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I made this exact mechanism for my robotics course project in grad school! You're right about the inverse kinematics. There are a few papers on the Agile Eye (a spherical parallel manipulator) that goes into great detail.
@@ebaziuk it really depends on the application in mind. The Agile Eye was a project for rapid camera movements. My project was for teleoperation of a 6 DOF robot arm: one purely rotational device to control a 3 DOF wrist, and a purely translation 3 DOF device to control Cartesian tip position. As far as benefits go its hard to say in general but I can attest that it has a wide range of motion. Also, since the actuators are at the "base" the effector has relatively low inertia, compared to a traditional 3 DOF wrist with perpendicular revolute joints for example. (PS: Would not consider myself an expert 😅)
Possible uses: 1 Powered shoulder joint for a mech suit 2 thrust vectoring for an airplane jet engine 3. stack multiple units together to make an elephant trunk or tentacle, 4.Powered mast driver for angling sailing mast relative to the deck.5.fire engine water thrust vectoring 6.Stable table for at sea dining on rough seas.7. Sea wave power generator with the top attached to a float and the bottom generating power 8 spot light directional mechanism 9. directional mast air intake port 10. stack three together to make it walk like a slinky.
this parallel spherical joint can be used as camera gimbal, and to position a mirror in optical path. Also comes in mind the application in aerospace as thruster positioner.
You could omit the second rigidly connected link by making the first link point toward the intersection of the second and 3rd link. That will also eliminate the singularity being so proximal to home position.
the movement reminds me of an eye, i feel like it would be really cool to design a camera mount where the focal point of the lens is at the centerpoint of the "sphere" cause that has potential for a lot of interesting applications.
Cool, if you can prevent the sides from blocking the middle, you could put a camera in it and chase the stars and moon at night with it for astrophotography purposes.
Great mechanism! I think, it's possible to simplify design by replacing first two links by one: geodesic arm from motor, "straigh"t to the bearing. Right angled link seems not to be necessary. I'm not sure about impact on motion range, but I can't do colision detection in my head in this case :D
@tomekpeki : I was thinking the exact same thing, and, like you, I could not work out if there would be collision problems. Advantages would be increased rigidity, and the fixed joint of the outer two arms would no longer be in front of the end-effector at any stage. I would love to model it in CAD, but my abilities are limited, and if I ever succeeded it would take me far too long! 🥴 EDIT: If you watch the links moving, starting at 17:30, and try to visualise the alternative links you have suggested, I cannot see anything that would cause collision problems.
Your right, the new arm would replace the two screwed together at 90 degrees. It'd need to be cut from a sphere the right diameter but works be much shorter and stiffer
Cool video! I think in the future you should make a link that goes from the motor directly to the first bearing. It would cut down on parts, complexity, and increase stiffness. I can see this type of mechanism being used by some sort of parallel beam laser guidance system. Might be a business opportunity in the future as more spacecraft start flying!
It looks like it could be used for thrust vectoring, especially when it twists & pushes the round center piece out. I could imagine that rotational force being how another mechanism might be made to constrict & dilate a thrust nozzle or cone...(?)
What you have there is a shoulder joint. If you moved the motors to the centre, pointing out and down, and had the levers progressing outwards to connect to the inner surface of the effector rather than inwards to the outer, any arm attached to the outer side of the effector would have a range of motion that couldn't collide with the motion system. That's very neat.
At the moment the arms would interfere with anything you had mounted to the ring in the middle. It may work better if you turn it inside out, so have the motors in the middle and have the arms go outwards with the ring as the outermost piece, that way it should be able to rotate the ring anywhere without the arms getting in the way.
I had the similar thought - where in the current configuration the arms appear to encroach into the space above the ring, restricting what could be mounted onto the joint. (it may be however that an inside out format is impossible - getting my head around the paths of each arm is rather a challenge!)
@@victorldunn9638 since he has already figured it out in one way it isn't that difficult to switch it to being inside out, effectively you just need to swap the ring and the motors, you would have to print all new parts though.
