Spherical Parallel Manipulator
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- Опубликовано: 23 фев 2023
- Spherical Parallel Manipulator
Original design by NSK Ltd.
- www.nsk.com/jp/company/news/2...
- ja-jp. NSK.co.jp/...
- www.nsk.com/jp/special/
* I'm not sure, but the official website seems to have disappeared.
Parts
- NEMA17 Stepper Motor
- A4988 Stepper Motor Driver
- AS5048A magnetic position sensor
- Raspberry Pi pico (motor control)
![Sean Rii, Karyon, Sharzkii - Taungule [My Love] (Official Visualizer)](http://i.ytimg.com/vi/eJoMuypbSzQ/mqdefault.jpg)
The fact it can rotate along the spheres axis while offset from the column is SO satisfying
I totally agree, probably the greatest part.
- How much futuristic noises do you want?
- Yes.
Just some motors working overtime
that comes straight outta (into) "System Shock"
The steppers sound cool dont let anybody tell u otherwise and the audio gives some indication of effort the motors are putting in for different movements. Very cool demo!
They absolutely do not do that
Steppers operate in steps and so the pitch of the noise says literally nothing about torque, effort or even power, only speed, and even that is more nuanced.
Basically you couldnt be more wrong for this specific type of motor.
stick an ammeter on them, and the tiny but spaced pulses do in fact use more energy! @@BeefIngot
@@BeefIngot I am making a point that the noise makes it apparent for the end effector motions when the non linear angle change is very large. Your definition of effort is not my definition of effort, i am talking from a control perspective.
Also, P = t*w. Even in your definition, i am not as dramatically off as you think
@@Apocobat Even with your attempt to pretend you meant something different you are still very wrong. Stepper motor torque is non linear and decreases as speed increases past a small plateau at the start of motion.
Basically they are good up to around 200 rpm usually but faster than that the torque drops off a cliff. The pitch tells you nothing about what their torque or work output is at any point outside of if you hear missed steps.
More than that, to class speed as effort I think isnt really a great idea because for steppers and their typical applications its usually much kore relevant to talk about their fastest reasonable acceleration in any given application and how well they maintain torque across the range of speed they have.
Furthermore you didmt even get the formula for power correctly. Its work divided by time.
Basically, Im not letting you get away with this "but I actually mean something totally different than what I said".
I totally know that this doesnt really matter but your initial comment had this annoying popular science, lets not care about facts, toxic positivity type of vibe that generally annoys me.
Its ok for something tl be cool but also have downsides. Its annoying when people act like everyone should only say "positive" things because its a useless and backwards mentality.
Some sioent steppers or foc controllled brushless motors would indeed be cool improvements, though for a proof of concept whatever he has on hand is the best tool for the job because fail fast. So there is a lot of nuance.
@@Apocobat lmfao. Bro did you really just pretend you meant to abbreviate rotation speed with w and force with t?
You really saying you expect anyone to think that you misaligning the most basic P=W/T actually meant something completely different than what you typed?
Its so obvious you're bending over backwards to try to retroactively make yourself sound right 🤣🤣
The funny thing is, even with your change here, it still wouldn't make any sense. The motors aren't giving any more effort because stepper motors dont use power the way you think they do. These arent like traditional BLDCs. They are given an amount of power per step or microstep regardless of how much of that they use, so literally, in this one case, that formula is meaningless, because you are using the same wattage no matter if its moving or standing still.
In fact, the way most stepper drivers work, is that you configure a max current to run through them, and that's it. That current stays damn near consistent no matter the speed.
I'm sure now you'll say you just meant like what is happening from the reference frame of the plastic and not the power of the motor though. Keep changing it up my man.
01:41 The magic smoke on the left lol
Damn bro how did you spot that 😂
@@caveman1126past traumatic experience probably
Is it not a reflection of something in the monitor?
I have 30+ years in control systems and automation.
There was a stage for a few years were that was almost exclusively in robotics.
There's a lot of fairly cool videos on various mechanisms but this is one of the coolest. Having built a few robots and serviced a few from manufacturers like Kuka & Adept I can see how you've made this work. What I really like is that you haven't tried to completely reinvent the wheel but improve it. Rather than making a few improvements that add up into something better too many engineers try and do elaborate things or spend too much effort on just 1 things and they end up failing. that's not just a robotics thing either I see all across engineering.
So well done, because this is easily one of the better robotic videos I have seen.
I have absolutely no idea what this would be good for, but I need two of them.
Today.
