Now it works! Spherical Parallel Joint (stepper motors, 3DoF)
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- Опубликовано: 9 фев 2025
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I have revised my Spherical Parallel Joint design. There are two main improvements: 1. additional reduction stage, which increased the torque significantly; and 2. higher stiffness of the link. I am happy with this current design. It could be used to move something (for example camera). Next time I plan to address the inverse kinematics.
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Brilliant work, thanks!
Glad to see you looked at the Agile Eye paper I mentioned on the last video! Indeed, the frame is a bit tricky, as I recall its located at the center of rotation and aligned to each of the joints attached to the EE... and mirrored through to the input "motor shaft" axes.
Stepping down the motor with the pulley is a nice touch!
Could you tell me what the paper's name, I'm very interest about Agile Eyes, but yet couldn't found the resource.
@@zhangrongqi0818 it's in the video: Design and performance of a 3-RRR spherical parallel manipulator for hip exoskeleton applications, at 3:01
@@zhangrongqi0818 this is not the Agile Eye, but the Agile Wrist, it seems
@@danielmclellan7762 Thank you for your help! But I may not be clear enough, The video mentioned another article in addition to the one your provided, at 4:03, I am looking for this one. It seems that the title of the paper is not given in the video.
@@danielmclellan7762 LOL, it seems that it might be used for Agile Eye too.
I love watching this just for the design ideas and different techniques for putting things together! Definitely going to try and incorporate some of these ideas in the future!
You could probably further increase rigidity by taking the first two links (colored green and yellow in your CAD model) and combining them into one part without the 90 degree joint up top.
Yes a direct arm is all thats needed
Wouldn't a slimmer (still Ridgid) design be better for more clearance and rotation range ?
So basically, a curved diagonal piece.
I was really thinking this through and I think you are right. There would just need to be a shift partway along to clear the neighbor motor hub. Great observation.
Making the arms in sheet metal would probably be nice for compactness, rigidity etc, then 3D print bearing mounts where necessary, also, if the arm's bend inwards a bit more, they would clear the neighboring motor hub which might increase the rotational angle limits
Absolutely beautiful looking mechanism, can't wait to see it moving with IK.
Awesome! Great ingenuity and a wonderfull piece of techonology! It's even a wonderfull piece of art too!
It's fascinating how it works, reminds me of an eyeball while in action.
Always enjoy your content!
3:40 Looks like it is related to the quadratic equation.
amazing work, keep going!!! maybe you could be an engineer when you grow up.
Spherical coordinates are commonly used in electromagnetic classes
I'm speechless love love it
Super interesting! Good luck!
Excited for the IK :) Very cool
just found this channel today. What an awesome project. Could be a very cool widefield astrophotography camera mount and tracker. Great work.
Man mount a couple of these on your porch with lasers built inside would be sweeeeeeeet!
What would this be good to use for?
Iron Man Suit joints(you just need to hide the components in the fourth dimension)
That's a great idea 💡 🙂 I'll try this @@tristancole8158
I have no idea, but my first thought was Optical contrast seeker for missiles
Another channel showed this being ideal for holding an object that needs to be viewed from multiple angles under a microscope. Very smart
Would you be able to inverted the system with the motors being internal? Then the yellow spherical like ring should be on the outside allowing for more movement if something were mounted. Be able to move more like a shoulder joint with a wide range of motion.
Now you can aim the Death Star's laserguns
Может стоит лучи, жестко соединённые между собой 4-мя винтами по углом 90 градусов, заменить одним лучом? Таким образом и длина плеча короче и при этом углы соединений не перекрывают собой "зрачок" в определенных положениях.
loveeee it!
Love the work on this project and seeing updates. It really inspires me to work on stuff! Thank you for these!
What type of filament and infill do you use for these parts?
Cool Project.
awesome work!
Sickness!
I would love to see it making 360° turns
Amazing!
