Inside Axis 4, 5 & 6 of KUKA KR5 Robot
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- Опубликовано: 1 ноя 2012
- These axes are jointly driven by three actuators. One can observe that by moving joint 4 moves motors 4, 5 & 6 together. Moving joint 5, moves motors 5 and 6, whereas moving joint 6 moves just the actuator 6.
Please see paper published at iNaCoMM 2013 at
www.inacomm2013.ammindia.org/P... 
Наука
Fascinating! I had no idea these used three motors linked like this for these movements.
Thank you Arun Dayal Udai. I am not an engineer and I am amazed by what robotic arms can do. Demonstrating the workings of internal mechanisms is a real eye opener.
They're programmed to move together depending on which motor you try to move. If you remove the motors and turn the drive shafts from the rear, by hand, only the axis you pick turns. Just finished KUKA training at KUKA by Detroit and took one apart and put it back together.
I'm just finishing up a course on Fanuc robots. Just took one apart and put it back together. Another month of PLC training before I'm done. Any advice on job hunting in the Detroit area?
how do you get the training? I live in Detroit
Thank you for sharing this. Interesting way of motion.
Świetna robota!
Very educational. Thank you!
See how a cyborg builds a tractor in Belarus: ))))) ruclips.net/video/pTH22-GuUes/видео.html
Thank you very much Arun.
Já tive o prazer de desmontar e montar esses eixos 4, 5, e 6 sistema top.
Thanks for record and upload the video!!
See how a cyborg builds a tractor in Belarus: ))))) ruclips.net/video/pTH22-GuUes/видео.html
WOOW EXECELENTE SALUDOS DESDE COLOMBIA ESTE ERA EL CANAL QUE BUSCABA
Jazaakallah Khoiron..Akhi
Cool stuff!
Harmonic drives are wonderful
Классная работа)
👍👍👍💪
HOW COOL, I WAS CURIOUS TO KNOW HOW MECHANICS WERE. THANKS
Thank you very much Doctor, for sharing that, very nice machine, this must be replicated in Lego.
Hmm
шо?
Boop
😂
индусы реверсят))) крассафчеги хуле)
See how a cyborg builds a tractor in Belarus: ))))) ruclips.net/video/pTH22-GuUes/видео.html
Thank u for sharing.. becouse this i know what the inside of robot mechanism
Please share this kind of knowledges, Thats really great to see the inside
I am regularly post videos of my research. To be updated, subscribe to my channel. Thanks for the appreciation.
@@ArunUdai Your WHatsapp number please i want to discuss about Robot arms. Thanks
@@dhimanbobby1 Just Google my name, you can see that in my profile page of IIT ISM Dhanbad
See how a cyborg builds a tractor in Belarus: ))))) ruclips.net/video/pTH22-GuUes/видео.html
Can you please make video showing inside wrist (between joint 5 & 6) ? I wonder if they use right-angle gear or another belt system like this.
There is no belt. They use right-angle gears for 5 and 6, as per the assembly drawings and physically as I have seen.
Fantastic machine...!!...ji ji j i ji... Saludossss
Very interesting, thanks
Ooo simple mechanical advantage, I expect something more complicated! Well done to designers and those people who created those amazing belts!! What are belts made of ???
Steel wires and polyuretane
不错，很直观
I've been an applications engineer for 23 years worked @ Okuma Mazak Bost now @ WFL prg 100s of Robots over the years Fanuc KUKA ABB etc etc first time I've ever seen one with the inspection covers off.Don't know what I was inspecting but I always thought it would be like looking inside a Terminator ?.Lol
Are you serious :-)
wow
Thank you very much, Arun. I got something from you..
Glad to hear that
good job
Hi Arun!
I am working on my master's work now and my main task is to find how 6 axis welding robot is constructed inside.
Maybe you know where I can find this information?
thank you
Не боги горшки обжигают, я думал там редуктор адский в сочленении, а там ремешки :-)
ремень хорошо передает, подозреваю, что в шарнирах есть планетарные передачи
Ok that surprised me
What holds the joints in a particular position once they have reached their desired position - are the motors braked - are the gearboxes braked?
The motors constantly check and correct their position, so the actively push against the load.
The resolver position is monitored and if it varies the motor corrects itself. (If the robot is active). If the robot isn't active, servo brakes are applied.
