SPM - 3D Printed Spherical Parallel Manipulator Assembly
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- Опубликовано: 10 апр 2021
- This 3D printed actuator will be used as end effector for my robotic arm, other use cases might a for a camera gimbal or agile eye!
I am planning to release the print files and will update the parts list...
Stay tuned for more content!
Hardware consists of
3 x EMAX GB2210 BLDC
3 x AS5048A Encoder
and the
Storm32 BGC 32Bit MCU
Bearings used
3 x 61709-ZZ 45x55x6mm
12 x MR128-2RS 8x12x3.5mm
6 x 679 9x14x3mm
SimpleFOC and Python coding by Richard Unger
/ @runger1
3D Printing Files
www.printables.com/model/3239... 
Наука
All that work and we don't get to see it in operation? You're killing me!
exactly!!!!!! I want to see it in action!!!!
@@stefans.8027 Stay tuned, hopefully I will have some time to make a sequel soon!! 😊
I will have to get a bit of work done to show it off, but hopefully I will be there soon!!
@@swannschilling474 , I'm looking forward to it!
@@swannschilling474 I dont even know what this does I just wanted to see the mechanism to see
Brushless camera gimbals are carefully balanced to reduce strain on the motors. I hope these motors will be strong enough for your end effector. Super clean design, I like it!
There is a 1:10 reduction ratio on each motor, so hopefully they will produce enough torque...I will hopefully get to do some precision and stress testing soon! 😊
@@swannschilling474 Good work! Waiting for the results :)
@@jaggar28 I am almost there, just some more tweaking and I will be ready to show the actuator in action!! 😊
Just stumbled upon your channel with this, and seems like you have some amazing projects! Keep up the good work.
Thanks a lot I will keep the channel active, so stay tuned for more content!! 😊
Impressive design!
Thanks a lot, still some work to do on the software side...but slowly getting there!
@@swannschilling474 so what can u do with it?
@@miclairmiclair876 It will be the end effector for my robotic arm, but it could also be a camera gimbal or a rocket thruster as someone recommended! 😁
@@swannschilling474 sweet I love it. I go ahead and subscribe. I forgot to, sorry
@@miclairmiclair876 thanks a lot!! Its really nice to see you being interested!! I will try to post more on this soon! 😊
Beautiful design! Keep up the amazing work!
Thanks Will!! 🤗🤗🤗
Beautiful design! Perfect wrist joint for an arm.
That is actually what I had in mind when designing it...I will try to create more content on building the arm as I go!! 😊
I've been trying to design a robotic arm for about the past week myself, the fact that this was recommended to me now is insane! This really is an amazing design!
@@inconspicuoususername Hey, that is so cool!! Nice to be connected!! 🙂 I am actually building a robot arm myself and the good feedback on my design will make me definitely post more content!!
@@swannschilling474 I've already subscribed and can't wait to see more, but I'm afraid I won't be able to supply any meaningful feedback! I'm no engineer, and my design is relatively primitive and only meant to be hypothetical, really. I didn't even know what I was trying to design was called a spherical parallel manipulator until I found this!
@@inconspicuoususername Awesome!! So crazy it was still recommended to you right? 🙂 I will try to post more on this subject soon!
Very nice. I love both the design and the build presentation. Subbed.
Thanks a lot, happy to hear that you enjoyed the build!! 😊
I have absolutely no idea what this is, but I found the video mesmerizing, so you have a new subscriber now! 😂
Thanks a lot!! I will try to put up more content soon!! 😇
I was the same. Really complicated thing with no idea what it is. 😂
@@MekazaBitrusty it is just a spherical joint, like a wrist or neck! It could also be used as a gimbal for a camera! 😊
Awesome! Can wait to see it in action.
Thanks a lot!! I will try to show it as soon as possible! 🤞😊
The new video is up...just in case you missed it!!
I now feel fully qualified to put one together all on my own!
Great work! Looks amazing
Thanks a lot!! I am happy you like it!! Will make more content on this soon!! 😊
Amazing design and build, kudos!!
Thanks a lot!! Glad you like it!! Stay tune for more updates!! 😊
You Sir made my day... Superb design!
Thanks a lot!! I am super happy about the positive feedback!! I will put out more content like this soon, so stay tuned!!
Excellent work! Such a clean design!
Are you planning on doing any software tests in the future? Would be super keen for it!
