I mean this in the most respectful and encouraging way anyone ever said something to show respect and encouragement: you are certifiable nuts and I love it!
Very clever analysis of the mechanics and very clever way of pouring the metal so you don't choke the hole. Man, the way you design this and how it works, this is just genius!
The level of thought and execution here is fantastic; those cycloidal gearboxes are superb. The gear hobbing machine is put to good use; wire tendons are a good human analogy. Great result and video. Thanks.
I've built robots with cable tendons in the past and always had problems with them (cables can stretch, slip etc..) So it wasn't my first choice, but I think it's the best option here. I'll find out how well it works when the arm is attached.
This is actually the first cycloidal gearbox I've built. The design was largely dictated by the space it had to fit into and the fact it had to be hollow. It turned out fairly well, it does have a small amount of backlash but runs nice and smoothly.
Some of them came out well, some had porosity/inclusions, Some I had to re-do. My sand casting technique is a bit rusty, I've not done this for quite a while.
dayum dude, you never cease to amaze! i am absolutely certain that you could actually build a real terminator...a machinist terminator, not to destroy us, but to save us from improperly-hobbed gears. 🤣 peace
This is amazing. But I need to know. What did you do in a previous life? This isn't some run of the mill, "oh I watched a you tube video on it", you have some amazing knowledge behind it all. 5 stars!!
I am really enjoying this build. your skills are stellar. I like these later ones where you have a running commentary. Would have been cool if you made the motor for the shoulder much stronger. You said 40nm is comparable to human. This is a T-800. Should be 10 times stronger than puny human. Maybe hook a diesel truck motor to it. :)
I actually really wanted to use a brushless motor for this, but even the low KV ones have a much higher max. speed and much lower torque at low rpm, meaning I would need more gear reduction, since I want low speed and high torque. Brushed motors are more 80s anyway!
I actually designed it in excel using a formula I found online, then just copied and pasted the values into a gcode file for machining. Only the cycloid discs were CNCed, everything else was done on a manual lathe/mill.
I love this project! Could you tell what is the weight of one shoulder? And how are you going to control the motors and joint position? And have you thought about using brashless motors?
Thanks! Each shoulder unit weighs around 5kg. The motors or joints will have encoders attached for feedback of the position. Yes, I initially wanted to use brushless motors due to their better power/size ratio, unfortunately though they are much higher speed and lower torque than brushed motors meaning they need a bigger gear reduction so the advantage is lost.
can you do a video clarifying the goal of this project please? Is this just a animatronic or will it be a full blown humanoid robot that will be capable of doing tasks and walking around etc?
The goal hasn't changed since the start, though perhaps it will be time for an overview soon when I start putting all the individual pieces together. Yes it will be an autonomous robot, but it won't be able to 'walk' (refer to ep.1).
Id say grab a 3kw brushless motor and go into actual terminator strength territory. Though I think Cameron said it was actuated by high speed hydraulic servos in "real life".
I did measure the backlash and it came out to around 0.5°, though I deliberately cut the discs with some clearance to avoid binding as I was aiming for smooth running rather than low backlash. I'm sure it's possible to do better with DIY equipment, even some of the 3D printed ones I have seen have been pretty good.
To keep the top half of the mould in place. Aluminium is denser than sand so sometimes the top box can float on it and the metal will leak out of the sides.
I actually bought them, they weren't free, and this was many years ago (more than 10). There are many more better models available now and the ones I originally purchased may no longer be there. There are also many free models available on Thingiverse, but most of them seem to be copies of each other and all seem to have deliberate alterations made, perhaps to get around licensing/copyright laws.
I am utterly fascinated by your work. Amazing stuff.
Awesome, very nice job !
I mean this in the most respectful and encouraging way anyone ever said something to show respect and encouragement: you are certifiable nuts and I love it!
Thanks for sharing 👍
Very clever analysis of the mechanics and very clever way of pouring the metal so you don't choke the hole.
Man, the way you design this and how it works, this is just genius!
Awesome Build !!!
Congratulations !! 👍🏻👍🏻👍🏻😎
The level of thought and execution here is fantastic; those cycloidal gearboxes are superb. The gear hobbing machine is put to good use; wire tendons are a good human analogy. Great result and video. Thanks.
I've built robots with cable tendons in the past and always had problems with them (cables can stretch, slip etc..) So it wasn't my first choice, but I think it's the best option here. I'll find out how well it works when the arm is attached.
Tldr: I likeeee
Just remembered why I'm subscribed to this channel
Love it, this thing will be fantastic when it’s completed
Brilliant! Art in every respect! A modern-day Leonardo Da Vinci at work! Thank you for sharing, Andy.
Stunning 👍😊👍
Thank you for making that Dream true for so many people!
So complex and welltought great work!
I've seen a few 3D printed cycloidal gear boxes, but not a scratch built machined one, neat video, thanks!
This is actually the first cycloidal gearbox I've built. The design was largely dictated by the space it had to fit into and the fact it had to be hollow. It turned out fairly well, it does have a small amount of backlash but runs nice and smoothly.
That’s insanely good engineering!
Nice castings 👍
Some of them came out well, some had porosity/inclusions, Some I had to re-do. My sand casting technique is a bit rusty, I've not done this for quite a while.
Really sick man! Very excited for the next episode of this!
I am so grateful RUclips introduced me to your work. I think I anticipate your builds even more than Clickspring’s Antikythera videos! 🥲
I had no idea someone is building an Antikyhera replica, thanks!
A wonderful project. Superbly made and very impressive!
its always a pleasure to see your work!!!!!
This thing is going to be a monster!
It's absolutely beautiful man!
Wow. Great work dude. On the engineering and videography.
Anticipating the next installment! Have the notification bell on for it! Very nice work!
