awesome, you also have built instructions in a document ? Also, I think your latest update to the base (pulley) is missing? the lever that should hit the limit switch is missing
I just 98% finished building the arm, just missing the 6th axis motor to your design and wiring it, can give an email to which I give created it also send you a photo of it!
Hi! Just wondering how well does the open-loop control works? Are there any step losses etc? I'm thinking about putting rotary encoders with each stepper but that probably makes arm a bit too heavy, especially in joint 5 or 6. On the other hand it feels like open loop control will not work correctly. Also, what reduction ratio is there in joint 2 gearbox?
Hi! Open loop worked well for me. As long as the load on the end of the arm isn't too big, the steppers won't skip steps. At the time I went for open loop mainly for the simplicity. Nowadays there are good closed loop motor-driver combinations where the stepper drivers themselves check for the correct amount of steps taken. These systems don't require external encoders and only need step and direction signals from controller. You can see this type of system in use on my 3-Axis cnc milling machine project. If I remember correctly it is a 80 tooth gear with a 16 tooth driver so the reduction ratio is 5.
Hi! Project looks great, i want to try build my own version. Before i do that i have question. Why do you use in (for example) base motor 16 and 100 teeth pulleys? Do you calculate it somehow? Why dont you use 20 and 100 tooth pulleys or others? And how do you calculate motors torque? Thanks for all advices and keep it up bro! You are doing great job ;)
Sorry for late reply! 16 teeth HTD3 pulley was easier to find. It also offers better torque than 20 teeth. 100T gear on the other side was used because it was around the right physical size for the arm. Axis torque is then calculated by mulitplying the motor torque with the reduction ratio (5 if 100 and 20 tooth pulleys are used). I also accounted for some torque loss on the system so I multiplied the result by around 0.8, excpecting a 20% drive loss.
It's just a push fit. The tube only acts as axis and doesn't transfer torque. The actual pulley is bolted to the robot arm, tube is just a pivot point.
@@tw2ka644 dude wats ur real name. i used ur model as a reference for my clg project. ...was planning to add this video as a reference for my ppt presentation. so if u could give ur real name... I could add it to my slide....:):):):)
Hello and thank you! I have to admit I enjoy your content as well. This project got to the point where I didn't really have a lot to give to it anymore (would have needed complex coding to create inverse kinematic controller). I ended up selling the robot to another hobbyist who was interested in it and wanted to continue it.
I am buying the nema 17 with the planetary reduction for the lower actuator I feel like 5 to 1 is not enought? what has been your experience? what do yo think about 14 to 1? will it break the plastic pieces?? will it spin too slow?
The planetary reduction might be a good idea. In this kind of a application stepper motors have quite a broad speed range. I think this arm would be plenty fast even on 14 to 1 reduction and obviously doing so would increase the torque. The arm has been designed to have large surfaces around bearings on each of the axis so I don´t think its going to break. The first thing to give up is probably the motor mounting solution (bolted to slots), which would cause the motor to slide reducing the tension on the belt.
I'm not sure about the price being cheapest but I'd recommend checking out stepperonline. They have a very good range of products and knowledge on their site and I've never had problems with them!
That connector is indeed machined from aluminium. There are two aluminium pieces in the robot, that connector and the one between the round j5 motor and the long axle passing through the second arm.
@@tw2ka644 yea sure thanks I saw it, but what version of solidworks did you use? With solidworks 2018 the nuts, bolts, washers etc, lets say all the standard parts become extra large. Any opinion on this issue please!
@@tw2ka644 Well, am using 2018 version too. Can you provide an email please so as I can send an image of it to you, perhaps you might understand what the problem is.
Sorry for the late answer. When designing the model in solidworks I used solidworks sketches that were shaped in a way that the belts were traveling. Then I defined the length of the sketch line (which represents the belt) to be the same as the belt I had. This way I got the absolute position for the driver pulley. Then I added a bit of play on both sides for tightening/loosening the belt!
Yes they are single direction thrust bearings and there aren't any updates right now. This project has been on hold for a while but I hope to keep developing the software in the near future.
Hi , very cool Robot. Is it possible to add the 3D Step Assembly file on your google drive, my Solidworks is an earlier version and i cannot import the file.
