High-speed SCARA parallel robot
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- Опубликовано: 2 июл 2013
- This video shows DexTAR, a double-SCARA parallel robot, which is probably the best pedagogical example of a parallel mechanism. Both serial and parallel singularities are demonstrated. DexTAR crosses serial singularities (i.e., changes working modes) in order to enlarge its workspace. It can also cross parallel singularities, but the control strategies required to do so in an optimal way are very complicated. Besides, there is very little advantage of crossing parallel singularities (i.e., changing assembly modes).
Наука
at first i wasn't sure what i was looking at, then i realized what was happening. thats friggen cool!
damn, high quality, full spectrum music, lots of bass, lots of highs, and it gets going, nice robot i guess, tell me more about the music
ruclips.net/video/C7rz7zt7luQ/видео.html
some smart people in this world. they should get the attention they deserve.
Завораживает.
thats amazing
Love how the video didn't show someone having to poke that top-dead-center situation to right it.Just a discrete cut.
honestly besides calibration and vibration, i can see this being a vast improvement to FDM printers, where the parts can be simplified to two motors, and you can move faster than traditional xyz motion. However, i fear the idea of it losing calibration, maybe needing some correction sensors, and vibration when swinging fast. Also I noticed it needs to break its direction when it curls to the left and right and is unable to trace a large circle larger than the distance between both motors. Good idea, and I see application.
look up 'SCARA 3D printer', it has some interesting pros and cons. as you note you can't use the whole area under the arms like this robot. also the resolution drops off the further out the arm extends. but it can pack small and move fast. a Delta shares the pro of fast movement and shares the con of an awkwardly shaped/sized build area.
You'd still need a z-axis. Mounting both motors on a screw might be simplest.
what platform did you use to programm it?
Yeah that's, indeed, fast.
I wonder if this can be used as a 3D printer by adding vertically moving bed.
Good luck getting the filament line to the extruder from the top without snapping it from the arms 🤣. You’d need to supply the filament under the arms perpendicular to the nozzle basically. Maybe someone can get it to work without cables snagging in some sort of support that provides the right amount of wire to put the nozzle in the right place.
The move at 1:12 requires momentum, slowing it down is probably difficult. Not sure if this can do a straight line between any two positions, currently at least it doesn't. It takes a curved path between some pick-up/deposit points while they are in line.
@@williamwalters3796 Just feed pellets through the arm from a hopper on top, and push them into the hot end with an auger. Continuous mixing allows for color gradients. Those motors seem beefy enough. There's probably more to it though. :)
That still leaves the issue @robin1987100 mentioned, so you've got only half the work area shown here, and for that reason feeding filament straight down is not a problem, just like any other SCARA 3D printer.
@@williamwalters3796 Or simply offset the build area, like all scara 3d printers do.
I can see a pnp built like this
Какова точность позиционирования этого устройства?
Music is jammin.
Does it really require such big motors or just used whatever available?
Not an expert but i suppose you at least need motors with a controlability that's very linear because the movements are small and precise then the size depends on the application you make of it. That's my take on it.
what is the advantage of a double scara robot over a regular scara robot?
The main advantage is that the motors that drive the XY position of the end-effector can be identical and mounted on the base. Thus you can use very powerful (and therefore heavy) motors and still have a very light moving part. I suggest that you read this document: mecademic.com/What-is-a-parallel-robot.html
CoRoETS Ah makes sense, thanks for the info!
i think most important: one solution for computation of inverse kinematic
CoRoETS 爸
@@CoRoETS Arghh 😢 Link broken now. Can you update? 🤔
where did you buy this lever arm's? and how much cost this step-engines?
what is the song??
what type of motor used?
nema 72
Can somebody tell me what kind of gripper mechanism is that? is it some sort of sucking pipe or magnetic gripper mechanusm ?
it looks like some sort of sucking pipe. There is an air fitting on the end, its possible to pass wires through those fittings but it makes more sense that it is vacuum suction.
Would this make a good 3d printer design? Just got to add a Z axis that can handle the weight of those motors.
How much did it cost to build? I'm trying to build my first 3d printer. I'm looking to build one that's low cost, compact, and with a large print bed because I plan to print a velomobile and travel across South and North America in it. Any suggestions?
hed420 did you ever build one?
Easier to move the build plate down and let those heavy motors rest, I think
Was going to reply, noticed this was commented 5 years ago.
Did the robot compose that music with the fonky clappin’ beats.
Hanzhen harmonic gear , over 30 years experience ,
robot gear reducer,
whats the song?