I've been absolutely loving this project. Keep up the great work!
super good.. and fun to watch it
Very awesome work. I love watching your videos!
Stunning. Please, keep going!
He did it ! He did it !!!! Again !!!! Yeeeeees !
So glad your back, i really love this project. Thank you for documenting it for us :)
beautiful. Monster of his business !!!!! 🤖🤖🤖
now this is a good notification to wake up to 💡
Thanks for sharing 🙏🏼
Super stuff!
amazing again !
Наконец-то! Большое спасибо, автор!
Cool build.
May i suggest you put the next and previous episode at the end of each video of this series?? GREAT WORK HERE.
dayum dude, you never cease to amaze! i am absolutely certain that you could actually build a real terminator...a machinist terminator, not to destroy us, but to save us from improperly-hobbed gears. 🤣 peace
genio!! muy bueno. saludos desde argentina!!
high salute sir,, very clever
What?! NOT made from nimonic alloy? Pah.
Only kidding. Great work.
Regards Mark in the UK
awesome man I love it!
This is amazing. But I need to know. What did you do in a previous life? This isn't some run of the mill, "oh I watched a you tube video on it", you have some amazing knowledge behind it all. 5 stars!!
Это будет шедевр ...👍
The next level job and the next future is robot
This is awesome
WHOA !!!!!!!!!!
I am really enjoying this build. your skills are stellar. I like these later ones where you have a running commentary. Would have been cool if you made the motor for the shoulder much stronger. You said 40nm is comparable to human. This is a T-800. Should be 10 times stronger than puny human. Maybe hook a diesel truck motor to it. :)
Awesome
WOW
Make sure you leave place for limit switches or rotary encoders, so it'll be easier to pose later when it's done.
F"+_+Ng RUclips! I gotta hit the bell for your videos, they never miss, but I never see them! Good work Andy, love it!
Hey Ryan! Good to hear from you, thanks for commenting!
So great build, and so bad motor! :)
I actually really wanted to use a brushless motor for this, but even the low KV ones have a much higher max. speed and much lower torque at low rpm, meaning I would need more gear reduction, since I want low speed and high torque. Brushed motors are more 80s anyway!
nice
Thrilling progress and wonderful work in this episode. How did you calculate the design for the cycloidal drive? CAD plugin or?
I actually designed it in excel using a formula I found online, then just copied and pasted the values into a gcode file for machining. Only the cycloid discs were CNCed, everything else was done on a manual lathe/mill.
Супер !!! :)
I love this project!
Could you tell what is the weight of one shoulder?
And how are you going to control the motors and joint position?
And have you thought about using brashless motors?
Thanks! Each shoulder unit weighs around 5kg. The motors or joints will have encoders attached for feedback of the position. Yes, I initially wanted to use brushless motors due to their better power/size ratio, unfortunately though they are much higher speed and lower torque than brushed motors meaning they need a bigger gear reduction so the advantage is lost.
If you can completely automate this process, Skynet will be that much closer to ending the world
can you do a video clarifying the goal of this project please? Is this just a animatronic or will it be a full blown humanoid robot that will be capable of doing tasks and walking around etc?
The goal hasn't changed since the start, though perhaps it will be time for an overview soon when I start putting all the individual pieces together. Yes it will be an autonomous robot, but it won't be able to 'walk' (refer to ep.1).
@@AndysMachines thanks for replying. I guess I hadn't seen that first video for years and forgot stuff in it.
👏🏼
Skynet got to you too, huh?
Id say grab a 3kw brushless motor and go into actual terminator strength territory. Though I think Cameron said it was actuated by high speed hydraulic servos in "real life".
Ok so we’re just helping to design the murder-robots now? Is that it?
brilliant work as always! fundraiser for CNC, waterjet or tool of choice? would serve you well.
What's the backlash you managed to achieve on the cycloidal gearbox?
Very curious how good a DIY cycloidal can be.
I did measure the backlash and it came out to around 0.5°, though I deliberately cut the discs with some clearance to avoid binding as I was aiming for smooth running rather than low backlash. I'm sure it's possible to do better with DIY equipment, even some of the 3D printed ones I have seen have been pretty good.
@@AndysMachines Thanks :)
Holy cow! How come the almighty algorithm isn't pushing your channel harder?
Gday Andy, Have you done a video on you rolling machine used in this video?
I actually built that slip roll because I couldn't find a small one that would roll thicker material. Yes, there will be a video on this coming soon!
What was the weight for whilst pouring the molten metal Andy?
To keep the top half of the mould in place. Aluminium is denser than sand so sometimes the top box can float on it and the metal will leak out of the sides.
@@AndysMachines I didn’t know that. Is it 100% sand you use or is it mixed with anything?
It's a naturally occurring sand but it's actually a mixture of sand and clay (Bromsgrove greensand).
Any milling machine you use.Do you use CAD sofware.
Did you make that Terminator model yourself?
It was actually a couple of different models I downloaded from Turbosquid for reference.
@@AndysMachines You should really credit the original modelers then. Someone put a lot of work into those models.
I actually bought them, they weren't free, and this was many years ago (more than 10). There are many more better models available now and the ones I originally purchased may no longer be there. There are also many free models available on Thingiverse, but most of them seem to be copies of each other and all seem to have deliberate alterations made, perhaps to get around licensing/copyright laws.
Do you ever interact with your fellow UK RUclipsr James Bruton?
I watch his videos, but that's all. Though I think he lives not too far from me.
My guys hands don't look real! Maybe he's a Terminator and he's just building replacement limbs!
What lathe are u using.
It's a generic chinese 10" bench top lathe, sold under many different names.
Comments for the Algorithm God
Meby the most' of posibol.
Pour faster!