@@GiuseppeGullo Not likely. It cannot do some characteristic 3 DOF real joint really did such flexible radius arm. But this polar joint has fixed radius arm.
@@clementyap1009 This is literally seen on earth. You just saw it there. What you meant to say is that there are people in the world who are far more clever than most of us are.
what's the most amazing thing about this is that it's eventually going to get even simpler. People think complex equals smart but it's the opposite. Beautiful design!
I would say that the one thing that I could see being made simpler is, to make the sphereacle gear on a CNC 5 axis mill, or to make it in such a way that you have 3 sets of gears cast them and a few thousands too big and have them run together to give them a perfect fit as well as work hardening them at the same time. ( i may be wrong about this ) But the design is already very simple, once proven economically viable for some there will be alot of patent avoiding, or patent disregarding chinese knockoffs that are more complex.
Some of the motion pairs between the links still have sliding/friction - not evolvent rolling. normal gear transmissions are invented to preven the sliding. So it isn't that great, but the complexity is mind boggling and the idea looks really cool.
My thought as well, that lubrication and keeping the system clean will be tedious. Also I suspect that there are "dead spots" with less strength, torque or otherwise, near poles or along the equator.
Not great how it reacts to singularities in the control inputs either, having to spin the drive gear 180 like that that quickly (and for no actual effect on the output) is terrible for the motor drivers.
@@fridje the motor drivers? the FETs? I suppose but you should spec your parts and designs accordingly. It's no dewalt drill which I'm still pissed about if you wanna talk bad motor drivers. I bet if the drive gear went directly above the pole it wouldn't spin given some pre determined dead zone for the poles(jamming may become more evident). I cant help but think the spinning could really be mitigated or completely cut out.
@@fridje Yeah I was wondering how frustrating it could get writing code for that thing then writing enhancements hoping they don't jam up the works. I wonder who and why tho? now a days a kid with a cnc bed can make these things.
@@Asdayasman The main sphere is easy, the monopole gears would be harder to model, and then the whole drive mechanism is only briefly shown. There is enough detail to replicate it, but obviously it was modeled at some point, so it would have been nice if they released the models along with the paper.
@@DrakeOola Current/classical robotic arms have only 1 DoF per join ....this one has 3 DoF, like our own human upper arm join ....i can imagine using it in prosthetics i.e. robotic arms....
@@juancarlosabad3298 I may be wrong but from watching the video, it seems like there are certain movements that this joint can’t replicate, although I’m not sure those are movements that a shoulder joint can perform either, so that may not be an issue.
@@babybirdhome Our shoulder joint can't rotate indefinitely. So, there is definitely motions our join't can't replicate that this machine can. And I suspect the tradeoff is our joint is (relatively speaking) capable of much higher torque than this (with less play in the motion). It's all a tradeoff. The more options we have to make joints like this the better an engineers life will be. This joint might not be great for a shoulder for a heavy load-bearing joint, but might work in other scenarios. We need more options so we can pick the best ones for the situation we need them.
Why do I feel like a description of the driving software would sound like "The ball joint knows where it is, because it knows where it isn't." For those who don't know: ruclips.net/video/bZe5J8SVCYQ/видео.html
You'r not stupid, they are not geniuses... had this idea for my J ENG graduation project, like 7 years ago, and my currator said - "put it aside, if you want ill help you to patent it, now focus on finding less complicated project". I found out that 90% of technicaly educated will give you 10^4 reasons why something will not work and only remaining 10% will try to work out with you those couple of ways the damn thing will work. If your idea generator find the 10%ters but be prepared to be the laugthing stock untill you make prototype and some money)))) monetary success shuts up ppl very fast)))
No, the real stupid people are those who are to stupid to know that they don't know that they don't know anything. D'you know what I'm saying? 😄 It's Dunning-Kruger all the way. You can only get better at things by accepting that no matter how much you know, somewhere somebody will know something you don't. Learning is not an ending thing, it's a constant work in progress. Like counting from 1 to infinity, you keep making progress but still you're not near infinity.
I'm happy that there are people in the world who can understand and design this. I had to stop watching mid-video because I was getting beyond confused and starting to ache at a fundamental level.
