Building Richard 9000, The BIZARRE Tentacle Robot.
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- Опубликовано: 17 авг 2018
- Would you like to write your own program to control this thing? Read below!
/ geardownforwhat
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I post most of my designs on thingiverse (Richard is not uploaded yet)
www.thingiverse.com/Gear_Down...
You can find the program that Richard is using on Github! Feel free to fix all the bugs and make it better...
github.com/GearDownForWhat/Ri...
HOW TO WRITE G CODE TO CONTROL THIS ROBOT:
Please keep in mind that i'll be using this code for the next video, where Richard will be fully assembled with all 8 sections, it will be possible to collide with the base which is BAD so be careful not to do that.
First off you need to understand the basic movements this robot can make. It can control each section independently and to do that you command an angle named X that moves it towards and away from the servo's and an angle named Y that moves it left and right. A positive X commend moves it away from the servo's and a positive Y command moves it to the right. XY command values can range from 100 to -100. the units are not representative of degrees, just units.
The first command is a X Y command (G0 J0 X10 Y-10 ) this command will always start with G0, then you list the number of the joint you would like to command which can J-1 J0 J1 J2 J3 J4 J5 J6 or J7. If you could like for the command to apply to ALL joints, use the command J-1. also, when using this command, you do not need to send a value for both X and Y, for example, you could home every section in the Y axis by sending the command G0 J-1 Y0
The second command is a rotate command, (G0 R360) which can range from 1080 (CW) to -1080 (CCW) that will take the current XY commands and swing them around as if the base of the machine were rotating. The units in this command actually do represent degrees, a command larger that 360 just goes further than one full rotation.
There is also a pause command (milliseconds) (G0 P50), that needs to be used after every XY command to give the machine time to arrive at that location before the next command is called.
In the examples, I add // before I add comments, please do not do this or add comments, I'm not really sure if that will mess it up.
Here's is an example program:
G0 J0 X100 Y100 // move the first joint all the way forward and to the right
G0 P100 // give the joint time to arrive at that position
G0 J1 X-100 Y-100 // send the second joint in the opposite direction
G0 P100 // give it time to arrive there
G0 R360 // command the arm to preform a rotate command
// You do not need to provide time for the rotate command to finish
G0 R-360 // Rotate CCW one full turn
G0 J-1 X0 Y0 // drive all joints to zero in both x plane and y plane
RULES FOR G CODE ENTRIES.
1. all entries must be in by august 22
2. entries must be listed in the comments section with the header MY PROGRAM as their first line
3. DO NOT command all the joints more than +/-75 in one direction, it will just collide with itself and i'll have to shut it down. come up with ideas that are more interesting that all bending in one direction.
4. keep your program less than 75 lines of G-code.
Links to products in this description may be affiliate links. These links do not add any additional cost to your purchase, but the channel gets a small kickback, which helps us a bunch! Thank you! 
Развлечения
If you want to write some G-Code to control this thing for the next video, there's instructions in the description, but this is pretty much what I'm expecting:
G0 J-1 X0 Y0
G0 J-1 X75
G0 J0 X-100
G0 J1 X-100
G0 J7 X-100
G0 J6 Y100
G0 P100
G0 R1080
G0 J0 X0 Y0
G0 P100
G0 R-1080
and more lines and such!
Gear Down For What? Ive been watching for a while. Around when you make the 3d printed winch. Its beem fun to see you improve. You deserve more then 60k subs.
Hey thanks! I hope I can keep improving.
What're the length of the sections? With some time you could work out the forward kinematics for this thing and move it by just picking where you want the endpoint to be.
1:100 instead of 100:1
This is going to be huge in Japan.
0Calvin aaaahhhhhhhh...
The subtle jab. I respect it.
My first thoughts as well.
Hahahahaha!
Same thing crossed my mind... Hope they don't censor this too
Defeletly
You should print it in skin tone for increased creepiness!
mumiemonstret or make a silicon sleeve that goes on top of it!
more like a latex sleeve ...
Dildo !
Earthworm Jim!!!
Robo dildo
Elegantly unsettling. Don't stop though....
Now if you want it to look extra alive, when you turn it off all the servos go "limp".
I mention this because I feel like prosthetics in media could gain an extra creepy factor if when the person relaxes, the prosthetics don't. Since right now, IRL prosthetics lock in place when no commands are sent to them, instead of following the force of gravity.
Congratulations! You invented the vibrator of the future!
Use an old PC PSU! Ample of 5V for free.
You should give it a knife.
Sinking your juggling up with the music. Badass. 😎
Attach an extruder to the end and load some filament and it'll be the most popular 3D printer at the next MRRF 😁
I really love this idea!!! congratulations!!!
First video I've ever watched from your channel, just randomly popped in my homescreen
Absolutely love it man!! Awesome video can't wait to see the next on this contraption, keep going! Cheers from Brazil
Really cool stuff! And your editing work for the video is great too
I've always wanted to see one of these 3D printed mechanisms channels do a robot using tendons to remote motors. Thanks for that.
Very good execution of the arm itself!!!
Wow man! This video marks a new pinnacle for you!
