CableEndy - Cable-Driven Parallel Robot (B&R Automation and VUT Brno)
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- Опубликовано: 13 май 2016
- Video of cable-driven parallel robot constructed within master's thesis at company B&R Automation Brno in partnership with Brno University of Technology.
Parameters:
- 6 degrees of freedom
- 1,2 ms cycle time for parallel kinematics
- real-time parallel kinematic
- 6 m/s path speed
- 100 m/s2 acceleration and deceleration
- accuracy from 1 mm in the middle to 5 mm on the sides
- motion program in G-code
- program uses mapp components
- main hardware: Automation PC 2100, 4 x ACOPOSmicro, 8 x LVA2 motor with brakes
- communication via POWERLINK
Contact for B&R customers: andrej.rajnoha@br-automation.com
Contact for public: andrej.rajnoha@gmail.com 
Наука
When the block of cheese dances to the music 🎶
Yes yes yes. My music, my dance my cheese block ;);););
Velbeata
yes
hey RUclips AI, I've been getting this cable parallel robot in recommendation last days quite a lot, but I like it. you are getting smarter little AI... I'm kinda proud of you
Me too.
Can you imagine a camera payload. NBA, NFL, and MLB, all need high speed shots like this!
Do you mean SkyCam? 😀
ruclips.net/video/XGcYHt4qa3g/видео.html
@@andrejrajnoha3938 that's exactly what I'm saying, however they should tweak the algorithm to move like this setup did at the end of the video with the 6m/s (meters per sec) test and a high speed camera for super cinematic slow motion replays. 1:44
@@ArchieRowe do you know how much a skycam weights? Do you have any idea the acceleration forces the cables to snap? Not very safe
@@latenight6815 so what your saying is that it "is" possible. Sicence Engineering and Math took us to the moon so I think making a cable strong enough is definitely doable 😅
@@ArchieRowe it is easy but dangerous
AMAZING KINEMATICS :O
Yeah so I would like to see this with a hot end on it!
We've been blessed by the algorithm.
**teleports behind you**
THANKS
Was nice you didn't edit music over the whole original audio and at least left a decent portion at the end letting us hear the actual sounds of the machines, tools, processes, whatever.
Cool project, they showed the last portion of this video at AutomationCon 2018 in Atlanta.
Interesting, I did not know that 🙂
lol more likes then subscribers! good job on this system that speed is amazing, and belongs on a factory floor!
Imagine that thing used on the CNC, that'd be so cool being able to cut at different angles too
how would you make something like that rigid enough though?
@@jasondads9509 That's fair, but the idea is pretty awesome
rather 3D printing
@@Dav3R333 the cables would get in the way either way
Not rigid enough for metal working and the cables would gum up or be in the way.
Можно лампочку приделать и на длинной выдержке снимать. Или если хватит скорости, можно сделать подобие объёмного дисплея.
i love it congrats
this is your stick of butter when your fridge is closed
Very impressive speeds!
We do not know the weight
180 grams.
It is just a demo project, not a crane. But motors can carry also 10kg, but not with the same speed.
Happiest brick in the world
What kind of motor did you use? Are those servo motors? Steppers?
Servo motors of course. Stepper motors can not rotate with 4000RPM 😀
What are the angle limits. It's 6dof but I'm assuming it trades off rotation angle because of the cables?
Depends on the position of the cube. In the middle +-30° in every angle. But it changes with the position or other angles.
Wow!
Amazing
I hope someone can help and answer my question
How is the synchronization between motors achieved
What are the circuits for driving the motors
And thanks for reply
What are the use-cases of such systems?
does this system experience cable stretch over time? I would think the alloy of cable you pick would be super important ;)
Yes. They need to be changed sometimes. These are special and durable fishing cables.
So just periodically calibrate with a tendency to keep more cable on the spools.
Most materials are subject to fatigue, but stretching can be easily tuned out by self-calibrating methods.
@@andrejrajnoha3938 ultra high molecular weight polyethylene? Aramid?
This would be a cool 3D printer design
Did you use a kind of IMU sensor inside the end effector(moving platform) ?
No, there is not end effector position sensor at this time.
I wonder what type of cable that you used for project ? thank you
@andrej that is incredible. Do you have the thesis of this project publicly available?