@@DirtyRobot your ankle isn't driven by two sets of gears, its pulled in different directions by muscles, closer to a hydraulic system than a mechanical gear.
@@DirtyRobot As Battleoid said, this is very different from animal analogues because there are no tendons/muscles. It's like a moving skeleton, actuated from the joints. The leverage is really enormous.
If you put a soft ball at the end of the output link, and use 2 or 3 of them close together you could use it as a claw that can rotate the object without rotating the claw itself and without loosing contact. This is excellent for fruit collection robots. Of course it depends on the torque it can produce but this thing seams pretty sturdy for the freedom it gives
@sprock there's many autists on the planet, who are desperate to get every little bit of attention by vommiting memes where they are irrelevant. This is one of them. "BrurURUHuHUhHUHUH" and he jizzed over his keyboard. Probably.
Here's the Timetable for those who want it: 0:50 Graphical explanation of the mechanism 2:45 Components of the manufactured prototype 3:40 Motions os prototypes 4:20 Motions of prototypes with output link 5:05 Behavior of the Monopole Gear in the vicinity of the pole 5:25 Motions with extended output link and weight
@@OrangeC7 While potentially true, the original statement is also a classic example of false equivalence. Our musculoskeletal system is extremely complex, so much so that we don't have an actuator that fully replicates muscles in a 1:1 comparison. Whereas this uses fairly simple mechanics to actuate a ball joint. It's not an apples to apples comparison, it's damn near the furthest thing from an apples to apples comparison, the only comparable part is that a ball joint is actuated in literally any way, thus false equivalence.
I love being alive right now and watching technology grow at a ridiculously fast rate. The stuff we are coming up with as quickly as we are is astonishing, and its only getting faster because of it.
A beautiful mechanism. Elegant design. Perfect application of two rotation axis symmetry and 3d printing...I see applications in multi axis machine tools, robotics, and medicine for starters.
@@Inertia888 Worm gears are fairly simple to understand, think of them as a screw rather than the typical gear. A rotation of a screw will progress the teeth linearly by a certain distance. In actual screws, you can see this being done by the screw progressing into a material. But in this instance, you need to reverse which part is moving, here the screw remains stationary in space while the complimentary piece moves; and that complimentary piece is a gear that rotates on an offset, perpendicular axis. You can also think of it as a rack in pinion, where a rack would move linearly to rotate the pinion. Except this doesn't have the space for a linear rack, so you take the 2D profile of a rack and wrap it around an axes where one revolution aligns with the next tooth on the rack, thus creating a screw that can be rotated to rotate the pinion through rotation of the screw. Of course this is an extremely simplified explanation of worm gears, some worms do have much more complex designs than this. There's countless videos on explanations and animations on the internet if you still don't understand them.
@@xaytana I think your explanation is actually more confusing than the video... I understood it when it was on video but trying to understand your explanation completely ruined that xD.
If you can make this strong enough to withstand the forces, this WILL revolutionize machining! Imagine all of the angles of approach on a part you can have if the part is mounted in place of the output link!! Incredible!
This is really interesting, but I am not sure what problem it is meant to solve, it is very complicated if all you want to do is make an actuated ball joint
This isn't just an actuated ball joint, it is a true 3dof actuated ball joint. Linkages limit your range of motion and require rotational limits. With the exception of the socket limitations, this has none of that.
@@pstrap1311 everything mentioned above for sure. However maybe a non-traditional use would be digging through soft soils. Having sharp points like that and being able to rotate them in any direction would aid in cutting through the soil and then removing the soil. If rocks were encountered it would help steer the vehicle around the rocks. There's really any number of applications. My favorite application for this though would be Omni directional steering. There's this thing called a magnetic gear, if This were re-engineered to use that then this is the perfect omnidirectional wheel.
I had something completely different in mind when I saw the title - basically 2 spherical burrs with their grooves meshing. This would allow one gear to be tilted off axis and, providing the contact is maintained at the same "latitude" on both burrs (requiring a slightly complicated hinge mechanism),, the rotational speed would be unchanged as they tilted. Chaining these together would allow torque to be transmitted from one end of a flexible chain to the other without the friction loss or binding due to buckling of a cable in sheathe. But yours is nice too.