I especially like the slow mo juggling scene and the 4 up split screen time lapses.
And the idea is really cool too, and such a cool idea to let people run code on it!
Very impressed!
You’ve just pointed out all of my favorite parts of this video in one comment! Thank you
Now it just needs a little grabber claw on the end and it can be the most unwieldy robotic arm ever.
Lol
Great work
Good job, you are a very good crafter!
I ordered the exact same PTFE tubing a couple of weeks ago planning to build a simple artificial arm (3 fingers) using the same principle using fishing line as well (or printer filament).
Really well done.
A Weapon to Surpass Metal Gear
Awesome idea ! I suggest you use an ATX power supply, should have plenty of power
Good work man, , working on something similar but could figure it fully out... and bam here you have a solution.. thanks
For a power supply you can maybe use a pc power supply and a cheap dc-dc converter
i bet those servos are meant to be running on 5v anyways (6v barrery is just to have some overhead) and most PC-psu are more than capable of driving at least a dozen amps on the 5v line... i got some old crappy ones out of old terminal pcs that can drive up to 21A or 125W @5V
TheScarvig I agree!
My girl friend hates my robotics but she said this looks really fun for some reason. hmmm ...
Very cool!
Great stuff. However you should go over in more depth how the part works. Like what happens when you pull one string and so on
Awesome!
Really cool device, and I like your idea of letting viewers program it! Sometimes things look different that you originally imagine though... it’s still cool though!
You're literally building everything I've ever drawn up and cant in my own life. Thank you for validating my designs. I designed something nearly identical to yours 8 years ago. Good job dude, have fun with all your tentacles.
inspiring man, I think tentacles are the future, especially with sensors on the arm
Dude! Awsome!!
This thing is freakishly cool
So cool!!! I'm working on a program right now :)
Is this a sextoy ? I mean... It looks like me doing... you know... helicopter stuff 😂😂😂
Looks more like Japanese tentacle fetish stuff.
We are one step closer to a fully functioning tentacle.
Can’t wait for the future.
Hahah I love your tech, your planetary gear systems inspired me to build an underwater robotic arm
I would love to see a video of that!
I'm going to use layman terms, so you can understand what I'm saying quickly, and I won't have to type as much.
The rope that runs up through the center of each piece before you tie it together after you've slid on all the pieces add a spring at the beginning and the end then tighten the center rope under tension. that way, as you bend it to extreme angles the Springs will absorb the shock and stress on the center chords that would normally be stretching the center cord but will now be absorbed by the springs, and this will hold all of the individual pieces together tightly under spring tension
Get a cheap car or mobility scooter battery and use a buck converter to trim the voltage down. That should run it all day long. This looks awesome.
I'm glad others pointed out the obvious before I had to. Full marks to you fo
Wow thats so amazing!! Hmm have you considered some way to calculate some sort of inverse kinematics system to solve movements around any given circle within certain limits? That could be a crazy brain puzzle
More like tentacle robot...
Everyday We Stray Further From God's Light...
Looks like the prototype of the *G-Spot Annihilator™* - _In stores soon!_
use supercapacitors, they afre cardging faster than batteries
I was thinking of this exact same idea except using piano wire rather then fishing wire, for controlling some fingers, though my servos are planned to be in a row along an arm. though since each finger has 3° of freedom you need 15 servos to make one hands worth, so maybe some smaller and quieter linear servos (read expensive)
This definitely should be powered by neural networks. They are extremely suitable for this (and should be really fun to watch it learning to do something).
I sugest instead of stepper motors to use linear actuators.The baseplate will be much smaller.
That's awesome
What servos are you using on that? How much can it lift? I'm working on a drum playing robot that has a very similar idea with the fishing line, but I don't know nearly enough about what motors and servos to use. I'd love any help you can give.
I don't see why a new power supply would be expensive. Here's some options:
Atx power supply, connecting the servos in a series of at a time. Each will get 4v. If they can take 6, which it looks like they can, just hook them up in pairs. ATX supplies should be somewhere between super cheap and free depending on availability.
You can get 5v power supplies in the 1-5amp range for just a few bucks each, and they should be able to run quite a few servos at once. You can plug them all into a power strip (or terminal strip if you'd like to tear into them for space) should be pretty simple. What you don't need, is a huge benchtop power supply. They are all about perfect smooth regulated processed power and as such can't do the amps you might need, cheaply. ATX can also work with a cheap but beefy step down board (12v to 5v).
Its alive!!
buy a big switch mode 5v powersupply and use the adjustment to put out 6v. they are about a dollar an amp
I'm thinking that if you put three strings pulling every segment it would have much more mobility on each one.
Bravooo good for kids learning about robotics;!
get several desktop power supplies and run them in parallel 2 should give 60A 12V and you get 5V as well
How do you make an octopus laugh?
Ten tickles
Can you build an arm that can hold a camera? If yes can it be done so that when the arm moves there's no shake
How much power do those servos take? Would just an old computer power supply work?
Can the same mechanism be used for a prosthetic arm/hand?
Oh god Ross congratz on the channel proud to call you the first friend i ever had man! gotta catch up again sometime soon ill head up there someday! - Phil
Hey nice to hear from you again! Yeah come on up sometime!