If I correctly understand, you may turn the mechanism inside-out, so internal effector ring would become outside effector ring. And in this case it may be more useful because arms would not enclose the effector ring and not interfere with its point of view (in case of a camera mounted on it). Though, the inside-out mechanism would be definitely more bulky than this one.
This might be difficult since you would have to put the motors into the center of the mechanism. otherwise the former inner joint would always collide with the axis. At least, if I understand that mechanics correctly, the joint lengths build the same angle of differently sized circles. However. It looks as it would be difficult to mount something on that. What about breaking the outer joint into three parts with 2 x 45 degrees? Best would be to make it completely round but i wouldn't know how to print that..
what a brilliant mechanism! i think this mechanism would be perfect in a robotic human hand for the thumb. the thumb is especially hard to model because of his wide range of motion freedom.
This would be great for sat comms or telescopes as you can track a target across the sky or jump to a known position. i would love to have one of these a bit larger
You could put some kind of spot light in the output ring. Like a search light, for example. Or a mini projector. However, there would be some positions, or poses, where the beam would be blocked.
I love these mechanisms. I think a cool application would be to mount one of those cheap 360 lidars on top and use it for SLAM in 3d. Looking forward to inverse kinematics.
P E R F E C T This mechanism is better than a cardan to manipulate since it has more degrees of liberty. Even you can put more than 3 motors. So, the movement is faster, softer and stable, very usefull in high accuracy systems.
as usual this is really fascinating and brilliantly made! what an intriguing and mesmerising mechanism. i think it would be nice if the control arms were placed inside the end effector spherical volume, for a giant eyeball, robot head movement or something similar. one possibly useful implementation i can think of for this mechanism is for solar tracking and focal length control for a spherical solar collector like the sun power beta ray collector. or maybe, focus and position control of a laser, perhaps in an SLA printer. maybe a really giant version as a sim rig, for pitch and roll motion. maybe a bat signal where the rotational axis is used as an iris to close it off. if you move it to the position where 'elbows' of the the control arms meet in the middle, are you approaching another singularity, making it an impossible position? because as you rotate the end effector, the elbows come together in a cool way like an iris, which i find interesting. it could close like a flower bud, with a spherical volume in the middle that still moves in 2 axis. it could open to reveal a diorama like the famous moon city STL, or a container, perhaps swishing a whisky or keeping an expensive mechanical watch in motion. (there are pricey devices for this)
This project has potential, I couldn’t tell if you fixed the dead zone in its operational envelope or not but one suggestion is that over trim above the top ring. When the armatures move they can clip over the top ring impeding whatever might be at that spot, i would love to use this part in a project though, I love finding new ways to build robotic arms and this seems promising in my opinion. Great video. I love the work you do. 😁
i noticed that too, he could change the blue pieces that impede to have a different angle than that 90 degree there is now, and as long as they still connected to each other and laid on the sphere, it would work fine.
@@Taygetea agreed, but I also would like to figure something out about that dead zone because that would be a killer. I plan to attempt to use this mechanism as a base actuator for the arm I’m planning for it. If the arm was to be erect (it’s an arm not an eggplant) then it would suddenly be stuck there or with irl physics and how heavy it will most likely be, it may force the motors to back drive and fry them. So what might you say about that? 🤔 Because, honestly, I got nothing lol.
1. XD ride seat - simulator 2. stabilizer for camera 3. Robotic arm positioner system for automation 4. 360 degree photography 5. Medical imagery controlling system.
I like what you do sir. I have a question, what if you remove the first arm all together? Just go from nema to the second blue arm (red in cad) ? I ask because im not seeing the point of the 90 deg turn if you did do as i ask and you would not be covering the "eye lens" area as it rotates.
interesting. My first thought on this is controlling a camera. If it were sturdy and powerful it could possibly do long-exposure astrophotography if it can support a camera with a heavy lens. The parallel pivoting alone is not sufficient for long exposure astrophotography, but with the additional rotation axis to compensate for field rotation it would work.
hi i am probably wrong but if you have 2 pieces firmly attached together could you not just use 1 part that goes from the start to the end point without needing the 90 degree point in the middle?