TheRealMrMultigrain Clappy, from Rob Simonsen
Darude sandstorm
Лазерный станок возможно так замутить?
можно, но только полупроводниковый лазер. СО2 лазеру нужны зеркала, сложно будет попадать в головку.
а диодный лазер - легко. по идее)
механика прикольная, но мне кажется больше для подай-принеси) точность будет хромать, все эти углы и рычаги...
@@shlemkin да да да точно. Нафиг лазер. Сортировать чтото хорошая штука)))
1:07 should be singularity.. how did the robot surpass it?
inertia
Cool thing, but I'd rather listen to the machine. :D
Looks like a crab 🦀
oh look, 3/4 of a 3d printer
This song made me laugh
....annnnnd there goes my aracnophobia acting up again!
Sheesh, these types of machines are bloody creepy looking yet fascinating to watch!
This is actually a five-bar parallel robot, why call it a SCARA ?
Because most people have no idea what a five-bar mechanism is.
Is there some sort of actual practical application for such an animal? I'm not seeing one.
This would be Super useful in Silicon Foundries for moving Wafers around.
Pipetting a million things?? Moving samples/ tests around different trays for different cooling/heating/incubating cycles??
@@THERE_IS_NO_DATA Not even slightly. It sorely lacks the sort of precision that is necessary for that sort of thing.
@@drewmanzara5731 Not precise enough. Not nearly.
@tim Really?
???
yes
Now you just need 4 nema 17/23 motors and some screw rods to lift that damn thing up and a hotend, Bam... 3d printer.
It can't be 3D printer. For this configuration linear interpolation is not possible on full workspace, just on some small part of it. I don't know why are people trying to make 3D printers or CNC machines out of robots. First, it is not simple, second, you have a lot of problems with rigidity, third, you have a changeable resolution across workspace. All those things are getting more complicated when you try to use parallel robots. Robots are for manipulation and can be used as a flexible multipurpose machine tools (welding, polishing...), but they are not for precision machining and precision 3D printing.
Filip Korac Your statement is not 100% technically correct, since gantry mechanisms are also robots, but I understand what you mean. Basically, you state that a gantry mechanism is the best one for 3D printing, since its properties are the same throughout its workspace. Of course, this is true. However, I think that nowadays, it is fairly inexpensive to build a parallel robot that has excellent properties even in its worst regions (those close to singularities).
I don't know much about 3D printing, but consider this. In the field of micro positioning, where precision is the most important objective, most devices are based on parallel robots (tripods and hexapods) rather than serial mechanisms. Check this web site for example: www.smaract.de. Or this one: www.hexapods.net.
Ilian Bonev
Well, Have you not seen the Simpson or the Wally or the RepRap Morgan. These are all examples of Robots that are 3D printers. Granted they are highly modified. As for precision, The robot that is on this video is used for pick and place machines and those have to be pretty darn accurate. So, Yes, if someone were to give me this robot I Could and Would make a 3D Printer out of it.
CoRoETS Yes of course, gantry mechanisms are also robots, rather special ones, but you understood my point. Gantry mechanisms are better not just for 3D printing, but for machining too. I just wanted to say (because DJAlup mentioned 3D printing) that particularly this (parallel SCARA) configuration is not good for interpolation, and can do interpolation just in some parts of it's workspace, and i think you will agree that this is not good solution for 3D printing when you can make degeneration of this solution which would be better for that purpose. Yes of course, I agree, this is way cheaper than classical designs of gantry mechanisms, because you don't have ball screws, expensive guide rails and so on, and so on, and you have better dynamics characteristics because motors are not moving. But bear in mind that out there are better solutions for 3D printing. H-bot for example.
This (parallel SCARA) robot is very good robot for positioning and manipulation (point to point), I am fascinated with speeds it can achieve, and with how you managed to expand it's workspace using different working modes. I wanted to ask you, did you managed to program routine for changing assembly mode but without turning off motors and using inertia for crossing parallel singularity? That would be very interesting because you could reach the full theoretical workspace.
DJAlup RepRap Morgan is a good solution. That is degeneration that I was talking about, and that solution is good for 3D printing. But you must be aware that RepRap Morgan is way different than this configuration. This configuration is full of singularities, and it is very challenging to cross them. RepRap Mogran doesn't have singularities at all. Wally on the other hand have different joints actuated than this robot.
And I still think that you can't use full workspace of this configuration for 3D printer.
music stinks
Малейший люфт и хана точности, каждые полчаса надо будет проверять, фигня.
The most useless machine ever !