some way), so I decided to do something smaller (more manageable) but equally cool so you get this.
I wonder if you could couple the movement of the to to the proximal arm movement so that it's not driven by the wires
Theoretically its possible, I was thinking about doing that actually but then decided that it adds more complexity than it is worth.
Neat. I was in the middle of building a scara a while back but was having issues with the elbow joint so I had the idea just use a linear axis instead. So I basically had a rotating base with z and x axes on top. I called it an inverted polar and much like this design it was capable of printing in 360 degrees around itself. There's a video up on my channel, I've done several iterations of it since then and it proved to be a very reliable and versatile machine up until recently when I left it in my car and the printed parts deformed in the heat.
Haha yes I have actually seen your videos before. A few years ago I actually modeled up an inverted polar printer as well but decided not to pursue it. It is a great design you have going with it.
First
Hey man.. this is a cool project keep doing it.. it’s great..
Any progress I’d love to see more!
the banding could just be caused by overextrusion...
Do you have any CAD files for this? I do a lot of toolhead design and I'm definitely interested in helping your toolhead situation
Hanzhen harmonic gear , robot arm gear , joint gear , over 30 years experience
Hanzhen harmonic gear , robot arm gear , joint gear , over 30 years experience
Hanzhen harmonic gear , robot arm gear , joint gear , over 30 years experience