@@DonnyDarko13 it appears to be quite precise, and being gear based, precision is a function of machining tolerance. I'm certainly no expert here, but it certainly looks applicable
@@zactron1997 i agree with you i am not an expert too but the Shape of these tooth on the Ball is a wedge when you compare it to an trapezoidal- thread there isat everytime a little bit of clearance and when its only a few tenth of an millimeter.
interesting, though some comments on play and stiction would be required to assess the usefulness of the setup. e.g. towards instant 4'30" for instance, one can clearly see the lack os smoothness oof the motion, which is likely to result from non constant friction of a plasticly constraint setup in order to reduce play. then there is the difficulty of the computational inverse geometry with poles...
I wonder if a useful application for this might be able to avoid that situation through software. It obviously depends on how necessary this specific design would be for said application
I was wondering the same thing. But directly at pole it would be possible just to rotate the direction of the monopole gear, instead of pivoting it really fast. But this is only possible AT pole, not in the vicinity of the pole. I also wonder if mounting the motors opposite to each other instead of under an angle has influence on where the pole point is.
This looks like it would be fantastic for light-duty operations where maximum DoF is of primary importance. I'm less convinced that it is practical for anything with higher static or kinetic loading on the output link, since the "ball joint" (not really an accurate term here) seems to be held in place by nothing but the UHDPE socket. That is going to lead to some significant wear issues, and with them, a rapid degradation of accuracy and control. That may not be an insurmountable challenge, but it will need to be addressed if the plan is to subject the "ball" to greater loads.
This ball joint looks really interesting! I am curious what kinds of gear ratios could be applied to it and what maximum loads it can take. It doesn't look like the gear teeth could take large loads but maybe it could be used in prosthetics.
This is immune to gimbal lock due curved gear joint teeth. This gear will be free to move from any steady position. Edit: 4 actuators required for 4 motors (two for pitch setting and two for drive).
It doesn’t seem like this is immune to gimbal lock to me. This seems to have a few inherent weaknesses and movements that it won’t be able to do, but I’m also not an engineer and am not certain my intuition is correct about that.
Wow, this would be an excellent example in making "legs" on a humanoid robot prototype - giving it more human like motions. Could also be used to create robots capable of doing work humans can't do.
Very interesting idea! I'm going to have to do some reading now. What are the torque/power characteristics of this type of system? The wear characteristics? With 3DOF and 4 motors, it seems overconstrained, how does it deal with binding and accumulated/integration error? What about back-driving/holding on power-off?
This could be scaled up and used in the sea to produce energy regardless of wave action, or direction. there's a lot of potential for this type of idea!
I'm pretty good with electrical concepts, but mechanical devices like this lock up my brain. Despite the short demo at 5:30, I fail to understand the practical applications of the mechanism.
Fascinating. Music would be nice. Narration, even better. Even just the whining of the motors and gears turning would have kept me from constantly checking my mute button. Kinda wanted to hear it churn. Oh, and that’s totally a robotic shoulder joint!
>What would be some practical everyday uses for this?
The maneuverability of Gundam must improve.
A leg for a robot ?? These would be found particular application in hip joint robots.
Definitely a good equivalent of a 3DoF shoulder in one single joint... To be adjusted to each scenario, but it looks promising
@@GiuseppeGullo Not likely. It cannot do some characteristic 3 DOF real joint really did such flexible radius arm. But this polar joint has fixed radius arm.
Gun pods
Ankle joint for mech
That was unexpectedly satisfying to watch.
When the 3D was coming together, some primal part of my monkey brain was extremely satisfied.
the primal part of the monkey brain had to watch it 4 times in 0,25% speed before it understood what happend there
my primal lizard brain is interpreting the ball as a pimply boob
Remember that Royksopp music video?
@@Ghryst let me r/wooosh myself. Lizard don't have boobs, only mamal have them...
@@Kabodanki Now that reminds me of lizards in R34
The durian gear must be good for back scratcher.