COOL!! most interesting part is that the arm is all metal
Bruh It's for industrial purpose, gotta do some heavy lifting
Epic belt rotation
Great vid! Do you know if these robots have Harmonic Drive gearboxes?, if not, how they deal with backslash?
Victor Jaramillo They use Nabtesco precision gear boxes. It is not documented anywhere. You may find discussions in different forums.
In general nu folosesc cutii de viteze ci variatoare electronice de turatie ( RPM) controlate de senzori da pozitie miscare etc
This is how pretty much every robot manufacturer runs jt 4 5 and 6. Depending on the payload though it might not have belts. Usually only lower payloads have belts. The way they move together is also why they suggest referencing all 3 of them together when one needs reference.
How can I change the belt ? Should I take off the main pulley and after that I can for exemple check the bearings in the guidng rollers ? Where can I find service and maintenance manual. I think it's important for exemple the tightening torque for the main pulley. Thank you.
Maintenance manual is included in the KUKA CDs set that they give along with the robot.
thanks for share
Great inside look at a robotic arm !
@2:38 working in a shop with heavy machinery like a robot arm wearing open-toe sandals instead of proper steel toe reinforced work shoes: bad idea.
That's not a shop, it's a lab meant for academic purposes only. Nicely pointed out though.
Really mom? Let grownups do what they want.
@@rogerwalsberg
Yeah, you're right, let them lose some toes, or cut their feet if they feel like it.
See how a cyborg builds a tractor in Belarus: ))))) ruclips.net/video/pTH22-GuUes/видео.html
I’ve been in an “academic environment” with industrial robot arms and no protective equipment…almost saw a kuka drive a pipe down a coworker’s skull
Dear sir, in a kuka robot what is the differential torque?
Muito bom gostei
post more videos about robot arms
That’s a huge servo
I see gear reduction in the fist axis, is it harmonic, planetary, or other????
Cycloidal gears.
hi Arun,i am very surprised for this video,i thought that mule drive is not possible with toothed belt; you know how select these belts!? thanks ^^
+Umberto di pietro Length depends on your transmission design. The strength may vary, depending on the load it intends to carry.
See how a cyborg builds a tractor in Belarus: ))))) ruclips.net/video/pTH22-GuUes/видео.html
mind = blown.
nice video. what things u were doing there?
Its our Lab. at IIT Delhi.
simple and clever
Cyclodial drve please!
I have requrid annual sevices parts oh kuka machine and also send booklet of spare parts.
Нет предела совершенству !! Вот ЭТО человеческий мозг .....??
В чем тут инновация? Тут все механика и все равно немецкое говно
nice
Is jemand da der weiss ob KUKA wirklich den Chinesen verkauft wurde? Danke!
Interesting
Bhae ya qua dikh nehi koshi ki ?
GRT
Теперь мне всё ясно
See how a cyborg builds a tractor in Belarus: ))))) ruclips.net/video/pTH22-GuUes/видео.html
Great to watch....is there any robots more then 6 axis?
A quick answer would be KUKA LWR iiwa
Yes there is additional arrangement for another 2 axis in kuka robo
What kind of gear is this? Planetary or some kind of cycloidal?
elektrinis Not planetary. It is belt drive and concentric transmission.
What kind of reduction does it have inside the pulley? Pulley clearly spins much faster than the joint. Did not count it, but looks like 20:1 or so.
These are Nabtesco gearboxes, which are planetary gears I suppose.
20:1 would be bit too much for planetary, also high backlash... Looks like Cycloidal, if this is correct:
ruclips.net/video/kDje98Au0Ag/видео.html
Nice drive.
Yeah. Quite true. I never opened it up. And Kuka never documents these too.
Its a cicloidal reduction?
ok, ya tengo sueño, al finalizar el video me voy a dormir...
Planetary gearbox?
Can you give details on the bearings used?
These are Nabtesco cycloidal gears.
It is amazing how motors 4, 5 and 6 together moves joint 4. But I am not able to understand the reason for that nor the mechanism involved. +ArunUdai could you please help.
+akhilsubin Axis 4, 5, and 6 are coupled. Please see our paper (link is given) on the subject.
akhilsubin has
And what's the max capacity of that model?? in Kg
Florin Mindrila 5 Kgs for KUKA KR5 Arc robot.
can you tell me the type of motors you have used there ,sir !!