I was coming here to write exactly that. I guess the reason for making the green and red parts different is so the neighboring parts wouldn't interfere, but surely you can achieve the same thing with a single straight piece that's increasingly closer to the center.
The solution to the singularity problem is that the first links should point diagonally down and the second link diagonally up. That way the end effector is mounted much lower towards the base plate and will fall away from the singularity instead of towards it.
Because the piece that is fixed to each motor shaft is rigidly connected to the second link, there is no physical difference between that and a single arc that connects the motor shaft with the end of the second link. This would become a whole lot simpler without the second link being a separate part, and it would be more rigid, probably fixing your interference problem.
Somewhat strange application but in microscopy a method to perceive depth from 2D output involves wiggle the microscope which makes the 3D texture/depth much more apparent. I'd imagine this spherical joint where the optic would stay inherently stay in focus could create even more novel manipulation than just a wiggling effect.
Excelent design for camera on gimball moving like cameleon eye. Not for drones, more like static observation point remotley controlled. If printed in small scale 1:5 could work with small cameras for rabsbery pie maybe feedig video for robotic designs.
@Michael Deering : The alternative arm arrangement suggested by Tomekpeki, in his comment above, would avoid that assuming it does not create other problems.
I see an use for this in two ways , As the basis for my humanoid robots sholder and wrist joints both in proper scale. I would like to ask you for advice with the pprograming of my Robot when I get to that point. I plan to build my Robot compleatly and then place it in one side of a puppeter like gembel system and then climb into the other side of the system and set the robot to mimic and record my movements and then use the recordings as the basic of my programing for the robot's programing. When I first thought of this idea i was thinking that I would need to reverse the recordings in order to make them woirk as code But now I am not sure that this will be required. Any thoughts you might have on this will be thanks. Very interesting mech. you have there.
As for applications, to me it looks like a gimbal; which could be used to hold an optical payload for surveillance from an aircraft, for targeting, laser ranging, or it could be used for free-space optical communications (lasercom) onboard moving vehicles, boats, aircraft or spacecraft. Usually laser communications uses a 2 DOF gimbal with a base, then an azimuth stage with a fork, and then an elevation stage holding the optical telescope and back end electronics. I really wonder how it compares to this forked design; if the spherical parallel joint mechanism could provide a gimbal with a higher natural frequency, or a higher stiffness, more compactness, or perhaps better motor balancing or lower power requirements? Why does the 90 degree link need to exist? Is there a problem connecting the motor joint along one arc towards the next link?
Cool project but I don't see a reason for 2 arms connected rigidly. You should be able to go from motorshaft to first bearing connection with a single arm. It would improve the rigidity and more clearance between parts. Also would prevent routes ofwhatever will be attached to the effect piece to intercept with the peak point of that rigid connection.
This mechanics could be useful with a laser head, and be cnc sculptor over materials. Combine with delta printer mechanics, and you can have a really nice sculptor machine.
Any updates on this project? I had an idea to simplify your design, but haven't seen anything on this for a while. For example in your CAD clips you show a green and red outer links. Why not combine them into one that spans the two rotary joints instead of making two pieces? I get that you want to avoid interference, but simply put a step in the middle or a slow transition between the two radii and you'll cut down on a lot of weight and that problem of imbalance at the beginning.
Lol I watched this specifically to find out how one would use such a joint. Well, I guess I will watch, see its properties, and give it some thought. Still interesting though.