If you had a simple drill on a motor controlled slide, you could drill holes into an object at many different angles, if substitute a milling cutter and you have a very flexible 3D CNC machine
Yes what is it for. ??? why build this for what, to do that
@@chriswilkinson2548why not? You have the knowledge and the tools...
i think its clear by the shape of the attachmenrt what he intemded to use it for
@@WithExtraChicken I would NEVER....get caught using it.
Very cool! One day I want to go back in the archives and find the simplest mechanical solutions for any given motion--you know that people a long time ago with far less computation and tools made very impressive contributions to manufacturing and other robotics!
Jednym z przykładów jest hydraulika siłowa.
Really cool. Very impressive and if nothing else, this video is a goldmine for robot sound effects
Probably the only good thing
That's the most advanced disco ball mount I've ever seen
Oh that’s what it is. I thought it was balancing a dild0
@@badlandskid it did look like an elaborate sex toy to me.
The principle is very elegant. From what I gather, the spherical nature of the movement is mandatory because you use pivots. The axes of the extremities of the base legs intersect on a point, and the three axis of the plate also intersect on a point. The starting configuration makes those two points identical. This position is the center of the sphere. This makes it mandatory for the links to have both their axes to cut at this exact same position, the center. From there, each single movement has to preserve this property (I think), hence the spherical movement: this is is the only kind of movement that preserves the integrity of the mechanism. By using ball-joints, other motions would become available (and less stress on the structure I guess?)
Great to guide a mechanism from 'afar', but the command has to be spot on, or else it will break very fast. Or maybe my interpretation isn't correct.
Yea what he said🫠
This should be found in a Dwemer ruin.
That is very beautiful ! I love the way you drive the arms.
anyone else notice the smoke by the power supply? its very noticeable around 1:40
thats brilliant! it's likely because at that part of the demo the mechanism gets stuck and its drawing overcurrent. That jerky part doesn't look intentional, probably is a fail, but still cool demo. lol
looks like their hands reflecting in the monitor, there is somthing similar at the start of the video and its just before they get up to move the camera.
yes ir is just the reflection of a hand
I think that's what it would sound like if you gave an Ender 3 a lightsaber, lmao
Ender 3 carving through door after door and opponent after opponent, living up to its name
All of those pivots are single axis, and that axis doesn't see any bending off-axis. It took me a good while to figure that out.
The trick is that each pivot axis points through the center of the sphere, and each pivot traverses the surface of a sphere.
God that was memorizing. I don't know nearly enough to appreciate the effort that went into this, but it was awesome to see.
The coolest thing I have seen in a long time. Great work!
The sound is incredible! You need to build this into a base that fits the Eurorack standard so people can put it into their modular synthesis setups and resample the sound. Seriously, send one of these to Look Mum No Computer, Red Means Recording, or Andrew Huang and see what they make with this gorgeous scifi beast as a sound source!
Yes please!!!
Parts of the audio sound like Tool song
Magic smoke at 1:41, also this sounds amazing, Impressive how industrial music has evolved!
I saw that too. Haha.
I can see this is very useful for example for 3d printing and other robotics, very nice work, impressive!
imagine this thing moving like that, but *up in there*
That thing sounds amazing! Very cool mechanism.
*Must be some complex inverse kinematics going into that!*
Amazing concept!
Cool space sounds!
I'm just here because I like those words. Spherical Parallel Manipulator.
I have no Idea what a practical use would be for this kind of machine, but I am hypnotized by its movement!
A possible application of this mechanism is a medical robot that performs operations using laparoscopy. Imagine that the focal point of this mechanism is a puncture in the abdominal cavity through which instruments are inserted and incisions are made within the patient. (Sorry for automatic translation) :))
well i want this as my 3d printer bed
I wonder if it could gold pan….. 😀
@@BonesFPV our minds work alike fpv for life!
Holding props in movies that need some weird movements to be green screened out later is a great application for robots like this...assuming you wanted to be practical.
Побольше бы амплитуду, и отличный кронштейн для устройств слежения за спутниками, например.
2:25 разработка скорее всего заинтересует клиентов секс шопов.
haha, daym, watching the first half i was like, dude, add the pencil sticking out so geometrically challenged ppl (not me) could see whats going on. turns out the man delivers! very nice!
I need a full album!!! Nice music!
What an incredibly precise mechanism. This would be so good for positioning some sort of tools.
Cool showcase but i struggle to find an application where this is better than a 2-axis approach, which is much more rigid and proven.
