I Made a Robot Arm to Hold My Camera [$500]
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- Опубликовано: 1 июн 2024
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This time on 3DprintedLife, I build a ridiculously powerful robot arm. Capable of lifting 5lbs at full extension. But I didn't build a full arm, just most of it. 5 Axes to be exact, with the 6th coming soon! Then I strap on my phone and film some stuff using the robot. This video has it all; 3D printing, harmonic drives, custom electronics, breaking stuff, fixing stuff, and breaking it again.
If you'd like to build this project yourself, you can find the files here. (I would highly recommend waiting for the re-design unless you know what you're doing)
github.com/DDeGonge/OS-ARM
Also, the MUB files are here
github.com/DDeGonge/MultiUseB...
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Intro - 0:00 - 1:08
Sponsored by Onshape - 1:08 - 2:21
The Plan - 2:21 - 2:40
The Build - 2:40 - 4:48
The Electronics - 4:48 - 5:50
First Moves! - 5:50 - 7:00
Weight/Speed Tests - 7:00 - 8:26
Inverse Kinematics - 8:26 - 9:50
Filming Tests!!! - 11:10 - 10:50
Next Steps & Outro - 10:50- 11:54
#3dprinting #robotics
This video is sponsored by Onshape. 
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Have you seen, that RobotAnno has a 3d Printed Robot for educational use ?
11:12 It would be nice to blance aout the arm like a crane , for softwere Freecad robot part. For the end use a worm gear type power trans mission.
Thank you so much for making this video, im a senior at Widener University and studying Robotics Engineering and all the stuff you showed is exactly what we have and are learning about!
I would be excited to know more about the re-design you mentioned before the github link :) Does it make sense to wait a bit longer if i would like to give your project a try soon ?
the goat is back
🐐
Ohhh yeah
Sick bro. The filmmaking potential with motion control is massive. Makes compositing a piece of cake!
Forgive my huge ignorance is the accuracy in motion control derived from a detailed high fidelity inverse kinematic model or from the underlying type of drive and power distribution control system?
or are we sufficiently advanced in software and hardware interfaces that the underlying mechanism is almost irrelevant because our computation and memory ram prices are so cheap that it doesn’t matter ?
@@yourt00bz Seems you don't really know what you're talking about, Bub. Software has no effect on accuracy, motion control has been used for filmmaking since the first star wars movies in the 70's. As long as a motor knows where it is, and can return to a set position then it'll work. Only thing that will ruin accuracy is mechanical slop in the system.
I only saw this reply half an hour after you made it.
I know what motion control is. I don’t know much about software except that it costs a lot and I don’t need to know anything about filmmaking to understand the bespoke engineering ILM did to enable motion control to enable accurate motion matching for manual analogue in-camera matte compositing myst have cost a fortune. Whereas OP of video using his own genius,as per your suggestion, might have his own solution as opposed to proprietary niche industry offerings which are expensive.
And again, as per my comment, no. I don’t know anything about this stuff or what I am talking about, apart from old electrical cybernetics and that’s why I’m asking questions.
You should learn reading comprehension before jumping to be rude as reply to your own misunderstanding , instead of a follow up question in admiration to your comment.
I for instance have a fair idea how much motion control rigs costs from
Even the cheaper Shenzhen enabled startups targeting smaller film studios.
Hence the preceding “forgive my ignorance” and then the question.
I can’t repeat this enough, please learn some manners and some social skills, it will aid you in life?
Thanks, now all I can think of is a slow moving camera dancing around a piece of cake and showing it from every angle with a green-screened background. You know, compositing a piece of cake.
@@musikSkool it’s too late! The cake can be placed anywhere you can imagine and generate imagery for!
Heck yeah! I Just watched the other 2 parts of this the other day! Glad you see that you could finish it!
The resultant video is much better than you might expect when you look at the phone in motion... the potential is very encouraging!
Thanks for sharing your project. Like & Subscribed.
This is the first video of yours that I’ve seen and it deserves an instant sub. Interesting and entertaining - thank you.
You're such an underrated channel! Just found you and have really enjoyed watching your antics.
Love the project. Can't wait to see how far you can improve it
Insane design with mub and cf rods, very nice work
impressive progress! great work 👏😎
Sup I m subed
Thank you! Cheers!
Yeah👌
This in incredibly well done! Funny, I've never seen anyone call out the IK specifically before but I see how important it is. Looking forward to more!
That awesome. I was contemplating building my own too but i lack the knowledge to do so.
That amazing work, can't wait to see it finish, and who know, printing one myself one day.
Amazing production quality on this video 👍
Just wondering, why don't you use a "mechanical" input first?
Thus make a very simple clone with the same ratio for distances between hinges and then simply add a potentiometer on each hinge.
Then you only need to 'copy' the angles on those hinges first to your motors.
If you get this communication smooth, you know any computed intermediate step will also work on your arm too.
This will also help you find any issues where each hinge may struggle to keep up with rotational speeds on the input.
As a bonus, you can also log a few basic movements you can make by hand so you can then try to experiment on the needed resolution for how many intermediate steps are needed and whether this may depend on the angle and weight of the moving hinge.