It is far more advanced than anything seen on earth!
@@clementyap1009 This is literally seen on earth. You just saw it there. What you meant to say is that there are people in the world who are far more clever than most of us are.
@@babybirdhome stop the bootlicking, you're doing these humble innovators a gigantic disservice. buy no car instead and help the environment
lol, "Durian gear" is a pretty accurate description
It's also good for CBT
Scientists finally found a use for the dog ball other than massages and dogs.
dog
'sounds' like machine tool tech to me.
The potential applications are vast; from massages to dogs.
this will be wonderful for removing lint from my clothes dryer
So I'm not the only one who's using dog toys for massages 😂
what's the most amazing thing about this is that it's eventually going to get even simpler. People think complex equals smart but it's the opposite. Beautiful design!
I would say that the one thing that I could see being made simpler is, to make the sphereacle gear on a CNC 5 axis mill, or to make it in such a way that you have 3 sets of gears cast them and a few thousands too big and have them run together to give them a perfect fit as well as work hardening them at the same time. ( i may be wrong about this )
But the design is already very simple, once proven economically viable for some there will be alot of patent avoiding, or patent disregarding chinese knockoffs that are more complex.
Some of the motion pairs between the links still have sliding/friction - not evolvent rolling. normal gear transmissions are invented to preven the sliding. So it isn't that great, but the complexity is mind boggling and the idea looks really cool.
My thought as well, that lubrication and keeping the system clean will be tedious. Also I suspect that there are "dead spots" with less strength, torque or otherwise, near poles or along the equator.
Not great how it reacts to singularities in the control inputs either, having to spin the drive gear 180 like that that quickly (and for no actual effect on the output) is terrible for the motor drivers.
@@fridje the motor drivers? the FETs? I suppose but you should spec your parts and designs accordingly. It's no dewalt drill which I'm still pissed about if you wanna talk bad motor drivers. I bet if the drive gear went directly above the pole it wouldn't spin given some pre determined dead zone for the poles(jamming may become more evident). I cant help but think the spinning could really be mitigated or completely cut out.
@@Wtfinc I agree, the control software is probably just quite naive since its a prototype
@@fridje Yeah I was wondering how frustrating it could get writing code for that thing then writing enhancements hoping they don't jam up the works.
I wonder who and why tho? now a days a kid with a cnc bed can make these things.
This is incredibly cool. Definitely the best purely visual explanation of a design I've seen too. Great work!
This is exactly what I have been looking for. Wish 3D models of the parts was available.
I think based on the concept a simple model can be designed
@@Asdayasman The main sphere is easy, the monopole gears would be harder to model, and then the whole drive mechanism is only briefly shown. There is enough detail to replicate it, but obviously it was modeled at some point, so it would have been nice if they released the models along with the paper.
Can you use photogrammetry off of frames of this video? Would be in breach of copyright unless they've it it under an open licence though.
Give 3 monts and we Will get
The gears are relatively easy. Just model thin spur gears in CAD and rotate them in various axes.
The hard part is the control software
The movement of this joint is unbelievable, I can definitely see practical future use for this!
Like what exactly? 🧐
And it is?
@@DrakeOola Current/classical robotic arms have only 1 DoF per join ....this one has 3 DoF, like our own human upper arm join ....i can imagine using it in prosthetics i.e. robotic arms....
@@juancarlosabad3298 I may be wrong but from watching the video, it seems like there are certain movements that this joint can’t replicate, although I’m not sure those are movements that a shoulder joint can perform either, so that may not be an issue.
@@babybirdhome Our shoulder joint can't rotate indefinitely. So, there is definitely motions our join't can't replicate that this machine can. And I suspect the tradeoff is our joint is (relatively speaking) capable of much higher torque than this (with less play in the motion).
It's all a tradeoff. The more options we have to make joints like this the better an engineers life will be. This joint might not be great for a shoulder for a heavy load-bearing joint, but might work in other scenarios. We need more options so we can pick the best ones for the situation we need them.
Why do I feel like a description of the driving software would sound like "The ball joint knows where it is, because it knows where it isn't."