Since the arms can get in the way, there seems to be a reduction in the useable area in above the ring, if that makes any sense. It may make an interesting socket or if it had a perpendicular(to the table in this example at rest) that was used to augment the tip of something. Think robot hand with a small version of this on the very tip of a finger. Even if it only like 45°± range, it could be useful. May be good for recording/measuring physical feedback/input. An analog control stick with a 3rd axis could be more accurate correct? Most of what I can think of now are much much smaller applications, but it's an interesting, potentially very useful design, and good to have in the old "toolbox". Like the Blacksmith apprenticed for long ago said "I know 500 different ways to make a square hole in a peice of metal even though 99% of the time I use the same 2. The other 1% of the time, I HAD to use one of the other 498 different ways". It never hurts to have more approach options.
Hi dear , thanks for your sharing i appreciate you. i want to donatiation for your works but i can't do it thats why PayPal does not work in my country. How can i do it?
The 3rd input allows for rotational motion of the effector as well as 2 axis directional output. The human eye has limited rotational ability, if you turn your head to the side, your eyes will rotate in the socket slightly to compensate for head angle. It is only slight though. The eye muscle linkages are different from this, but achieve the same result.
Where can I get the JLCPCB Files for the two different plates in the control tower? . I want to build this exact tower!! I am happy to pay, please point me to the files!!
why do the first 2 arms have to be 2 pieces around a 90 degree corner? couldnt it just be one piece going directly to the place where the 3rd arm mounts? hmm
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You've just invented the mechanism for the Portal 2 personality cores!
Ya put a camera and some lights in it, with motion tracking
In the position of singularity, you involuntarily created a great stabilizer ! Nice job overall.
This could make a perfect shoulder to arm joint for a humanoid robot! 🙌🏻🦾👾
Very cool, thanks! :)
Thank you for support!!
I made this exact mechanism for my robotics course project in grad school! You're right about the inverse kinematics. There are a few papers on the Agile Eye (a spherical parallel manipulator) that goes into great detail.
@@ebaziuk it really depends on the application in mind. The Agile Eye was a project for rapid camera movements. My project was for teleoperation of a 6 DOF robot arm: one purely rotational device to control a 3 DOF wrist, and a purely translation 3 DOF device to control Cartesian tip position.
As far as benefits go its hard to say in general but I can attest that it has a wide range of motion. Also, since the actuators are at the "base" the effector has relatively low inertia, compared to a traditional 3 DOF wrist with perpendicular revolute joints for example.
(PS: Would not consider myself an expert 😅)
@@braydenk3582 Sounds like an interesting project! What mechanism did you use for the purely translational manipulator?
Possible uses: 1 Powered shoulder joint for a mech suit 2 thrust vectoring for an airplane jet engine 3. stack multiple units together to make an elephant trunk or tentacle, 4.Powered mast driver for angling sailing mast relative to the deck.5.fire engine water thrust vectoring 6.Stable table for at sea dining on rough seas.7. Sea wave power generator with the top attached to a float and the bottom generating power 8 spot light directional mechanism 9. directional mast air intake port 10. stack three together to make it walk like a slinky.
Fantastic final part for my manipulator - just perfect! Thanks!
this parallel spherical joint can be used as camera gimbal, and to position a mirror in optical path. Also comes in mind the application in aerospace as thruster positioner.
You could omit the second rigidly connected link by making the first link point toward the intersection of the second and 3rd link. That will also eliminate the singularity being so proximal to home position.
the movement reminds me of an eye, i feel like it would be really cool to design a camera mount where the focal point of the lens is at the centerpoint of the "sphere" cause that has potential for a lot of interesting applications.
within a minute I thought of 3 different applications, very cool project.
That looks like it would be good for aiming antennas and telescopes. Nice!
amazing design, it looks like a robotic Eye, but also can be used for moving parts i several dimensions
This is so cool. Great job.
Its nice to an E-Stop on your psu. I've seen to many people just rely on the wall plug.
Cool, if you can prevent the sides from blocking the middle, you could put a camera in it and chase the stars and moon at night with it for astrophotography purposes.
Interesting video. Glad you're getting some nice sponsors!
Definitely looks like somethings you could use to track objects in the sky.