Looks impresive, can i ask what kind or model of 3D printer and resine are you using??
how does adding 2 initial links work to the advantage of this mechanism? Aren't the 2 first "links" just bolted together, wouldn't it just be easier to make a solid link? (from motor to first joint)
Thanks to them the space under the moving part is empty all the time, so this joint can manipulate long objects.
@@Skyentific hmm, I suppose it's hard to see. I started to suspect it might help with clearance, but couldn't wrap my head around it. I noticed other comments saying the same, so maybe an opportunity for further videos! Thanks for the reply!!
Is it possible you share the design of the project online? It would really be helpful! Thank you for all your great work, great explanation
the big piece with the fixed 90 degree angle... can that not be a different shape so it gets out of the way of the cetre thing? i feel like anything one might want to do with this, that piece getting in the way is going to be a problem.
Can you reverse it? Have the motors on the inside of the sphere with the links going in increasing layers out words? Better packaging and a smaller sphere would lead to better rigidity
Can you reverse the order of linkages in-to-outward so that the end effector is on the outside/larger?
Nice. What would be a practical application for this?
high dimensional 3D printing could be one. just mount a nozzle to the 'eye' and a y-axis table under it
Ah the pulley act as reduction gear. Good thinking.
Brilliant. Any chance you make a videos on how to write and implement custom kinematics on Linux/ LinuxCNC?
I wonder if a URDF model and Gazebo can render it and manipulate it through ROS. Would be amazing ! For the controller, I would have test it with ros2_control
What do you want to attach on that? The yellow circles get everytime unstructured when one of the axes tryst to max out that thing looks pretty useless to me. I'm not convinced of this construction. Proof me wrong by implementing as it is to a leg or something
Really awesome! Got a few questions...
What is the maximum degree you can turn the yellow ring ultimately? Can it go over 90°?
Also could you share any materials you're using regarding reverse kinematics, super interesting. Thanks a lot!
Awesome video. Do you have any resource recommendations for a "high level" engineering understanding of robotic kinematics? It would be great if you could someday make a video on homogeneous transformation matrices or Denavit-Hartenberg parameters. Those are quite tricky topics and there's only a few RUclips videos discussing them :)... your practical approach to learning robotics with hands-on building could help so many people.
I feel like the arms impinge on the "Top" of the output at certain angles.
Is it possible to mount the arms "upsidedown", so their movement is "below" the output? (I am trying to picture it in my head and I feel like with the other arms coming out 90 or 180 degrees they can still fundamentally attach to the output in the same location)
Hi, would adding ridges instead of increasing thickness add rigidity?
Видео классное.
Great work! thanks for sharing! , do you have any discord server we can join? thanks
I've created My own model seeing this, i was able to symulate movement but My software detects 6 DOF probably i'm missing something
8:10 Chevron 1 encoded. Chevron 2 encoded. Chevron 3 LOCKED!
Really cool project 👍
P.S. Which accent type that is? I think about Russian, but i dont really know 🤔
He seems to be based in Switzerland, but he looks Azerbaijani to me
He really made them more sickness
I wish I could be smart 🤓
You really need to get rid of the stiff joint and the second arm. Thicken up the 3rd arm and bearing shafts and bearings themselves. It will be a lot rugged. Can't say anything about inverse kinematics.
Biblically accuracte robot joint 😉Very interesting!
Thank you!
looks like an eyeball
It seems not easy to make rigid enough by 3D printing.
Вот так выглядит русский акцент))
The arms are too long and the platform is useless because it is buried in the arms....
you never should go into anything with teaching first, then you have nothing to apply it to, its useless
when you have motivation as yourself then you also know where/what you would need, not worth knowing
not worth learning something you never use by your own motivation, and serving people is most horrible ending
if you serve knowledge/people, you do things you never need actually to be doing
first comes "law" then "going to work", both useless applications
k.i.s.s. teacher-engineers :) glhf
Мужик не ломай себя рассказывай на русском