@@RCP-1136 I could see an application where this is used as the end effector of some bigger system where you then won’t attach a drill motor to it but use its rotation alone as the rotation for the drilling (for example). Then you could also position the drill in positions non-collinear to the direction of the larger system (maybe some tiny medical devices that are long and fill out the whole available space and are thus not able to point their tip in the direction they want to drill in
That's some krunking!!!👌 Absolutely love it!!
Amazing, that could make a hell of a shoulder joint on a robot. As other commenters said, it looks like it is not going to carry a very large load in this configuration - but there is a lot of very delicate work that it could be super useful for. So glad to see this shared. The robot future is coming and if you have a hand in it, it is going to be *precise*.
very cool! looks similar to roll/pitch control on a chopper
So that's what we hear when the terminator finally gets us
각각의 싱크로 제어도 놀랍지만, 이런 삼각 링크 구조를 생각해냈다는 것이 더 놀랍습니다.
Looks like a new type of 3d printer head. Or a Rube Goldberg anti spill coffee cup harness.
Sehr beeindruckende Vorrichtung
I have so many questions! Very Awesome!
I love the way it sounds, this weird musical vibe to it.
Pretty ingenious!
Congratulations on grounding all 3 motors this design promises to have very fast dynamics btw you should look up the original agile eye developed by Prof Gosselin at University of Laval.
Impressive! The inverse kinematics look like a nightmare though lmao
Sounds like those high voltage arcs from disconnects on high load.
Why is this device showing up multiple times in my feed? I never looked for this, nor did I even know it existed!
Very cool, though a couple times I felt as though I was going to witness a resonance cascade 😂
I am really scared of what the inverse kinematics of that thing looks like...
Great! Congratulations! There is a lot of effort and work to buid this!
imagine a parade like this on a real scale being a PARK TOY! 😃 it would be crazy!
Fantastic!
This is really cool
Amazing!
If Battlebots ever needs a new robot to spin the trophy, this could be it.
This looks like a good motions to polish a glass lens or mirror.
nice it will make a good floor mop
This is a kind of poetry. I want to call this as "mechanical poem". Congrats.
By the way, it was not in an emotional manner, but was about how elegant and aesthetically it satisfies the expectations from a platform manipulator.
What's the mechanical equivalent of "there once was a man from Nantucket..."?
That would make a wild carnival ride.
Please mount a giant blood shot eyeball on it, and make it watch a delivery man while doing a 720 degree yaw turn...
Very cool!!
It's genius. I love it!!❤❤
Why do i recognize this, i feel like i dreamt of this exact video.
Sound sample sounds COOLLLLL!!!
Very cool!
I hated the sound at first but as I continued watching it grew on me. Sounds cool and different
This is super cool! How complex are the inverse kinematics for this system?
Impressive!
That looks good
Это просто аеликолепно, почти как Моника Белучи
god dang that's a mesmerizing machine
That's so impressive. Could I ask for the simulation software that you used?
Надо добавить внизу манипулятора контроль перемещения для точного позционирования.
Walmart is so going to love this new paint shaker!
1:13 HL1 sounds haha. Neat mechanism.
Awesome!
If instead of the usual hinged joints we make ball joints, and the primary levers are made in the form of gears, then by placing the comb rack with the drive along the axis, it will be possible to move it further in height.
Although making the device more complex will also increase the chances of failure. So there is an option to simply move the entire structure from the roller with an additional powerful drive vertically
Very nice project!!!
Super!
As musical instruments go…
Dang that's so cool!
awesome. i can see it in metal as an attachment on a skidsteer for various demolition with an articulatable jack hammer or something ;)
Well Done!
muhteşem tasarım 👏👏👏
круто. главное смотреть трезвым научным умом.
so cool!!!
Harika.
amazing project
Чудо инженерной мысли
I can listen to this for hours. Weird ASMR
It sounds very nice))
Very clever!
Amazingly cool
Coolest thing I have ever seen on youtube
Sick beat
Very cool! How well do those 3D printed belt pulleys handle higher torque? I'm designing an 8-wheeled robot and plan to 3D print belt drive mechanisms for it
This is great! Would you share the CAD files? Or the motion control code? Would be fun to experiment with this.
It always fascinating how engineer invent mechanism to convert rotational movement to other movement needed
Man puttinga little mini foam ball earth in the center of that axis of rotation would be awesome.
Or maybe an eyeball!
That's neat!
Super cool
This hurts my brain, but i love it!
Should call it the Tango Bot. It looks like the tango dance.
ayo those motors sound metal as hell