Great idea!
Great mechanism! I think, it's possible to simplify design by replacing first two links by one: geodesic arm from motor, "straigh"t to the bearing. Right angled link seems not to be necessary. I'm not sure about impact on motion range, but I can't do colision detection in my head in this case :D
@tomekpeki : I was thinking the exact same thing, and, like you, I could not work out if there would be collision problems.
Advantages would be increased rigidity, and the fixed joint of the outer two arms would no longer be in front of the end-effector at any stage.
I would love to model it in CAD, but my abilities are limited, and if I ever succeeded it would take me far too long! 🥴
EDIT: If you watch the links moving, starting at 17:30, and try to visualise the alternative links you have suggested, I cannot see anything that would cause collision problems.
Yeah most of the image search results show versions with just two link arms. Don't see any benefit from the right angle arm.
Thinking the same thing
Yes my first thought was less parts
Your right, the new arm would replace the two screwed together at 90 degrees. It'd need to be cut from a sphere the right diameter but works be much shorter and stiffer
Really cool project. Makes me want to build one, but that seems way to advanced for me. Reminds me of Wheatley from Portal.
Cool video! I think in the future you should make a link that goes from the motor directly to the first bearing. It would cut down on parts, complexity, and increase stiffness. I can see this type of mechanism being used by some sort of parallel beam laser guidance system. Might be a business opportunity in the future as more spacecraft start flying!
It looks like it could be used for thrust vectoring, especially when it twists & pushes the round center piece out. I could imagine that rotational force being how another mechanism might be made to constrict & dilate a thrust nozzle or cone...(?)
What you have there is a shoulder joint. If you moved the motors to the centre, pointing out and down, and had the levers progressing outwards to connect to the inner surface of the effector rather than inwards to the outer, any arm attached to the outer side of the effector would have a range of motion that couldn't collide with the motion system. That's very neat.
Even if it has no 'use' its still pretty cool to look at and play with!!!
It looks like a futuristic parallel manipulator !
It looks cool, in reality more parts to break😊
At the moment the arms would interfere with anything you had mounted to the ring in the middle. It may work better if you turn it inside out, so have the motors in the middle and have the arms go outwards with the ring as the outermost piece, that way it should be able to rotate the ring anywhere without the arms getting in the way.
I had the similar thought - where in the current configuration the arms appear to encroach into the space above the ring, restricting what could be mounted onto the joint. (it may be however that an inside out format is impossible - getting my head around the paths of each arm is rather a challenge!)
@@victorldunn9638 since he has already figured it out in one way it isn't that difficult to switch it to being inside out, effectively you just need to swap the ring and the motors, you would have to print all new parts though.
Hi, great video!! An possibilite is use as laser engraving. Driver laser spot manipulate.
If I correctly understand, you may turn the mechanism inside-out, so internal effector ring would become outside effector ring. And in this case it may be more useful because arms would not enclose the effector ring and not interfere with its point of view (in case of a camera mounted on it). Though, the inside-out mechanism would be definitely more bulky than this one.
my thoughts exactly
This might be difficult since you would have to put the motors into the center of the mechanism. otherwise the former inner joint would always collide with the axis. At least, if I understand that mechanics correctly, the joint lengths build the same angle of differently sized circles. However. It looks as it would be difficult to mount something on that. What about breaking the outer joint into three parts with 2 x 45 degrees? Best would be to make it completely round but i wouldn't know how to print that..
what a brilliant mechanism! i think this mechanism would be perfect in a robotic human hand for the thumb. the thumb is especially hard to model because of his wide range of motion freedom.
Good lesson about singularity here !!
This would be great for sat comms or telescopes as you can track a target across the sky or jump to a known position. i would love to have one of these a bit larger
You could put some kind of spot light in the output ring. Like a search light, for example. Or a mini projector. However, there would be some positions, or poses, where the beam would be blocked.
I love these mechanisms. I think a cool application would be to mount one of those cheap 360 lidars on top and use it for SLAM in 3d. Looking forward to inverse kinematics.