There is nothing special what can not be found in other scientific articles 🙂
наверно это для 3D принтеров подойдёт, или для устройств с ножами , тех которые вырезают из объекта что-то. Можно делать очень большие размеры -- нужны кабеля и распорки, не нужны направляющие из тяжелых твердых материалов
This would be a fun amusement park ride
With the accuracy being 1-5 mm, would you need to periodically recalibrate it, if so how would you?
Yes. I change chables sometimes.
Calibration is done with torque control of motor cables in reference position.
I know all about you people your even in the future,some of your work is legendary.you work for the Army
What material are those cables ?
What use would such a robot have?
Wonder how good this would be for 3D printers
giessing this is more for sorting produce or something like it. not great accuracy put very good speed.
Only for big scale like buildings or something like that. It is not good for small 3D printers. It has not a stability like CNC axes and also you need more motors. And the cables in the space are also the problem. So for buildings with heavy TCP you do not need bottom cables so there is less possibility of collisions and it can be cheaper than big scale CNC.
@@andrejrajnoha3938 So the application can be printing / constructing of houses? Like big 3D house printer?
What else?
The Tennis ball trick setup at makers faire in Brno was a smaller version of this?
It was just demo program for MSV exhibition with the same cable-driven robot
Andrej Rajnoha Very cool project, you made me want to build one too. :-).
Go for it. It's quite fun.
Andrej Rajnoha Are you continuing work on this? Love to see a video of this with a paddle and a ping pong ball :-)
Yes, Cableendy is already under construction. You can expect big changes ;-)
This is really amazing. Iam looking for building a skycam to monitor small farms 100metre x 100 meter. Is it possible to fix the motors on the central box instead of the corners. Consider, that the central box can hold the weight of four motors & battery. Pl comment. Thanks Elan
The construction can be done in any shape. The configuration is "unlimited".
You need stationary towers anyway so you might as well put the motors there. I'd think placing the motors inside the moveable platform would require the machine move slower and it could likely handle less weight.
Still it would be cool to have a self contained mechanism which just needed a few secure attachment locations.
BTW, @Andrej Rajnoha, very cool project. Thanks for posting the video.
this technology could replace traditional 6 DOF platform in Virtual Reality industry,wish we can build cooperation ! I come from China...
Someone’s already built something like this for VR. m.ruclips.net/video/cJCsomGwdk0/видео.html
When IT goes up, the Lower Cable Anchor-Points on the Posts need to go up "with" IT. Otherwise They'll destroy whatever IT creates. They inhibit IT's ground clearance. If IT only rotates a few degrees, than they don't need to be that low on the Posts to begin with. Especially since they are anchored high on IT to maximize Pivot and implied Center Point/Overlapped Planes.
This would be Priceless for photography or electronic microscopes or surgical robots. If you put a level sensor on the block, do you think you could receive inputs from the block and keep it level using the device? Because, this could make an AMAZING sensor for flight stabilization. use 2 of them on a craft and your computer would have EVERYTHING it would need to know about it's rotation and the g-forces. The trick is to constantly bring the sensor BACK into normal orientation/ POINT 0 DEGREE 0 within the unit in between each reading. I think this thing could do it. In a way that's fast enough to hook one directly to a thruster. The idea is that all that is does is counter's spins and excessive g-forces through sheer counter forces outside of gravity's effect. Or despite it. The box basically ignores gravity in that array. Just a theory.
If YOU have the engineering skills, PLEASE try what I said. It SHOULD work. I'm just poor. There's no way I could pull it off.
Can you give me the formula for calculating force, so I can do the project?
Crazy
cool job! Would you provide pdf of your master thesis?
+ALİ ÖZTÜRK Thank you. The work was written in slovak language.
Dear Andrej, happy new year, great work. please can you send me the thesis, my email is zaydounj@yahoo.com
@@zaydounjasim1997 Hello zaydoun, did you receive the thesis?
weren't people talking about building lunar facilities in lava tubes at one point? I'm seeing some variable diameter circles that can do a lot of stuff with one of these in the middle
hell the whole thing could be tensegrity based and deploy from the box itself. yo Elon!