@@SakaScribbles Yes I will!! Hopefully I will get to create more content on this actuator soon! 😊
@@swannschilling474 Amazing! Can't wait!
Subscribed. Great video to workout to...watched the whole thing!
Thanks a lot for supporting the channel!! Glad to hear you liked it!! 😊
This is super awesome !
Thanks!! It was really fun to build!!
@@swannschilling474 is there someone I could message you ? I had a few questions about the motors your recommended
Nicely done, Sir!
Thanks a lot!! Happy to hear you enjoyed the assembly!!
wonderful and amazing work, thanks for sharing
Thank you so much!! 🤩
Nice work. very clean
Thanks a lot!! Glad you like it!! I will post more content on this actuator soon! 😊
great design
Thank you so much! The files for printing are available if you're interested to build one yourself! 😇
Impressive work. Good video! :) Thanks
Thanks a lot!! Happy to hear you like it!!
Nice work, thanks for sharing!
Thanks, I am glad that you like it...hopefully I can put out some more content on this actuator soon! 😊
@@swannschilling474 subscribed, keep up the content!
really nice design. I do wonder if the encoder can be put onto the outside ring. as that give more accuracy and skips the mechanical slop
It could in theory be connected to the outside ring as the reduction ratio is 1:10 but it would also increase the overall size of the design...why do you think it would have more accuracy than being placed directly on the axis?
Let me know your thoughts on this! 😊
great engineering work and stoked to see this in action! You should crowdfund for a long-reach hex key set though :P
Hahaha, thanks for watching the video to the end and for this idea!! 😂😂😂 Yes it just barely fits!! 😂😂😂
how cool! I was thinking of a very similar design, but for 5 axes.
Nice!! Please share!! I would be very interested!! 😊
what is the use of axis sleeve
i'm trying to use your design idea to make a SPM assembly and while i was going through ur video i couldn't understand the purpose of using the axis sleeve
They are just little inserts that hold the bearings im place...the design works well, but I am about to design V2. Let me know how everything is working out for you! 😊
Thank you for provide videos and file
I am glad that you like it! I hope I will have the time to build V2 sometime soon! 😊
Okay, maybe I missed it, but when do you but the magnets in for the encoders?
But cool video/assembly, looking forward for more of it.
Ha, you caught me!! 😁 I am actually not happy with the way I fixed the magnets...they are glued in and I would like to fix that in the future! That is why I skipped the mounting! 😋 Happy you took the time to observe closely!! 😊
Very nice build, it looks pretty similar to Pollen Robotic's Orbita. Did you share the 3d design somewhere in the meantime? Would it be possible to find them somewhere to print it at home?
Hey, thanks for your interest in my design!! The Orbita joint was one of my inspirations for building this...I will most likely release the files, but it is still early development so I will have to sort out some stuff before I do!! So stay tuned and enjoy!! 😊
May I ask: Is there any reason for the three linkages to have the unnecessary bends (that look like fake joints)? Or is it just to look cool? It seems that straight linkages would be less likely to interfere with any attached item that might have a wide base, as they wouldn't rise above the top plane of the mount.
That is actually a legit point, for something with a wide base this would cause a problem!
But I build my gripper in a way that there is enough room, so in my case there are no issues!
There are a lot of SPM design possibilities out there and it is always a good idea to adjust them to your needs... and yes one of mine was to make it look cool! 😁
@@swannschilling474 Well it does look cool for sure, so good job.
That was remarkable and interesting, but the real challenge with these "out of this world" mechanisms is the translation SW that lets you do something worthwhile with them. :-)
The kinematics will not be easy on this one, but an SPM is a generic joint so there is a lot of info out there on how to drive it!! Stay tuned!! 😊
Nice work!
Thanks a lot!! 😊
I wonder if this would be back-drivable by moving the top plate?
It is backdrivable exactly like you said!! 😊
Clean design!
Thanks!! Glad to hear you enjoyed the build!! 😊
Wow, that was satisfying to watch. Everything fit to gether so perfectly. Was it your disign?
Thanks a lot for your positive feedback! Yes it is my design, the PCBs were custom made by my friend, he is also writing the firmware!! 😊
Cool! Thanks for sharing.
Thanks a lot! I am really happy this seems to be of interest!! 😊
nice design!
Happy you enjoyed the build!! 😊
Insert screw turn here! Got it!