P E R F E C T
This mechanism is better than a cardan to manipulate since it has more degrees of liberty. Even you can put more than 3 motors. So, the movement is faster, softer and stable, very usefull in high accuracy systems.
as usual this is really fascinating and brilliantly made! what an intriguing and mesmerising mechanism. i think it would be nice if the control arms were placed inside the end effector spherical volume, for a giant eyeball, robot head movement or something similar.
one possibly useful implementation i can think of for this mechanism is for solar tracking and focal length control for a spherical solar collector like the sun power beta ray collector.
or maybe, focus and position control of a laser, perhaps in an SLA printer.
maybe a really giant version as a sim rig, for pitch and roll motion.
maybe a bat signal where the rotational axis is used as an iris to close it off.
if you move it to the position where 'elbows' of the the control arms meet in the middle, are you approaching another singularity, making it an impossible position? because as you rotate the end effector, the elbows come together in a cool way like an iris, which i find interesting. it could close like a flower bud, with a spherical volume in the middle that still moves in 2 axis. it could open to reveal a diorama like the famous moon city STL, or a container, perhaps swishing a whisky or keeping an expensive mechanical watch in motion. (there are pricey devices for this)
Nice colours, i really like them. Was the selection on purpose?
Anyway, i support them.
Ну вот мы и нашли тело для нашего нейроморфного ИИ, замечательное решение,идинамика корпуса такая какую мф искали 👍
Love seen your mechanisms videos! Thanks for sharing :D
Can be used as an alternative gimbal mount for a missile heat-seeker head.
This project has potential, I couldn’t tell if you fixed the dead zone in its operational envelope or not but one suggestion is that over trim above the top ring. When the armatures move they can clip over the top ring impeding whatever might be at that spot, i would love to use this part in a project though, I love finding new ways to build robotic arms and this seems promising in my opinion. Great video. I love the work you do. 😁
i noticed that too, he could change the blue pieces that impede to have a different angle than that 90 degree there is now, and as long as they still connected to each other and laid on the sphere, it would work fine.
@@Taygetea agreed, but I also would like to figure something out about that dead zone because that would be a killer. I plan to attempt to use this mechanism as a base actuator for the arm I’m planning for it. If the arm was to be erect (it’s an arm not an eggplant) then it would suddenly be stuck there or with irl physics and how heavy it will most likely be, it may force the motors to back drive and fry them. So what might you say about that? 🤔 Because, honestly, I got nothing lol.
Beautiful !
1. XD ride seat - simulator 2. stabilizer for camera 3. Robotic arm positioner system for automation 4. 360 degree photography 5. Medical imagery controlling system.
Suggest the 1st two sections with the 90 angle can be replaced with a short arc to the joints?
I like what you do sir. I have a question, what if you remove the first arm all together? Just go from nema to the second blue arm (red in cad) ? I ask because im not seeing the point of the 90 deg turn if you did do as i ask and you would not be covering the "eye lens" area as it rotates.
Looking forward to the inverse Kinematics video. A little bit more math and coding on the channel would be awesome 👏
interesting. My first thought on this is controlling a camera. If it were sturdy and powerful it could possibly do long-exposure astrophotography if it can support a camera with a heavy lens. The parallel pivoting alone is not sufficient for long exposure astrophotography, but with the additional rotation axis to compensate for field rotation it would work.
Seems to ne that the unit would make a great NECK to support a Robot head mounted on the top ring
You could replace the motors with servos as you don't appear to need more than 180 degrees of movement from the primary link
hi i am probably wrong but if you have 2 pieces firmly attached together could you not just use 1 part that goes from the start to the end point without needing the 90 degree point in the middle?
I was coming here to write exactly that. I guess the reason for making the green and red parts different is so the neighboring parts wouldn't interfere, but surely you can achieve the same thing with a single straight piece that's increasingly closer to the center.