It may also make it a lot easier for you to try movements from point A to B where you can easily see up front what would be a better bend shape of the arm. For example I can imagine it may appear more smooth when the movement from point A to point B isn't a straight line, when for example some hinge may need to lift considerably more weight and needs to accelerate beyond what it can handle, when moving in a straight line.
Wow this is brilliant. Interesting project, good production.
Very impressive! You can dramatically increase the smoothness of the movement by setting the high-level acceleration/speed/position parameters of the Trinamic drivers rather than using step/dir commands (assuming you have it hooked up).
Ahh yeah I do have that hooked up, that should help. Thanks!
do you mean to use the uart option? my tmc2209 has that, but ive never looked into its benefits over step/dir
A suggestion.
Even if you switch over to PETG or another material, all of the encased stepper motors will still overheat and keep causing problems.
They at least need ports for ambient air to reach them, maybe even a heatsink too
ABS or Nylon?
@@BL4S7ER Changing material won't change how some of the motors are completely enclosed.
Motors that overheat are motors that will lose steps at best, and fail at worst.
I disagree. In my voron 3 stepper sit in 60°C and print fast in there. I can not imagine this to be more than an inconvenience at best for this design.
@@MoppelMat What are you disagreeing with?
That thermal damage causes failures for the motors? (check the datasheet it's in there +60 degree c is within the normal operation range).
That stepper motors need to be able to vent? (If they are drawing sufficient current they get hot enough to be a problem)
Just add a grill pattern to the motor housing part and or skeletonize the fixture, if they still run hot add a small fan. CruzMonrreal is just giving good advice.
@@molomono9481 I said the motors should and can cope with 60° env temps.
I just subbed to you for this arm from your earlier videos! Glad to see this video!
Thank you so much for all these tutorials bro. So much valuable knowledge
Beautiful work! I have been following along and have a few of your actuators printed out. I look forward to testing them, soon!
I enjoyed that video way more than I thought I would. Great job with its comedic aspects. I'll probably need to rewatch this a couple of times, but outside of being enjoyable, it was very informational.
Thanks, glad you enjoyed!
Excellent work and a very nice video. Great !!
so rad dude. great work
Amazing! Hoping to see more
6:29 lmao subscribed, great work. Also, many interesting solutions. Keep up the great work man!
That's amazing! For a long time I'm planning to make robot with 2 manipulators and place it on rails under the ceiling, to help me with home chores. Glad to see that something similiar already available to make at home.
Absolutely incredible man!
know your basics course is just what I needed. Taking it a day at a ti so I can fully grasp the core of soft.
I love the Oversimplified videos playing in the background!
Really cool. Great work.
Wow. This is really impressive. Really great work, Inanimate Carbon Rod!!! 3:43
Im struggling with much of the same, I love stepper motors, but when it comes to torque and smoothness when handling mass, servo motors are having value. You can get a driver that handles electrical wave construction, like ie. sinusoidal or trapezoid and off course the accuracy of an encoder for feedback. Holding torque can ie. be simulated via the encoder, just pushing the other way if the error rate between expected position and actual position starts to drift. In addition and even though it’s more expensive, current (A) will help with torque. Anyway, love your project!
Damn that's huge. Great work 👍.
You sir, a genius madman. Well done!
This is sweet! I'd love to build one if I can ever get caught up on my current projects. I wonder if you could add a 3 axis gyro/acc to each axis and use a feedback loop to ensure the target angle has been achieved instead of encoders. Could also investigate smoothing like the Klipper firmware?
Your honesty about your roadblocks both gives me vicariious anxiety while reassuring me that this happens to everybody. Great work
Most of the cost of high-tech things isn't the materials. It is the countless hours of tinkering done in a back room somewhere to get it to work. And then twice that amount of time again designing the tools to mass produce it in one tenth the time and guaranteeing that the mass produced ones still work as well as the prototype.
This would be dope for product shots. I need something like this!
Very cool project!
Your work is really awesome
Dude is a legend for dropping the files and code. I hope to build this and make a build guide if I do 😊
I hope you’re ready for the challenge. There may be a bit of improvising required to build it currently… :)
Wow! Fantastic project and video.
Just an idea i use on my projects add a small camera to the bottom of your robot head that way it keeps track points and you can use that to make the movement smoother and possibly write a program that does it for you
It sounds like a killer robot from the future. Very very impressive that you got this far.
Patiently waiting for the final revision. Will happily print one and then figure out how to get a PTZ control working.
Great work!
Nice video mate
This is great work. I would love to make one for my own channel!
eventually it all snapped into place and I started learning how to add all the effects, titles, motion text. It was pretty cool to see my
Wow thats wonderful!
Thank you very much for making this helps a lot with my own arm i'm working on
I'd recommend ASA or CF nylon for any gear and motor brackets. Definitely printing this to make an assembly line when you finish the redesign
Super inspirational man!
ay bro i was gonna do this for the exact same thing even using the automaticaddison stuff! I'm glad someone else got it working first haha
Hot Damn. Thats pretty amazing! Well done. :)
Simply awesome!