Amazing design 👍👍
Thanks a lot...I hope I will be able to show somemore progress on the full arm soon! 😊
@@swannschilling474 I am thinking of a humanoid robot waist would be quite perfect with mechanism👍🤔
Nice prints!
Thanks, it is build on my old trusted workhorse the Prusa i3 MK2, great printer!! 😁
Does that wrist joint allow an unlimited number of rotations?
That would simplify motion planning if you didn't have to worry about how many times you spun the wrist.
Alas, if you run a cable through the joint to an end effector, the cable will limit rotations. If the end effector doesn't need much power, it could communicate wirelessly and have a local battery.
Hey, this joint is supporting unlimited rotation, since the reduction ratio is 1:10 it should work without an extra encoder...you can use a slipring to prevent cables to tangle up!
But I will have to put some work in and see how far I can push this!
Great design and execution! Just wondering what printer you used to manufacture those parts? They were really clean looking.
Its being printed on my old workhorse the Prusa i3 MK2, never failed me in years!! 😁
Can i get a closeup of that screw diver screwing that screw in again?
Hahaha, glad you like it!! Its my favorite screw driver!! 😁
This is really nice work, well done, mate! How are you doing with writing the control law? I'm looking forward to seeing it in action.
This will be the next task to tackle!! I will keep the channel update! 😊
You Sir Are A Genius!!!.
Thanks a lot, I am happy you like it!! I will try to create more content on this actuator soon!! 😊
Great work! are you planning the publish a video of the system working?
Yes I am planning to do so, and the good feedback on my design get me very motivated! Thanks a lot for the positive feedback!! 😊
The new video is up...just in case you missed it!!
i understood that the gear ration is 1:10 but what is the module of the gears
It is just the ratio of the gears attached to the motor axis and it corresponds 1:10 in ratio to the disks number of teeth! 😊
Its beautiful
Thanks a lot I am glad you enjoyed it!! 😊
This is incredible
Are you planning on sharing the stl? or maybe also the .SLDPRT file if you ise solidworks?
for now I'm trying to reverse engineer this but im having trouble understanding what are the bearing sizes (and other parts)
I will push more updates soon and will most likely release the .stl files!
But I still need to do a bit of tweaking! The bearing sizes will not change, I can look them up so you can already order them from China?
@@swannschilling474 Yeah, i'd like to order them now! :)
So it would be great if you can send me the bearing sizes (or types)
Do you have an ETA on when you're releasing the .stl files?
Thank you so much!
Looks great but what is it and how does it work, will there be another video showing it in action? ???????
I will try to post a sequel asap, but I still need to get a few flaws sorted out...but making good progress!!
I'll subscribe just for the fact that you reply to every one of these comments. That's amazing
What's the name of the song?
Thanks a lot, I am just super happy that my design get such a positive response!! 😊
The tracks name is...
Like That - Anno Domini Beats
Super happy that you like it, its kinda hard to find good music to use!!
I saw your video in bilibili！I love this design！I 'm looking forward to see it in github,and getting ready to make one~
Thanks a lot! Stay tuned for more content, the github page for the boards firmware is in progress...
Please feel free to share my video!
@@swannschilling474 ohhhh，This is my first time I have received a reply in RUclips.I subscribed your channel.🥳
@@user-qx9el8fx2k Happy to hear I am the first one!!
And thanks for subscribing!! 😇
I was greatly inspired by your work. I'm designing a gimbal as a project at school, but it's very difficult. Can I get any reference or advice for designing this?
Hey, thanks a lot for your interest in my project!! 😊 There are a lot of different ways to tackle this problem, mine is for a robotic application...so there are probably more easy ways to design a gimbal!
The board I am using is very cheap and also you can use its firmware, you dont need to flash it like I did!
Would that be a good starting point?
@@swannschilling474 Thanks for your advice! I'll look forward to the result.
I think he can be used as a 360camera gimbal，looking forward to update
You could use harmonic drives so they wouldn’t be back drivable. Just a thought
Funny! I was looking at your channel this morning! 😇 There are a few things that I would like to change...but the gears are working fine actually!
I am trying to figure out the inverse kinematics atm and I am stuck! Did you get the math done?
@@swannschilling474 it's been a bit since I've worked on it. There is a good paper I may have... somewhere but the short answer is no, I don't have the kinematics worked out yet.