Is a version with the links and motors on the inside possible?
Interesting question. I think it is possible.
Nifty AF ! The only question I have is, when will it be whisking Jodie Foster off to Vega to meet dear old dad ? 🤔
Ай нид ту пуш фитед зыс сайд! )))) Доброго денёчка!)
Add some rubber/spring or any elastic element that will gravitate joint towards "ideal position", so it wouldn't collapse to gimbal lock.
The solution to the singularity problem is that the first links should point diagonally down and the second link diagonally up. That way the end effector is mounted much lower towards the base plate and will fall away from the singularity instead of towards it.
No problem with singularity if described with quaternions.
@@ivanabunjevcevic9364 Which is great, but where is the imaginary coordinate of a real 3d printed object?
Any comments on how to prevent positioning at the singularity? Would it work better if the mechanism is suspended from the ceiling?
It's a matter of geometry, the only way to properly avoid the singularity is to programmatically avoid it. Search for "Euler lock" for more info.
Too Kewl. So is there room for the Anti-Gravity Egg to swivel in the center ? That would make a nice Navigation System.
If it had friction joints it would make a space age looking down light.....😁👍👍
Because the piece that is fixed to each motor shaft is rigidly connected to the second link, there is no physical difference between that and a single arc that connects the motor shaft with the end of the second link. This would become a whole lot simpler without the second link being a separate part, and it would be more rigid, probably fixing your interference problem.
Somewhat strange application but in microscopy a method to perceive depth from 2D output involves wiggle the microscope which makes the 3D texture/depth much more apparent. I'd imagine this spherical joint where the optic would stay inherently stay in focus could create even more novel manipulation than just a wiggling effect.
You could use this to steer an electron beam for an EBM style printer.
very cool
Where this mechanism can be used for? It can only rotate its "object". There are some redundant parts present.
Ideal for a telescope tracking system.
It would be interesting to view the 3D shape of the operational envelope ... like a flight envelope.
И штука интересная, попробуем с сыном как нибудь на досуге.. и акцент очень знакомый 😆 подпишусь
Правильно! :) Спасибо за подписку!
Excelent design for camera on gimball moving like cameleon eye.
Not for drones, more like static observation point remotley controlled.
If printed in small scale 1:5 could work with small cameras for rabsbery pie maybe feedig video for robotic designs.
В лазерный гравёрах механизм позиционирования использует два зеркала, но два двигателя
100% автор из СНГ! Привет!!)) То чувство, когда не носитель языка говорит лучше носители. И все слова разборчиво произносятся
Awesome 👌
The arms are going to get in the way of whatever you attach to the end actuator ring.
@Michael Deering : The alternative arm arrangement suggested by Tomekpeki, in his comment above, would avoid that assuming it does not create other problems.
I see an use for this in two ways , As the basis for my humanoid robots sholder and wrist joints both in proper scale. I would like to ask you for advice with the pprograming of my Robot when I get to that point. I plan to build my Robot compleatly and then place it in one side of a puppeter like gembel system and then climb into the other side of the system and set the robot to mimic and record my movements and then use the recordings as the basic of my programing for the robot's programing. When I first thought of this idea i was thinking that I would need to reverse the recordings in order to make them woirk as code But now I am not sure that this will be required. Any thoughts you might have on this will be thanks. Very interesting mech. you have there.
As for applications, to me it looks like a gimbal; which could be used to hold an optical payload for surveillance from an aircraft, for targeting, laser ranging, or it could be used for free-space optical communications (lasercom) onboard moving vehicles, boats, aircraft or spacecraft. Usually laser communications uses a 2 DOF gimbal with a base, then an azimuth stage with a fork, and then an elevation stage holding the optical telescope and back end electronics. I really wonder how it compares to this forked design; if the spherical parallel joint mechanism could provide a gimbal with a higher natural frequency, or a higher stiffness, more compactness, or perhaps better motor balancing or lower power requirements?