For those who don't know: ruclips.net/video/bZe5J8SVCYQ/видео.html
HA
My people :-D
Why?
@@Jesus-is-my-LORD-and-SAVIOR it's a meme you dip, about convoluted software with descriptions that make even less sense.
Actually, the motion is tracked through the encoders, as noted in the video. The position is known based on a defined "home" position.
Holy crap. Looking at this and thinking how intelligent the people must be who designed this- makes me realise I'm fucking stupid.
You'r not stupid, they are not geniuses... had this idea for my J ENG graduation project, like 7 years ago, and my currator said - "put it aside, if you want ill help you to patent it, now focus on finding less complicated project". I found out that 90% of technicaly educated will give you 10^4 reasons why something will not work and only remaining 10% will try to work out with you those couple of ways the damn thing will work. If your idea generator find the 10%ters but be prepared to be the laugthing stock untill you make prototype and some money)))) monetary success shuts up ppl very fast)))
No such thing as stupid ANO NYM, apart from some politicians ;+}
That happens to me all the time.
No, the real stupid people are those who are to stupid to know that they don't know that they don't know anything.
D'you know what I'm saying? 😄
It's Dunning-Kruger all the way. You can only get better at things by accepting that no matter how much you know, somewhere somebody will know something you don't. Learning is not an ending thing, it's a constant work in progress.
Like counting from 1 to infinity, you keep making progress but still you're not near infinity.
90% of the population. its no wonder why religion is still a thing.
The moment you find out you dig something you never even knew about...
Never thought something technical without any sound could be so captivating
so mind blowing!
It seems fragile, erosion-prone, with tons of torques etc, but absolutely stunning!
This is actually one of the most impressive things I've seen on RUclips to date! What an amazing 360* gear ball joint! Ingenious!
This will revolutionize the way we point flashlights in the future!
How?
For some reason the movement this has doesn’t seen real! engineering is awesome!
It's real - like a shoulder joint
@@paulg3336 welp sign me up if I ever loose a shoulder Im coming here first!
I'm happy that there are people in the world who can understand and design this. I had to stop watching mid-video because I was getting beyond confused and starting to ache at a fundamental level.
Now people can use their prosthetic Arm as a drill.
hello sandwich dispenser
This is amazing but it doesn't look like an arm connected to the ball joint could lift very much, because there is enormous leverage on the joint.
your right, but we need to learn how to make it 1st then we can make it stronger
@@hobanm45 true
Your feet are a small part of your leg and yet the ankle offers great articulation.
@@DirtyRobot your ankle isn't driven by two sets of gears, its pulled in different directions by muscles, closer to a hydraulic system than a mechanical gear.
@@DirtyRobot As Battleoid said, this is very different from animal analogues because there are no tendons/muscles. It's like a moving skeleton, actuated from the joints. The leverage is really enormous.
If you put a soft ball at the end of the output link, and use 2 or 3 of them close together you could use it as a claw that can rotate the object without rotating the claw itself and without loosing contact. This is excellent for fruit collection robots. Of course it depends on the torque it can produce but this thing seams pretty sturdy for the freedom it gives
I dont know man, I had enough trouble cleaning the ball in my mouse, this looks like a nightmare...
you don't have to keep it exposed. Put a sock on it like gear shift sticks have one.
ball in your mouse? bruh.. buy a mouse...
@sprock there's many autists on the planet, who are desperate to get every little bit of attention by vommiting memes where they are irrelevant. This is one of them. "BrurURUHuHUhHUHUH" and he jizzed over his keyboard. Probably.
Here's the Timetable for those who want it:
0:50 Graphical explanation of the mechanism
2:45 Components of the manufactured prototype
3:40 Motions os prototypes
4:20 Motions of prototypes with output link
5:05 Behavior of the Monopole Gear in the vicinity of the pole
5:25 Motions with extended output link and weight
thank you!
just did that, thank you! and thanks to @TheFlashDrive35 for making the index list
@@MechDesignTV np, glad to help
Only four motors to get that kind of motion.
You know how many muscles the human shoulder needs for the same job?