It's not the kids you have to worry about seeing it. Their parents will be rushing to shield their little darlings' impressionable eyes and minds. It certainly beats the lava-spewing volcano at the science fair. There's no hiding behind euphemisms with this!
Is this doing what he says it is? It should be able to control each segment individually, e.g. make the arm bend only at the 3rd vertebrate. I kinda suspect that flopping around in a circle is all this design is good for but it's a cool concept and should work in theory I think.
Now ya just need to give it a really sharp knife
Alien chest buster!
When it is done put a fabric cover over it.
That noise my god.
Nightmare fuel
That thing is destined to be a...
kind of creepy tentacle I guess?
Very interesting, I like your ideas, and I get that the purpose is having an idea and making it, but could there be any industrial applications like if it were scaled up? How precise could it be? And what could it do if there were some end arm tools? Just some thoughts, wonderful little invention though.
It’s SUPER inaccurate and can’t support any weight, so there’s that.
I'm glad your shirt matched the filament otherwise I would have been so triggered.
Have you tried a 16 channel Pololu Maestro to program the servos?
I've done a bunch of servo projects. One thing which really helps to smooth out the motion of servos is to uses constant acceleration equations to control how the servos begin moving. Using similar equations to bring the motion to a stop also improves the smoothness of the motion. The equations are just the basic equations of motion taught in high school physics but implementing the equations in code can get a bit messy.
Here's a link a video showing this sort of motion using joystick input.
ruclips.net/video/yoy7H21KJS0/видео.html
I like the idea of using a battery. Motors (including servos) behave a lot better when powered from batteries rather than a power supply. I've had plenty of motor projects which I thought weren't working only to find the problem was with my AC to DC power supply. Using a good capacity battery solves lots of motor problems.
Some servos can operate off of a 2S LiPo pack. If you can find some of these servos, the power supply issue gets a lot easier.
If you ever one to get more than 180 degrees of motion from your servos (I did notice how far the servos turned), you can replace the normal pot with a 10-turn pot. Not a simple task (for lots of servos) but I thought I'd share the idea anyway.
In case anyone is interested, here are a couple of my multi-servo projects.
32-servos controlled with a Parallax Propeller microcontroller.
ruclips.net/video/UfZL6YS05Ho/видео.html
22-servo hexapod.
ruclips.net/video/f520FM9Z9is/видео.html
*Interesting project Gear Down For What? Thanks for sharing your work with us.*
Cool.
How is that psu not enough for 14 servo's? I'm running my hexapod with 18 full size servo's on 4 AA batterys without any issues
Oh my gosh this is absolutely INSANE :O :O :O :O
Hey great video
Are you still planning on designing a 6 axis robotic arm with stepper motors?
I think I’m going to put that project to the side until I go full time on RUclips, if that ever happens.
Can it wield a knife?
I think some people would be a fan of this for different reasons. Great work though.
Cant remeber that old psus from computers are expensive
Consider trying to use graphene aerogels for the printer.
Repurpose a atx psu. You have 3.3v, 5v and 12v at high amps :)
What type of joint is that?What is the name of that joint type..answer pls..tnx..
Put a tube sock on it to protect the tubes lol
Hay, if you want a cheap power supply just get some old used computer PSU. They have quite strong 5V lines usually more than 10A. You might need 2 or 3 but the used ones are dirt cheap.
They quite easy to mod, you only need connect the power button line to the ground and put some load on 12V (I usually use a car light bulb). Normally I am using those to power big hobby chargers (they need min 5A) but i remember running 2 small servo arms from one PC PSU as my highschool without any problems.
Old = preferably ATX version 1.x something, not ATX 2.x. More 5V beefiness.
Are you bringing that to maker fair?
Also - insert Bad Dragon jokes here
You can hack that psu to output up to 5 Amps!!
whats the song at 2:20 ?
you should build real life Bender with this :D
Maybe you can use a 3D printer power supply...12v or 24v at 30a
2:52 left upper corner - software is?
thanks
Sure is a noisy worm, but very cute!
Checked out your github. Interesting choice to use G code for this sort of thing. It seems like an obvious choice in hindsight. Subscribed to see more.
Glad to have you!
I like all ur ideas and have seen a lot of ur vids. I'm interested bc as many planetary gear sets ive seen why no one has mad a planetary set and making the planets a planetary set and cases for the inner planets. The outer planets(only) or all planets and what the different outputs would be. Mabye using 2or 3 inputs on the sun.inner planets.outer planets. Anyway. Thanks for the vids
this sounds like a lot of fun!
be right back, I'll make some g-code
I see halloween monster all over this thing. Nicely done.
Nah man. It's good like that. Just chuck a latex sleeve on it and you got youself a great Mothers day present!
FINALLY a channel for engineering fanatics :D
Yes! Don’t forget to subscribe 😁
Hey man, I love your videos. What kind of software do you use to design your gears (pressure angle, tooth width and height, tooth shape, etc.)?
Fusion 360 with helical gear generator by Ross korsky
Thank you!
What is the 2nd printer you are using? Not the Prusa MK3, the other one.
Anet a8