Why does the 90 degree link need to exist? Is there a problem connecting the motor joint along one arc towards the next link?
Cool project but I don't see a reason for 2 arms connected rigidly. You should be able to go from motorshaft to first bearing connection with a single arm. It would improve the rigidity and more clearance between parts. Also would prevent routes ofwhatever will be attached to the effect piece to intercept with the peak point of that rigid connection.
This mechanics could be useful with a laser head, and be cnc sculptor over materials. Combine with delta printer mechanics, and you can have a really nice sculptor machine.
Sir, did you can you replicate irim lab ambidexter robot lims3? They contains a lot of pulleys. Or may be it is too complicated robot arms for you?)
that's cool, where can we find the files to do it?
Why the 90 degree L angle?
Couldn't that be replaced with a single link that connects the two end points?
Is there a clearance issue maybe?
Any updates on this project? I had an idea to simplify your design, but haven't seen anything on this for a while. For example in your CAD clips you show a green and red outer links. Why not combine them into one that spans the two rotary joints instead of making two pieces? I get that you want to avoid interference, but simply put a step in the middle or a slow transition between the two radii and you'll cut down on a lot of weight and that problem of imbalance at the beginning.
this was made just for video or for a project?
What CAD software was used to make these objects? And is it free?
This one was made with Fusion360. And it is free for non commercial usage. You can also use Shapr3D or OnShape for such kind of work.
Why not shorten up the link that is bolted at 90 deg and have it straight to the pivot point. This will reduce the total length of the arms.
Yes, this is definitely possible. And in the next iteration I will try it. Thank you for idea.
Lol I watched this specifically to find out how one would use such a joint. Well, I guess I will watch, see its properties, and give it some thought. Still interesting though.
Since the arms can get in the way, there seems to be a reduction in the useable area in above the ring, if that makes any sense. It may make an interesting socket or if it had a perpendicular(to the table in this example at rest) that was used to augment the tip of something. Think robot hand with a small version of this on the very tip of a finger. Even if it only like 45°± range, it could be useful. May be good for recording/measuring physical feedback/input. An analog control stick with a 3rd axis could be more accurate correct? Most of what I can think of now are much much smaller applications, but it's an interesting, potentially very useful design, and good to have in the old "toolbox". Like the Blacksmith apprenticed for long ago said "I know 500 different ways to make a square hole in a peice of metal even though 99% of the time I use the same 2. The other 1% of the time, I HAD to use one of the other 498 different ways". It never hurts to have more approach options.
Would be useful for mounting a camera to produce a very interesting visual motion. Thanks.
Great! What 3d printer do u use?
put a chizel at the end of it , and have it skulpt a benchy out of a block of plastic
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Cool. But why is it better than 2 drives (pan and tilt) configuration? Seems like PT cinematics is better: much more rigid and much less copmlex.
The 3rd input allows for rotational motion of the effector as well as 2 axis directional output. The human eye has limited rotational ability, if you turn your head to the side, your eyes will rotate in the socket slightly to compensate for head angle. It is only slight though. The eye muscle linkages are different from this, but achieve the same result.
What CAD Program do you use? Any way to get it free if it isn't?
Where can I get the JLCPCB Files for the two different plates in the control tower? . I want to build this exact tower!! I am happy to pay, please point me to the files!!
3-axis linear rotational joint is simpler and just better
screw that, more stable, no motor power needed to hold it up, stand alone
not complicated? :) very
why do the first 2 arms have to be 2 pieces around a 90 degree corner? couldnt it just be one piece going directly to the place where the 3rd arm mounts? hmm
10:50 - singularity encountered 😂
11:50 looks like you accidentally invented a form of stabilisation gimbal then :p
Советский человек сто пудово
Interesting project.. any way to eliminate the singularity ? Also on your sign of you should say Guys and Gals, or boys and girls.
На чем вы их печатаете?
Miniaturization is needed
Huh. Looks like you found an eigenvector. Not surprising that it relaxes to eigenvalues.
🔥