This is a major development.
I would be careful with this statement.
@@peterk.4266 Yeah, fewer isn't necessarily better. It all depends on the situation
@@OrangeC7 While potentially true, the original statement is also a classic example of false equivalence. Our musculoskeletal system is extremely complex, so much so that we don't have an actuator that fully replicates muscles in a 1:1 comparison. Whereas this uses fairly simple mechanics to actuate a ball joint. It's not an apples to apples comparison, it's damn near the furthest thing from an apples to apples comparison, the only comparable part is that a ball joint is actuated in literally any way, thus false equivalence.
Four motors, 3 DOF
Something's wrong i can feel it
I love being alive right now and watching technology grow at a ridiculously fast rate. The stuff we are coming up with as quickly as we are is astonishing, and its only getting faster because of it.
A beautiful mechanism. Elegant design. Perfect application of two rotation axis symmetry and 3d printing...I see applications in multi axis machine tools, robotics, and medicine for starters.
the most impressive part is the worm drive that moves the gear
That's the part that I don't completely understand how it works. Going to have to look deeper, I guess.
@@Inertia888 just play it at 25% speed and look closely how everything interacts. that's what i did, 100% clear now
@@Inertia888 Worm gears are fairly simple to understand, think of them as a screw rather than the typical gear. A rotation of a screw will progress the teeth linearly by a certain distance. In actual screws, you can see this being done by the screw progressing into a material. But in this instance, you need to reverse which part is moving, here the screw remains stationary in space while the complimentary piece moves; and that complimentary piece is a gear that rotates on an offset, perpendicular axis.
You can also think of it as a rack in pinion, where a rack would move linearly to rotate the pinion. Except this doesn't have the space for a linear rack, so you take the 2D profile of a rack and wrap it around an axes where one revolution aligns with the next tooth on the rack, thus creating a screw that can be rotated to rotate the pinion through rotation of the screw.
Of course this is an extremely simplified explanation of worm gears, some worms do have much more complex designs than this. There's countless videos on explanations and animations on the internet if you still don't understand them.
@@xaytana I think your explanation is actually more confusing than the video... I understood it when it was on video but trying to understand your explanation completely ruined that xD.
@@ScarletFlames1 Yes, that's the layman explanation. It doesn't get any simpler than that, really.
Wow this looks so well made!
The machined parts look so good and the motion itself, flawless!
I didnt expect this!! :D
If you can make this strong enough to withstand the forces, this WILL revolutionize machining! Imagine all of the angles of approach on a part you can have if the part is mounted in place of the output link!! Incredible!
The longitudinal bifurcation is tremendously helpful in this application.
Amazing spherical ball-joint gear! That could revolutionize robotics if they make it stronger.
Diamonds and titanium are available lol
This is really interesting, but I am not sure what problem it is meant to solve, it is very complicated if all you want to do is make an actuated ball joint
This isn't just an actuated ball joint, it is a true 3dof actuated ball joint. Linkages limit your range of motion and require rotational limits. With the exception of the socket limitations, this has none of that.
@@Unmannedair can you speculate about what a joint like this might be useful for? Robotics, maybe?
@@pstrap1311 car wheels, true Omnidirectional steering, Vector thrusting of RCS (manuvering jets for spacecraft), locomotion for small bots etc...
@@pstrap1311 everything mentioned above for sure. However maybe a non-traditional use would be digging through soft soils. Having sharp points like that and being able to rotate them in any direction would aid in cutting through the soil and then removing the soil. If rocks were encountered it would help steer the vehicle around the rocks. There's really any number of applications. My favorite application for this though would be Omni directional steering. There's this thing called a magnetic gear, if This were re-engineered to use that then this is the perfect omnidirectional wheel.
@@Unmannedair dirt and small gears dont work together, chud
The prospects are mind-blowing
I had something completely different in mind when I saw the title - basically 2 spherical burrs with their grooves meshing. This would allow one gear to be tilted off axis and, providing the contact is maintained at the same "latitude" on both burrs (requiring a slightly complicated hinge mechanism),, the rotational speed would be unchanged as they tilted. Chaining these together would allow torque to be transmitted from one end of a flexible chain to the other without the friction loss or binding due to buckling of a cable in sheathe.