This is badass. Now my life feels empty without a desktop 5 axis robot arm.
Welcome BACK! Do more uploads pls
Welcome back buddy. We've missed you
Somehow i didn't see this video i thought you had given up on this im glad i found it
I’m in my senior year of Mechatronics engineering technology, and I’m taking a class all about robot kinematic and mathematical definitions - I totally feel your pain lol
All I can say though - as much as matrix math sucks, the equations really help in terms of actually getting smoother performance. The trick is to just define the initial configuration (when everything is at zero) and define your joints (which will take a while for sure). After that, program in the transformation equations like Power of Exponentials and let the computer do all the hard work
The best thing humans ever did was tricking rocks into doing math for us lol
Thanks bro ,good luck
Great job 👍 👌. Such videos inspire me keep up with my own robotic arm project! Thank you!
You could print absolutelly everything, really interesting
That's awesome made!
ty bro, keep going!
I would try closed loop stepper motors. I use them on my cnc mill and lathe and they work well. It's also a simple system. The stepper drive gets the command and simply confirms that it made it to that position. You choose the amount of error in the software and specify how much the drive needs to try to reach or hold position. If you buy those it will likely change the size of the robot as the motors come with the encoders attached and it will definitely increase costs. But it would speed up the completion of the project. The software is the main issue with these types of cnc machines. I would focus primarily on that. The AR3 robot project by Chris Annin is very well documented and lots of software examples and tutorials are available you should check them out if you haven't already. Good work keep it up and I'll be following along.
This guy is criminally under-rated
impressive man... thanks alot
Man, looking forward to this one day being an open-source project with many collaborators making it incredibly easy to build and run. You are treading new ground man!
Have you seen Skyentific channel? Smooth 3d printed robotics...
i love it! really impressed by your dedication and open sourcing everything! i just subbed
A bit of PID control would allow for more smooth movement than the stuttering at the end. But this is so impressive, can't wait to find a time to make one of my own
how would you add pid control to an open loop system?
Looks like you could make a pretty legit crust cutting robot with this setup 🙃
Damn, that cuts deep
your solution to IK is actually entirely valid, I went to school for robotics and they taught us the matrix version but also the geometric way to solve for IK. So nice job it's pretty legit :)
Hey hey, Voron style documentation 😊
Wooooooo ive been waiting for this for agessss
Your channel is insane. For an engineering student, I get the same feeling when I watch stuff made here. The channel name is cool, but I think something else would help you reach a wider audience.
You’re not the first person to bring this up, definitely will consider it!
You could program it to track your gaze, and hold the phone at an exact distance from your face, so that it occupies your entire field of vision - this way you can entirely do away with a large monitor.
This video literally changed my life.
Maybe consider placing the stepper drivers as close as possible to the motors for better performance. And also a slip ring for the USB connection or even an optical interface between the base and the arm and the slip ring only for power?
Cool project
Thanks!
great video!
Amazing stuff. I’ll have to dig through my computer but I should still have some inverse kinematics calculators I made using MATLAB and Newton-Eulers recursive method for my kinematics course I took in college. I know we had calculated multiple axis IK multiple times.
*_Mom & Dad_* Really came in clutch huh???
this is amazing! Really innovative work! Could you share which 3D printer are you using? Or any model you want to recommend? I bought one before but it is not working well. Thanks!
one of these strong enough to grip a laptop, celing mounted to a lighting fixture would be handy, you could power it and have it in any position W/O blocking the air vents, everyone who had mobility issues would get one.
Hello, i mean or i would pick the coordinates into a buffer, and use an ISR to get it smooth and calculate the next (Upslope downslope and syncro ) position.
This is amazing
Awesome project. Next step, mount a hotend on it so it can be it's own 3d printer and replicate itself.
And yet the part of this video that made me smile was the cat winking. Impressive work though. ;-)
Thanks! and great 😃
please continue!
I respect the Oversimplified video in the background, I do the same thing!
Nice. Thanks a lot actually. It worked, you exp
Great stuff. Might be a wild idea, but could you use a 3d printer with Gcode as your camera robot? It would be built from prizmatic joints so much easier IK and you could use the Ratrig Minion/Prusa Mini cantilever design. The only addition would be a rotating end effector.
great videos. I'm sure you could also make coding videos that people like. I haven't found too many channels that mix all the technical skill you have. Great job, I'm looking forward to more of your videos. Thank you
I think the best way to join two PLA parts is using a soldering iron tempered to regulated to something like 200-230 degrees. It can be ugly, but the joint can also often be hidden or retouched...
Great video, this just showed up in my feed. In your opinion, If you wanted the arm to be less noisy, would you use servos, or microstepper controllers?
You can solve the IK between start and end world coordinates. Then compute world coordinates at the midpoint of the start end end joint coords. Then use forward kinematics to see where it would be in world coordinates. See if the difference between the world coordinate midpoints and actual is above some threshold. If it is, subdivide that segment of the trajectory. Repeat recursively.
Then send the series of joint coordinates computed to be linearly interpolated by your microcontroller.
My good man..... the high tech wizardry!
amazing!