@@colbertbd let me know if you find that paper! I am having a github repo, if you would like to take a look you can check my progress. I am kinda stuck on the inverse kinematics...
github.com/SwannSchilling/SPM_Kinematics
very proffesional done .
Thanks, how is your Inmoov doing? 😇
@@swannschilling474 waiting for filament .doin the waist .
@@EDP1 Great to hear you are progressing!!
Are the encoders optic? Are they reading the 3d printed shaft ends?
They are reading the positions from the embedded magnets in the shaft ends. I used optical encoders on my Cycloidal Gearbox, they are super robust!
Awesome design!! Any chance you can post the 3d files? I would love to adapt this to work on my robotic arm or similar projects.
Sorry I just now read the info in the description. Not meaning to rush you on the files
Hey thanks a lot for your interest in my design...it is still WIP but I will most likely release the files once everything is working! 😊
@@vaughnmonkey Thanks for taking the time to read the info!! Hopefully I will have time to work on more content about this soon! 😇
I was so eager to see it manipulate parallel spheres...
Such a nice idea!! 😁
Did you design this linkage? Or is it an established mechanism?
It is my swing on this actuator, but it is not my invention!! Check the Parloma Hand or the Orbita joint by Pollen Robotics for more actuators like this one! 😊
So cool
Thanks a lot for your positive feedback!! Glad you enjoyed it!!
I could count 3,12, and then 5 bearings instead of 6? as mentioned in the description
Which bearings are you talking about? Let me know if I need to fix a mistake in the BOM!!
@@swannschilling474 3 bearings on the 3 shafts of the 3 motors. then we see the first SPUR mounted using no extra bearings. then the other two spurs get mounted with 1 bearing each. so in total of 5 bearings are being used here instead of 6 as mentioned?.... am I right?
@@SaintAngerFTW its three bearings on the spur gears first layer, then two on the second layer and one on the third layer...it might be a little different because the uploaded printing files are having the encoders sandwiched between layers, rather than on top!
Great design. What kind of motor are you using?
Thanks a lot for your interest!!
You can find the hardware used in the description...also there is a follow up video showing the actuator in action!!
really awesome! could be very useful to some of my projects. would you mind sharing the partslist, links to where I could buy the parts, and maybe also share the files for 3D printing the parts? thank you
Hey, thanks for taking interest in my design! I will most likely release the files once I got the final version, there are still a few minor tweak that I will need to sort out
So stay tuned!! 😊
@@swannschilling474 awesome :) and I understand that :) looking forward to the final version. keep up the awesome job :)
@@enricotempert I will keep the channel updated with more content and info about the availability of the print files!
Cool bro
Thx glad you enjoyed it!
@@swannschilling474 swashplate
@@arunchandran5081 Not really but could be used for this purpose!
Now if only there was something that needed to be spherically manipulated.
I am using it as end effector for my robot arm..you could use it as a gimbal, or a centered rotational point when observing things with a microscope etc.
@@swannschilling474 Someone else did a video on using it for microscopy. That's what got me to yours.
I was going to comment on your other video that I was really hoping you'd use the accelerometer/gyro in the ps4 controller to mimic the orientation of it but I have no idea how nicely Unity on linux plays with PS controllers. Usually everyone says "get an xbox controller instead".
Do you think Unity is the best choice for linux? I have a lot of things I need visualization for but so far I've been using the xorg libraries straight. Its a PITA. I've been considering Godot.
I got this in my recommended, and I liked watching it. Although I don't know what it supposed to do. Is it gonna have some tool that can maneuvre around or what?
Hey, thanks for letting me know how you got here!!
This is supposed to be the wrist for my robotic arm!
Stay tune if you are interested in seeing it evolve!! 😊
@@swannschilling474 I thought it looked something like that. Im studying to be an automation technologist, so its in my ballpark. Ill sub and follow your projects :)
@@magnuswf Sweet!! I will try to update the channel with more content soon! 😊
Very excited to see the files soon to try my own build, are they available anywhere yet? Thank you for sharing this work!
I did nor upload them yet, its still kind of an early stage design...but if I do not progress any further soon I might just upload them as they are? Thanks a lot for your comment, glad you liked it!! :)
@@swannschilling474 Please, please please upload as they are, I can figure it out, you can always label it as "version 1" and warn "work in progress" if its completion level is a concern for you, and then just post updates as you go. You made and edited a very nice assembly video 6 months ago, you printed and properly tested the design, even of there may be a few small things that could be added later this is a Lot more complete thing than 98% of the things one finds on stl host sites. I'd love to make this, I really would and would be happy to send you pictures/feedback on how it turns out if you like. I already have an fun application in mind. If there is Anything I could do to persuade you let me know. Thank you again.