The Beginning of the new 3D Print Generation?
Is it right to call this "6 degrees of freedome" when 3 of those degrees are very limited?
The angles are limited only by mechanics, how the cables are mounted and so on. The kinematics transformation are unlimited. We are trying to show our programming capabilities, so yes. Our robot can handle with 6DOF.
I was editing my comment while it got deleted, I guess you liked the idea @Andrej Rajnoha? :D
Look up "Cable-driven parallel robots - Motion simulation i", the Germans made a big one, but you probably knew that!
This looks really promising. Are this stepper motors? And if yes aren't they loosing steps being so tight in all directions?
www.br-automation.com/en/products/motion-control/8lva-synchronous-motors/
Synchronous servos. Even if it used steppers it would still have encoders on them, losing steps isn't really a thing unless you play with hobby 3D printers.
1:27 when a dog gets exited
but what's the point of owning one of these?
It would make a great 3D printer.
I was all chill until it got crazy there at the end
Should be called the Puppet Master
0:45 Perfecto...
paint that rig green and you have a movable product display for photographing or 3d imaging
I like that you had 2^8 subscribers but I've just ruined it by subscribing
I'm #355. On our way to 2^9
Why???
now use really thin fishing line and imagine the magic show possibilities
too elastic I guess
If only they had this tech when they were making Thunderbirds. lol
what is the aplicatiopn of this? what can be?
Factory machine
Damn....
Interesting inverse-kinematics
The inverse kinematics are easy. In this case, the forward kinematics are pretty difficult
Now make it dance and do the Skyrim shuffle!
1:38 What I imagine if I saw a UFO
The cables running to the lower corners limits what can be done with this. Those cables are going to interact with whatever you’re trying to manipulate. Those cables will scrape up against 3D printing jobs for instance.
I would like to receive my order without shaking
6 degrees of "freedom", while literally on a limited wire setup. I dare ya to rotate it fully across any axis without twisting the wires, I noticed how your tests never attempted this and we all know why
This is news to no one lmao
Yeah you'll likely achieve about (+/-) 30 degrees of rotation about each axis best case scenario
it's making fun of us with its smug dance
Favourite part 1:27
Check my new video with joggling CableEndy robot
ruclips.net/video/7HNAL8ZKdyM/видео.html
wear, is it's biggest enemy
Quite funny evening reading :D
www.reddit.com/r/gifs/comments/76y33g/ball_balancing_wire_machine/
put a 3D printer hot end on there
Great if you have a box to move.
otherwise known as the hamster centrifuge...
HIGH SPEED CHEDDAR
10 grams. Now you know why this system isn't ever used for anything anywhere. I do not understand why people pick things that are fundamentally useless and waste thousands of dollars and thousands of man-hours on them.
Its still cool but... why.
are you referring to 1:50? 10g in this case is referring to acceleration (10 * 9.81 m/s^2), not 10 grams
@@cephalopogg I don't think so. You could be right, but it looks like its capable of moving with far, far, far more acceleration than 10g's.
It would surprise me more if it was only capable of 10g's of acceleration than if they had made a lightweight 10 gram plastic shell to showcase its movement.
RUclips inevitably suggested more cable-powered robots videos, and, annoyingly, this is just a scaled down version of something that already existed years earlier which itself is really just a scaled down version of the Arecibo radio telescope cable articulation that existed in the 60's.
Its kind of depressing how every generation discovers basic industrial automation and think's they're actually inventing something new. I'm guilty of it too. In my history of developing robotics, a lot of the things I was "creating" had existed in one form or another for decades before me.
I've done a couple of actually, legitimately new things though.
old technology, cameras at sports stadiums have a system like this
No, it is much more older technology. Older than cameras. And?
great device, horrible music. Use some classic music next time... and Im not talking about ABBA. ; p
i can make it cheaper at home
I believe you. Me too 😀 But the aim of this robot was not the low price, but the "wau effect". So the speed was important. Stepper motors are cheap but servo motors can handle with TCP with top speed of 15m/s with 20g acceleration.
@@andrejrajnoha3938 Yes, I meant I could do it with cheaper components, with the performace limitations it implies.
Geez, what trash is the algorithm suggesting?
Looks pretty useless