But yours is nice too.
This can help with people gone through amputation. Great work!
I bet this could be extremely useful for CNC-style machining provided the gears are mechanical strong enough.
So you think this movements are Precise enough ?
@@DonnyDarko13 it appears to be quite precise, and being gear based, precision is a function of machining tolerance. I'm certainly no expert here, but it certainly looks applicable
@@zactron1997 i agree with you i am not an expert too but the Shape of these tooth on the Ball is a wedge when you compare it to an trapezoidal- thread there isat everytime a little bit of clearance and when its only a few tenth of an millimeter.
There are some pretty big leverages involved, so neither precision nor rigidity would be suitable for machining.
That's seriously clever and weird as hell! 😊
Tadakuma brothers are geniuses.
The complexity blows my mind.
The moment you know they are really trying to make Gundam
Seems simple enough. Might knock one up in the garage later.
Let us know how it goes.
Looks to me like an interesting invention for robotics and omnidirectional assembly line transportation. Great job, congratulations!
See a gearless mechanism of the same function:
ruclips.net/video/wyVD9Y35dGg/видео.html
Thank you for the link! I just looked at your channel, great work! (I subscribed too!)
That is Crazy Brilliant!
Great for robotics, replacement shoulder, 5 axis machines, CMM's, this has a lot of useful applications.
Great, small robotics, artificial shoulder joint etc. Fantastic idea and nicely made....congrats.
More complex a machine is the faster it breaks down in our environment
You watch the video and that is what you came up with. Your mother must be proud.
How complicated can we make this thing. Nailed it!
What a nightmare of engineering. It's awesome.
that's EXACTLY what I said too LOL
WOW! Thing of beauty! Congratulations to the engineers, Chapeau!
Was this published by Anaheim Electronics?? If so, I'll apply immediately to its Mobile Suit Development & Engineering depart!
Remember to restrict the twist axis to what the human body can accommodate :)
@@williamchamberlain2263 minovsky
The first step towards the first mobile suite. Now we just need a miniature fusion reactor to power it all.
@SMGJohn be patient. In about 30 years, I'm told.
You know an explanation is good when there are literally 0 words spoken
interesting, though some comments on play and stiction would be required to assess the usefulness of the setup.
e.g. towards instant 4'30" for instance, one can clearly see the lack os smoothness oof the motion, which is likely to result from non constant friction of a plasticly constraint setup in order to reduce play.
then there is the difficulty of the computational inverse geometry with poles...
@David Galea then some without breaking a sweat manage to look not too smart by totally missing the point
I love the music in this video, it works perfectly with what is on screen!
Do you have trouble with gymbal lock? The the left gear at 1:45 pivots really fast.
EDIT: Yep, the answer's at 5:07.
I wonder if a useful application for this might be able to avoid that situation through software. It obviously depends on how necessary this specific design would be for said application
I was wondering the same thing. But directly at pole it would be possible just to rotate the direction of the monopole gear, instead of pivoting it really fast. But this is only possible AT pole, not in the vicinity of the pole. I also wonder if mounting the motors opposite to each other instead of under an angle has influence on where the pole point is.
Adding the capability for attaching a cylinder (barrel) just made this a Defense Fund wet dream.
Very cool stuff. I can see a lot of pain points in mechanical joint range of motion that this would solve
I love incorporating differentials but besides the incredible idea the animation is worth a few thousand. Very noice presentation.
Hats off to the animator - so fluid!
I'm working out machine designs and would love to communicate them like that?
Beautiful work. I see uses in warehouses and automating restaurants.
Thnaks
Hats off the the people who designed this
Aside from the asymmetrical equator of the ball and the weird drive gears. It’s and insane idea
an amazing work in progress
This looks like it would be fantastic for light-duty operations where maximum DoF is of primary importance. I'm less convinced that it is practical for anything with higher static or kinetic loading on the output link, since the "ball joint" (not really an accurate term here) seems to be held in place by nothing but the UHDPE socket. That is going to lead to some significant wear issues, and with them, a rapid degradation of accuracy and control. That may not be an insurmountable challenge, but it will need to be addressed if the plan is to subject the "ball" to greater loads.