Sure thing! In this folder there are the STL files required to print the parts. I also included a list of hardware and a picture showing which part goes where. The zip file contains the solidworks model. 1drv.ms/u/s!AvP8Z7wyn-jlbPv8-ncTiBdTWO4?e=qZYMGe
![3D Printed 6DoF Arduino Robot arm - Electrical enclosure and changes to the robot arm [Part 2]](http://i.ytimg.com/vi/OuCmGM6ZuJc/mqdefault.jpg)
I've reuploaded the files and the download link that's in the description works again! Sorry for the files being missing.
awesome, you also have built instructions in a document ? Also, I think your latest update to the base (pulley) is missing? the lever that should hit the limit switch is missing
OMG you became by best friend instantly!
Hello , I have a question arm1 connect base was 2GT-400 ?
awsome. thanks. will wait your next chapters for this video
Thank you for your project
Yo great stuff. Cant wait for the full video
Thanks for this video.Very nice explanation
Will be printing this model well thought out pulley system as well...
Thank you! I figured this pulley system was probably the easiest way to achieve the accuracy I was aiming for!
I just 98% finished building the arm, just missing the 6th axis motor to your design and wiring it, can give an email to which I give created it also send you a photo of it!
Many thanks for sharing 👍🏼
great work! 👍
Hi! Just wondering how well does the open-loop control works? Are there any step losses etc? I'm thinking about putting rotary encoders with each stepper but that probably makes arm a bit too heavy, especially in joint 5 or 6. On the other hand it feels like open loop control will not work correctly. Also, what reduction ratio is there in joint 2 gearbox?
Hi! Open loop worked well for me. As long as the load on the end of the arm isn't too big, the steppers won't skip steps. At the time I went for open loop mainly for the simplicity. Nowadays there are good closed loop motor-driver combinations where the stepper drivers themselves check for the correct amount of steps taken. These systems don't require external encoders and only need step and direction signals from controller. You can see this type of system in use on my 3-Axis cnc milling machine project. If I remember correctly it is a 80 tooth gear with a 16 tooth driver so the reduction ratio is 5.
Hi! Project looks great, i want to try build my own version. Before i do that i have question. Why do you use in (for example) base motor 16 and 100 teeth pulleys? Do you calculate it somehow? Why dont you use 20 and 100 tooth pulleys or others? And how do you calculate motors torque? Thanks for all advices and keep it up bro! You are doing great job ;)
Sorry for late reply! 16 teeth HTD3 pulley was easier to find. It also offers better torque than 20 teeth. 100T gear on the other side was used because it was around the right physical size for the arm. Axis torque is then calculated by mulitplying the motor torque with the reduction ratio (5 if 100 and 20 tooth pulleys are used). I also accounted for some torque loss on the system so I multiplied the result by around 0.8, excpecting a 20% drive loss.
Is it bolted to the desk?
Hello, I have a problem can I change pump shaft to 3d-print.Because I cant find it in the shop.
Shaft could maybe be printed but it would result in a weaker joint.
Hi, what kind of 3d printer do you use. thanks
All the parts were printed on Anet A8
How do you attach the 15mm aluminium tube to the toothed pulley?
It's just a push fit. The tube only acts as axis and doesn't transfer torque. The actual pulley is bolted to the robot arm, tube is just a pivot point.
wow... very nice design...🔥🔥...looks very professional...👍👍
Thank you!
@@tw2ka644 dude wats ur real name. i used ur model as a reference for my clg project. ...was planning to add this video as a reference for my ppt presentation. so if u could give ur real name... I could add it to my slide....:):):):)
@@elsonsajan1270 Tuukka is my real name and adding that is enough. If you use this video please just state that it is from my youtube channel!
Hello! What happened with this project? It looks gorgeous.
Hello and thank you! I have to admit I enjoy your content as well. This project got to the point where I didn't really have a lot to give to it anymore (would have needed complex coding to create inverse kinematic controller). I ended up selling the robot to another hobbyist who was interested in it and wanted to continue it.
I am buying the nema 17 with the planetary reduction for the lower actuator
I feel like 5 to 1 is not enought? what has been your experience?
what do yo think about 14 to 1? will it break the plastic pieces?? will it spin too slow?
The planetary reduction might be a good idea. In this kind of a application stepper motors have quite a broad speed range. I think this arm would be plenty fast even on 14 to 1 reduction and obviously doing so would increase the torque. The arm has been designed to have large surfaces around bearings on each of the axis so I don´t think its going to break. The first thing to give up is probably the motor mounting solution (bolted to slots), which would cause the motor to slide reducing the tension on the belt.
