I loved watching you assemble and solder all those parts together. I honestly can't tell everything that's going on, but it was really fun to watch anyway! XD
This is a great question. One of the best ways to start learning is by doing. For me that was picking up an Arduino starter kit and following a bunch of guides and tutorials online, but it could be almost anything, sites like Amazon have a huge selection of beginners' robot kits to choose from. Start small and work your way up to bigger, more ambitious projects. And most importantly, fail early and often, it's the best way to grow and learn!
@@StewartTechnologies and also for the encoders you were saying that you had a problem with noise from the motors, you can use one of those multi-cables used in audio, it's basically a thick cable with several small insides but they are protected against noise and you can use it with a connector too :)
Nice Video as always:D I have some questions. Which Belt profiles are you using and what are you using for tensioning the Belt? How did you merge the Belt or did you buy the perfect lenght of it?
Thanks! I used HTD 5mm pitch (10mm width) belts for J1, J2, and J3 and a GT2 (6mm width) belt for J5. For tensioning on J2 and J3 I'm using small 604ZZ bearings on an M4 bolt (inserted into a slot and tightened at the right tension). For the other belt driven joints, the motor positions are adjustable to get the right tension. I purchased closed-loop belts at a close enough length and just adjust tension as needed.
@@StewartTechnologies Thanks for the quick answer! The tensioning with the Bolt sonst good. I might copy that :D What are your plans for the Tool at the End ? Im still modeling my robot arm and i thought about a tool changer with many different kinds. Do you have something similar in mind?
Still brainstorming on what to do with the end effector, but I'm almost certain I want something modular that'll allow me to swap out different tools for different tasks.
Ideally, I would use an oscilloscope to monitor the I2C lines while the steppers are powered up. However, since I didn't have one at my disposal, I tried reading from the encoders while certain steppers were powered and others weren't. Eventually, it became clear that even just having the stepper motors enabled caused the issue. After switching to shielded cables in a later video everything worked as intended.
Represent for the black people in the back 💪🏾🗣. I’ll be building a robot arm after I build my cnc machine. Keep up the good work. P.S. I’m always down to collaborate on some projects. Pick each other brains.
Hi! Could you please explain how you have programmed to read the angles of all the encoders simultaneously. I am also using those encoders, but I have read that they cannot connect more than one encoder and read the angles simultaneously because the i2c address cannot be changed so a multiplexer would have to be added to read the angles of each one. Thank you
I used an I2C multiplexer, the TCA9548A. The encoders are read sequentially in code, but since the Teensy 4.1 runs ridiculously fast it might as well be simultaneous!
@@StewartTechnologies I have a bunch of AS4600 boards like yours and I was looking for a way to do it with only one microcontroller. Thank you so much.
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Beautiful job! We can see you are a skillful engineer.
man, this is a cool channel. RUclips recommendations are finally giving me what I want.
I loved watching you assemble and solder all those parts together. I honestly can't tell everything that's going on, but it was really fun to watch anyway! XD
Thanks! Glad you enjoyed it.
Nice work 💥👍!
Waiting for the next update
you are an amazing roboticist - seriously impressed!! great work and great presentation
Thanks!
Hi I was wonderig how you started on stuff like this so I can learn where I want to start learning stuff like this.
This is a great question. One of the best ways to start learning is by doing. For me that was picking up an Arduino starter kit and following a bunch of guides and tutorials online, but it could be almost anything, sites like Amazon have a huge selection of beginners' robot kits to choose from. Start small and work your way up to bigger, more ambitious projects. And most importantly, fail early and often, it's the best way to grow and learn!
@@StewartTechnologies Thankyou so much your amazing.
Awesome, you could use a db25 connector for the motors i used on my robot and works
Thanks for the tip!
@@StewartTechnologies and also for the encoders you were saying that you had a problem with noise from the motors, you can use one of those multi-cables used in audio, it's basically a thick cable with several small insides but they are protected against noise and you can use it with a connector too :)
Good vids dude
Nice Video as always:D
I have some questions. Which Belt profiles are you using and what are you using for tensioning the Belt?
How did you merge the Belt or did you buy the perfect lenght of it?
Thanks! I used HTD 5mm pitch (10mm width) belts for J1, J2, and J3 and a GT2 (6mm width) belt for J5. For tensioning on J2 and J3 I'm using small 604ZZ bearings on an M4 bolt (inserted into a slot and tightened at the right tension). For the other belt driven joints, the motor positions are adjustable to get the right tension. I purchased closed-loop belts at a close enough length and just adjust tension as needed.
@@StewartTechnologies Thanks for the quick answer! The tensioning with the Bolt sonst good. I might copy that :D What are your plans for the Tool at the End ? Im still modeling my robot arm and i thought about a tool changer with many different kinds. Do you have something similar in mind?
Still brainstorming on what to do with the end effector, but I'm almost certain I want something modular that'll allow me to swap out different tools for different tasks.
Why do you need the limit sensors if you have the encoders?
How can you verify the i2c error was indeed created by high voltage noise from the steppers?
Ideally, I would use an oscilloscope to monitor the I2C lines while the steppers are powered up. However, since I didn't have one at my disposal, I tried reading from the encoders while certain steppers were powered and others weren't. Eventually, it became clear that even just having the stepper motors enabled caused the issue. After switching to shielded cables in a later video everything worked as intended.
Can we collab? I have an app to simulate and drive robot arms. Inverse kinematics made easier.
Represent for the black people in the back 💪🏾🗣.
I’ll be building a robot arm after I build my cnc machine.
Keep up the good work.
P.S. I’m always down to collaborate on some projects. Pick each other brains.
Hanzhen harmonic drive gear , robot arm gear , joint gear reducer, over 30 years experience ,
Hi!
Could you please explain how you have programmed to read the angles of all the encoders simultaneously.
I am also using those encoders, but I have read that they cannot connect more than one encoder and read the angles simultaneously because the i2c address cannot be changed so a multiplexer would have to be added to read the angles of each one.
Thank you
I used an I2C multiplexer, the TCA9548A. The encoders are read sequentially in code, but since the Teensy 4.1 runs ridiculously fast it might as well be simultaneous!
@@StewartTechnologies Ah okay, now I understand. Could you please share this part of the code. Thank you.
@@StewartTechnologies I have a bunch of AS4600 boards like yours and I was looking for a way to do it with only one microcontroller. Thank you so much.