Well, it doesn't sound possible,
but it definitely has been NECESSARY.
Makes me think of a shoulder or knee joint. Amazing project, this one.
This ball joint looks really interesting!
I am curious what kinds of gear ratios could be applied to it and what maximum loads it can take.
It doesn't look like the gear teeth could take large loads but maybe it could be used in prosthetics.
Wow, this is ball-gear!
gear sphere?
@@lucasjohnson5803 yeap, gear sphere😅
Interesting to see what can be made out of these ABENICS
Design possibly won't be able to handle stress loads long term
Are you suggesting the U.S. Navy stop using this plastic ball to aim the gatling guns on their destroyers?
@@rossbrumby1957 IMO, plastic balls are what you aim at, not with.
I had that idea 1 year ago and to see it is wonderful.
Wow! Mind blown, jaw dropped. Hope you have patent. Groundbreaking
Wow, I can see this being highly resistant to wear, foreign objects, and debris. And it looks so easy to seal.
Imagine in fluid.
That simulation part felt like a thing from portal, really cool stuff
I heard this is one of the smelliest gears in the world but people still love it.
My first choice would have been peek too :P
The machining on the "pinions" is stellar.
One step forward to having real Gundams
Very clever. Expect to see Akiyuki using it for the next Lego ball contraption.
Инженерия на грани с искусством!
Imagine prosthetics built using these as joints. That would look really cool
Still waiting for cars with ball wheels, but happy to see progress is made one way or another.
This is mesmerizing to watch
YOU WANT TO MAKE SPIDER ROBOTS??
BECAUSE THIS IS HOW YOU MAKE THE SPIDER ROBOT JOINTS
YES I BELIEVE I WILL MAKE SPIDER ROBOTS NOW, HOW KIND OF YOU TO SUGGEST IT
No no no don't make that monster ...........
So using 4 actuators will prevent the gimbal lock effect, right?
specify please, and how?
This is immune to gimbal lock due curved gear joint teeth. This gear will be free to move from any steady position.
Edit: 4 actuators required for 4 motors (two for pitch setting and two for drive).
It doesn’t seem like this is immune to gimbal lock to me. This seems to have a few inherent weaknesses and movements that it won’t be able to do, but I’m also not an engineer and am not certain my intuition is correct about that.
thank you very much sir for this incredible video
Credit goes to the researchers for producing it!
That's some next level engineering!
The stiffness of the ball should be higher in order to implement this into machine-tools. The gear arrangement is phantastic 🥰
would there be any way to position the motors / modules in such a way that they would have a smaller radius and making it “smaller”? is is possible*?
This is so advanced it’s honestly starting to make my brain hurt a little. Seriously though I still have no idea how this works.
Wow, this would be an excellent example in making "legs" on a humanoid robot prototype - giving it more human like motions.
Could also be used to create robots capable of doing work humans can't do.
This thing looks like it will get jammed easily moving in all those directions I hope it works well it looks really cool
This is an interesting concept. However, I'm afraid the housing can't keep up with wear if not lubricated properly.
It's very good work, but let's face facts : this is a solution in search of a problem.
exactly
great way to make something as complicated as possible forget that the best part is no part
Very interesting idea! I'm going to have to do some reading now. What are the torque/power characteristics of this type of system? The wear characteristics? With 3DOF and 4 motors, it seems overconstrained, how does it deal with binding and accumulated/integration error? What about back-driving/holding on power-off?
This could be scaled up and used in the sea to produce energy regardless of wave action, or direction. there's a lot of potential for this type of idea!
I'm pretty good with electrical concepts, but mechanical devices like this lock up my brain. Despite the short demo at 5:30, I fail to understand the practical applications of the mechanism.
Fascinating. Music would be nice. Narration, even better. Even just the whining of the motors and gears turning would have kept me from constantly checking my mute button. Kinda wanted to hear it churn. Oh, and that’s totally a robotic shoulder joint!