These are standard servo motors included with KUKA-KR5 Arc robot. IFK7 series Siemens permanent magnet excited synchronous motors - commonly referred as AC servo motors.
with position feedback
Arun Dayal Udai are they single or three phase ? and what kind of position feedback is used ?
Their speed and position are controlled by frequencies of single phase coming off of the KUKA POWER SUPPLY (KPS). They use resolvers to read the position that is converted from Analog to digital by the robot and sent to the controller.
Hmm, ahaa 😃
Same functioning system for CNC machines,stepper type motor,controller etc.
CNCs aren't usually stepper motors - not accurate enough. They typically use axis motors with built in encoders, or the encoders may be mounted separately on the ballscrews. These link through the servo drives to report back to the control where each axis is
2:37 "safety socks" missing..
Scheiß egal
Know how- export nach Asien
do looking Техника молдежи год не помню
Is that 6 axis robots needs 6 motors..?
Yes. To make it truly 6 Axis for 6-DoF
This is one of the robots that use drive shafts for 4, 5 and 6 axis. Them little timing belts are a built in weak point. I saw a big K5 robot drop a X5 car body because the belt broke. We had all the other similar robots checked for it and found several more belts going bad. This can kill somebody. Those driveshafts couplings have set screws that come out sometimes too. Glue them! Aligning 3 splines shafts at the same time is a bitch.
I like ABB robots better for that reason.
Nice input. Hope KUKA is working on that.
@@ArunUdai
I doubt that.
When KUKA was training the first batch of maintenance , their official line was that those robots were capable of "ABSOLUTE" positioning at top speed of 2 m/s at the tip of the tool. We found that statement to be bullshit because the tip of the weld gun can wiggle an inch or better under inertia of th he robot arm. The bigger the robot, the worse it wiggles (6400 type was the largest we had). All the slack in the drive train fit adds up.
ABB used direct drive motors in the axis joints. No slack to speak of except the belt in some applications. Only thing to worry was wiring harness chafing internally. That happens sometimes after years of flawless operation.
Thanks for your video clip. We know that, germany is high tech mechanic manufacturer. In robotic field, Germany is best technical positon include electric, mechanic àn electromatich
Anh Tuấn Hồ but they are using the Japanese harmonic gears ;-)
See how a cyborg builds a tractor in Belarus: ))))) ruclips.net/video/pTH22-GuUes/видео.html
There must be planetaries in each joint as well.
no planetary gears, those are harmonic gears
Maybe harmonic drive
Them: My stepper motors are so powerful they can lift full die pressed sheet metal parts to be welded by industrial equipment.
Me: My stepper motor can spin a piece of tape.
they are not stepper motors they are industrial servos
those stepper motors are Jynormous
These are permanent magnet synchronous motors.
I had no clue that had drive belts in them..... Hmmm.
Even I didn't had any idea before opening this gear box.
what if the belt snaps
'Do no harm' protocols are overridden
All that sharpie use should concern you.
Hanzhen harmonic drive gear , industrial robot arm gear head
китай не парится с технологиями покупают разбирают и делают свое
I m mechanical engineer and so I know KUKA but sincerely the system with the belt it's a big mistake
when she is broken and you should exchange nobody is here
why is it a mistake?
try when the belt is broken you will understand
how often does it break?
I've never seen one break, Can't imagine why it would unless you kit something very hard. The tensile members are steel
we had 24 robots 8 in one years belt broken
hlo sir
Было бы у меня столько денег, я тоже такой хуйней занимался))
Hmm😁
No doubt being reverse engineered so they can be cloned.
Yes yes - reverse ingeneering ...
Hmm.. ...
Hi
Can u tell me 6 axis robo arm price I want to buy for work station
Думал будет круче
Ha, I thought it was big one.
The joint is the most complicated part to be repaired in my opinion.
More money for the creator lol
Chinese engineering Now, congrats !
KUKA is a German manufacturer
@@jalil16 owned by a chinese company.
прикольно я не думал что внутри механизмы сложней чем первые наработки которые я лет 100 назад видел
Tintaga.. Hmmmm. Ha... Foor
хммм)
Hello I own 5 new KUKA engines, can anyone be interested?
hmm -- like a minecraft villager
ну и ничего там сложного нет...
Да. Но ремни необычно движутся, гнутся и перекручиваются.