Bravo!! Amazing design work. What's that music playing??
Thanks a lot, I am just super happy that my design get such a positive response!! 😊
The tracks name is...
Like That - Anno Domini Beats
Super happy that you like it, its kinda hard to find good music to use!!
Quite impressive but what is it used for?
It will be the wrist for my robotic arm, but it can also be used as a camera gimbal...I will upload more content on usecase scenarios, so stay tuned! 😊
It looks too heavy for it, but could be used as TVC for a solid motor model rocket? Excellent design btw, looks really nice.
Thanks a lot for your feedback!! This will be either the end effector of my robotic arm or a camera gimbal! It is actually quiet light, but might be to heavy for being build into a model rocket, but I like the idea!! Never thought of it!! 😁
+1 sub. What are you using to drive this? Something like the storm32 bgc? Is foc using a library or home brew?
Yes exactly! You need an STLink because the board does not have USB to serial and we are using PlatformIO because it is offering native STM32 support!
Still a bit to go on the firmware!
Just Google SimpleFOC they are having a great Forum and are really helpfull with all stuff BLDC related!
Does that mean that you are using simple FOC right now and storm32 later? I’m doing the exact same project as you. A bldc spm!
@@constructiverealities. I guess your question is for Swann. I've used storm32 with simplefoc. It's quite hard getting 3 sensors working with it. For example spi needs a bit of desoldering if i remember correctly. I'd be interested to know if there is a particular storm32 board version that is easy to use.
@@constructiverealities thats great!! I will check an subscribe to your channel!! Maybe we can pool ideas on how to drive it! 😊
@@OwenWilliamsRobotics I did the same thing, I soldered directly to the board to expose the SPI port...but its not too complicated!
There is also another board that already comes with the pin exposed! I can look it up if you are interested!
But isnt just simpler to use the delta mechanism of a 3d printer .. the DOF are pretty much the same
My joint is meant to be used in a robotic application this is why I had to design it that way...but yes, you are right. Its a similar mechanism! 😊
Amazing work! I will do something similar to this work for my master's thesis. Could you please share CAD parts just to be an inspiration?
Hey, how are you planning to drive it, I would be interested in your approach!
I might upload the files as soon as I find the time!
Hey I just uploaded the files, I would be very interested in how you will be driving your arm, so let me know about how your project is coming along! :)
www.printables.com/model/323998-spm-3d-printed-spherical-parallel-manipulator
Did you get the kinematics to work?
Kinematics should be fun to figure out on that one
😂😂😂 You bet!! 😂😂😂
What does it do???
It is supposed to be the end effector for my robotic arm! It transforms the three vertical axis into a 3DOF spherical joint!
Where did you get those encoders from ?
The PCBs are custom...but I also made a version of this joint using standard AMS encoders, it is slightly bigger because those do not fit on the top layer and need separate encoden layers! 😊
@@swannschilling474 Shall i ask if you are going to opensource them ? :)
@@mihaim2 I will most likely do so...but will still need to sort out the final tweaks in the design! So stay tuned!! 😊
@@swannschilling474 I am , I am :)
Step files or f3d files ever released?
Hey, the design is two years old now and the motors became quiet expensive. So there would need to be some remodeling and also I never finished the custom PCB...but if you are curious and would like to work on the design you can find the files over here www.printables.com/model/323998-spm-3d-printed-spherical-parallel-manipulator
It would be cool if you put thrusters on it and used it for space.
OMG!!! That would be the coolest thing ever!! Never crossed my mind!! I only ever thought of it as and actuator for a robotic arm!! 💯
Ok but i usually charge xtra for 3rd layers just sain!
Nice
Thanks for the positive feedback!! 😊
Looks interesting! Where can I get some info on kinematics for this?
There is some info out there if you google a bit...I will also make a kinematic model soon, so stay tuned! It is a bit tricky, I must admit!! 😊
@@swannschilling474 Subscribed for that! :)
@@Mato0092 Thanks a lot, I am making good progress!! 😊
Very nice design. Really like it. The music was great the first 38x loops, but was annoying by the 39th. :-)
Happy to hear you enjoyed it!! Its kinda hard to find good music! If you can recommend something, please let me know!! 😊
@@swannschilling474 wintergarten has gree licenses on his website
@@Sqwince23 thanks for the info, I will look it up!