@@tw2ka644 exaclty, that way the full speed range of the stepper can be taken advantage off, also increse resolution and reduce vibration
Great job 👍👍👍👍👍👍
Hi! I can't find htd pulley adapter, could u tell me where did u find it?
It was ebay/amazon. Search for HTD pulley and you should find similar products.
@@tw2ka644 I'm also struggling to find this component
great great job¡ i have a question, for the nema 17 gearbox 5:1 , i am searching for one cheapper, could you please recomend me some?
I'm not sure about the price being cheapest but I'd recommend checking out stepperonline. They have a very good range of products and knowledge on their site and I've never had problems with them!
Is the connection between the 5:1 ratio motor and the pulley 3D printed?
That connector is indeed machined from aluminium. There are two aluminium pieces in the robot, that connector and the one between the round j5 motor and the long axle passing through the second arm.
it's an awesome design.. Where are the other parts of the video?
Thank you! I haven't had time recently to continue this project and therefore only the hardware side has been properly designed and developed.
hi, could you tell me how much this arm weighed and what was it's payload capacity
If I remember correctly the arm weighed around 2 kilograms and with given motors it had a payload capacity of around 250 grams on full arm length
hello! your project is amazing and quite inspiring. Can you please share CAD files of the design from their parts to the assembly if you don't mind.
Hello and thank you! Link for cad files can be found in the description of the video.
@@tw2ka644 yea sure thanks I saw it, but what version of solidworks did you use? With solidworks 2018 the nuts, bolts, washers etc, lets say all the standard parts become extra large. Any opinion on this issue please!
@@simaiseko2074 I believe I used 2018 version of solidworks. Interesting problem I've never heard of it before.
@@tw2ka644 Well, am using 2018 version too. Can you provide an email please so as I can send an image of it to you, perhaps you might understand what the problem is.
how do you determine the spcae between pulley centres
Sorry for the late answer. When designing the model in solidworks I used solidworks sketches that were shaped in a way that the belts were traveling. Then I defined the length of the sketch line (which represents the belt) to be the same as the belt I had. This way I got the absolute position for the driver pulley. Then I added a bit of play on both sides for tightening/loosening the belt!
Could this be used as a cnc mill?
It's propably a little too weak to actually machine with. Maybe something like wood with light passes could work.
Please add an extruder on the end of it and make it a z3d printer no longer limited by 2 axis
Would be a great idea lol! Sadly this project is discontinued due to lack of time and I don´t have the robot anymore.
At what layer height and infill % did you print the parts at?
All parts were printed on 0.2mm layer height and 20% infill.
@@tw2ka644 Thanks! Any updates on the software video?
@@tw2ka644 Also, are the axial ball bearings single direction thrust bearings?
Yes they are single direction thrust bearings and there aren't any updates right now. This project has been on hold for a while but I hope to keep developing the software in the near future.
hello! what version of solidworks did you use please?
2018 version, can't remember the exact version but it was a 2018 solidworks build.
Could you drop this solidwork file in cmm
Hi , very cool Robot. Is it possible to add the 3D Step Assembly file on your google drive, my Solidworks is an earlier version and i cannot import the file.
Sure! I added the step file to the dropbox folder.
@@tw2ka644 I dont see the file, i downloaded and extracted, but no step file.
@@Kashmir284 The file should be on the root of the onedrive folder. If you still cant see it please let me know I'll try to figure it out
@@tw2ka644 nope, i cannot access the root drive,just create a dir called STEP, and place it in the zip file
i thoght its dropbox, thats what i saw
not onedrive
Hanzhen harmonic drive gear , robot gear , over 30 years experience
Can u sent me files for this arm by any chance I would love to print this
Sure thing! In this folder there are the STL files required to print the parts. I also included a list of hardware and a picture showing which part goes where. The zip file contains the solidworks model. 1drv.ms/u/s!AvP8Z7wyn-jlbPv8-ncTiBdTWO4?e=qZYMGe
@@tw2ka644 Very Nice! I Will try make my own
@tw2ka... please now code... Thank you...
I'm making an explanation video about the code that I had and will be publishing it soon!
Files？
I will repost the files as soon as possible. Just noticed the link is no longer working.