Damn all this space X engineers, @swann you better listen to all of them. -_-*
I might still become a rocket scientist, right? 😁
Add three or more in a link, and you would have one cool robot arm!
Not sure what the lifting power would be.. Other than cool!
This joint is supposed to be my end effector, the other joints will use the Cycloidal Gearbox that I build! Stay tuned for more content! 😊
@@swannschilling474 just amazing how this device make all the requirements for every part of an arm. Imagine a much bigger one, then this one. All the wires could run down the centre.. Just amazing the levels of freedom this has... Thank you for sharing..
@@marlonlacert8133 yes, you can also add a slipring so the cables will not be in the way if you would want to rotate more that 360 degrees!! 😊
好帅好帅！
Thanks!! Happy you like it!! 😊
The new video is up...just in case you missed it!!
is this a public project
I will definetely post more on it!! So stay tuned!! 😊
Hola:
diseño muy interesante,quiero verlo moverse
New video up now...if you want to see it moving!! 😊
I am actively trying to find an excuse to build one of these in our factory.
Thanks a lot, what type of factory are you working at? Sounds great!!!
@@swannschilling474 I don't actually think I will be successful. But I'ma try.
We do flat glass processing. Cut, Grind, Films, Tempering, Screen Print. Basically a really large job shop. I do mainly design & a bit of dev/bugfix/admin for our custom job tracking program.
@@ChrisCiber actually this design could work quiet well for moving parallel to a flat surface! It is one of the use case scenarios! 😁
Shoh it working.
Yes it is, I will put together a quick demo asap!! 😊
The file that has been uploaded on printables is a different model than this video
Yes it is slightly different because it uses standard encoders, the ones in the video are custom encoders! The rest will be the same as in the video!
Those motors are out of stock, I will have to make another version soon, which is using available motors! Sorry about that! Sometimes AliExpress is not the very best option!
With some relatively minor alterations (mainly doubling the number of rings and arms, and some tweaks on the shapes of the arms, and the joints), I think something like this could allow for 6dof control, rotation and position.
I have never seen something like that!! Your idea sounds great, please share your concept!! 😁
Any plans to release the CAD?
They are released, I will put the link to the description later! 😊
3D Printing Files
www.printables.com/model/323998-spm-3d-printed-spherical-parallel-manipulator
@@swannschilling474 Awesome!
@@ghostdog0424 Soryy, that I forgot in the first place!! Glad you like it!! ☺
@@swannschilling474 Can't wait to try this out!
Way to knurl!
Ok but what's it do
You can use it as a gimbal, or a wrist or neck joint in a robotic application! 😊
@@swannschilling474 that's actually pretty neat.
@@StephenMooreOfficial thanks!! Glad you like it!! 😇
O and you want bearings installed too! I mean cmon dude!
Hahaha did you manage to put it together?
is this manipulator your own invention ?
Its my design! 😊
@@swannschilling474 it's amazing 👏👍
@@velkam848 thank you so much! I hope I can build v2 soon! 😊
Great music choice
Thanks, I had some negative comments on my music previously and tried to do better this time!! 😊
Ya I can do that!
Let me know if you did!! 😁
Why?
Because its fun? 😁
@@swannschilling474 why is it made? What is the application?
@@KarlMiller it is made a be the wrist in my robotic arm, but could also be a camera gimbal or any other application that need a spherical joint! 😊
@@swannschilling474 it's easier for you if you answer the who, what, when, where and most importantly, why in the content of your video.
If you are interested in accumulating subscribers, answer their questions before they ask (see how the Applied Science channel does this with his videos). Always assume the person viewing is an accidental viewer that would be turned into a subscriber if you can give them context for what you are trying to accomplish and reasons why you did the thing you are viewing and why you are putting it on RUclips.
I came across your video and thought the mechanism was very interesting but couldn't figure out how it would be used.
Every viewer is a potential subscriber and you probably only have one chance to convert them.
@@KarlMiller Actually I never thought that this actuator will draw in so many viewers, it was mainly meant to be an assembly and instructional video...but I will make another on that goes deeper into how its assembly works and how to drive it! 😊