3D printed robot arm wrist timing belt joint assembly

Assembly of my inversed timing belt differential robot wrist joint
• Inversed Timing Belt D...
I used GT2 timing belts and NEMA 17 stepper motors.

[@PmanProductions100]

That belt design is awesome! It looks like a belt driven planetary

[@ivprojects8143]

Very nice design! I really like that tensioning system.

[@danwood1121]

Phenomenal design, I love it!

[@sato4kaiba]

Nice design. You have an interesting translation of the concept in which your have conceived. 👍😁

[@masterjuice3894]

Dope project, I hope to see more videos

[@balazsgyurko9639]

Great job, looks fantastic! :D

[@makerbeelab5546]

Excellent idea and implementation!

[@PaulGouldRobotics]

Very beautiful. The tensioning mechanism is brilliant. Does the timing belt mesh on all six of the contact points?

[@MishinMachine]

Thanks Paul! There are two 400mm timing belts, each meshed on three contact points inside the inverted pulley.

[@shenchiji3389]

My recent work is making a robot ,the related joint design adopts the structure of conventional spiral gears and belt ,it is so good to see your amazing work,,I saw the reducer using this timing belt structure before，but i only consider that it was not stable and had low load ability at that time ,you are a good designer, wish see more good ideas from you in the future.

[@MishinMachine]

Thanks!

[@MakerTutor101]

Great design , love it

[@jayhinds3937]

I really like this. You put a lot of time and effort in this and it shows. New subscriber here. Can't wait to see more!

[@MishinMachine]

Thanks!

[@squishy312]

Great design. I imagine this made out of solid Aluminum would be very robust. (3D printing for the win prototyping though).

[@RobertoAlcantara]

Well done, very cleaver design.

[@OleksandrStepanenko]

Very elegant design!

[@MishinMachine]

Thanks, I watch your videos!

[@saheenpalayi]

awesome Design !!

[@Scott_C]

Keep producing great content like this and you'll hit a million subs in no time.

[@Scott_C]

You'll also make money posting affiliated links to the tools and components you're using.

[@MishinMachine]

Thanks! Will do the best I can

[@Mong3]

Well done! Post more please.

[@DSB.TecnologiaMaker]

O projeto é muito bom. Gostaria de vê-lo terminado. Outra coisa, essas partes são impressas ? Está disponível pra compartilhar ?

[@cybercrimes-00]

This is awsomely cool

[@nostamine2567]

u my friend are a true master

[@alainlambert1922]

Great job

[@PhG1961]

Impressive !

[@swannschilling474]

Excelent design!! 😁

[@MishinMachine]

Thanks 🙌

[@pionisensei]

Very cool! love the way it moves. My only concern is the length difference between the in and outside of the belt, I'm curious if it wears down fast... It looks like in the last clip the top of the belt ring is more worn than the bottom side. Very nice idea! great job!

[@MishinMachine]

Thank you! I think the reason of this kind of wearing (chewing) is because inversed pulley and wheels has the same width of 6mm as a timing belt. Usually pulleys are a bit wider (7 mm) to make belt move more freely. But openbuilds wheels are 6mm width. It was just a proof of idea. I have some ideas of another version.

[@pionisensei]

@@MishinMachine Ahh I see! yes and they are curved as well. still love it. Curious to see what comes next :D

[@iceblu3710]

@@MishinMachine Seems like a perfect application for a synchromesh drive system

[@tHaH4x0r]

Awesome design, extremely well done. The only thing I dont really like, is how the tensioner bolt is offset from the belt center, inducing a moment. Especially under higher loads this is likely going to be a point of failure (or at least cause reduced stiffness of the system under higher loads). Also I have heard stories of such 'inverse pulleys' not being able to cope very well with higher loads, with the belt detaching from the inside of the pulley. Still, I applaud the design, extremely compact.

[@amywhitaker3961]

Amazing!

[@RobertoAlcantara]

Is the 3D files public avaliable? I wish to print one of these

[@yrisu6098]

Отлично! Очень интересно.

[@berendlucasvanderweide]

Incredible nice design! differential motion is very intriguing. The 3 rollers for each axis in the bottom part, the belt is in a direct line towards the next idler, did you compensate this error in the circular ringgear? Or did you left error as is? (about 0.47 mm of error for 30mm of distance over a R50 circle)?

[@MishinMachine]

Thanks! Cool that you noticed that error👏 I accounted it in the code.

[@mainnmann]

Lovely design .... nice printing

[@mohibs83]

what printer did he used ?

[@mainnmann]

@@mohibs83 no idea but looked sweet ...

[@Razvan_Udrea]

Stumble to your video very nicd project! What are the tools that you are using

[@fernandoantvf]

Nice!

[@MrCedricoss]

French C’est vraiment magique. J’ai hâte de voir la suite! Partages tes fichiers ? Je suis exactement dans le cas où je veux faire un bras articulé pour caméra smartphone avec AI face tracking

[@brunokazimierz]

Really nice desing, I wanna see it in use :) Btw, what brand are the tools you are using? Screw dirver and electic driver look nice and to be the same brand, what are those ?

[@trialanderrorrobotics3616]

I'd like to know about the tools as well. Did he reply?

[@MrNoipe]

They're both xiaomi electric screwdrivers.

[@aykutkutsal6954]

perfect 👍

[@i-make-robots]

That satisfying growl at 7:12! White parts milled from Delrin?

[@MishinMachine]

Thanks! It’s 3d printed from PLA

[@JohnLauerGplus]

nice

[@phillipdevillephysics9096]

That belt drive system is weird! In a great way, though. It took me a while to figure out how the belt was wrapped around in there. It does not look over-strained either. Does the belt show signs of wear at the twist first?

[@AndyPlov]

It is cool!

[@acac6408]

Can you tell me what parts are in there?

[@adriantudor4793]

Nice design. What electric screwdriver do you use?

[@MishinMachine]

Thanks! It's Xiaomi Mijia Electric Screwdriver, I found one on the AliExpress: aliexpress.com/item/1005003050758241.html

[@HelgeKeck]

very nice. are you going to share the files for it?

[@c3N3q]

Finally I know where the robotic sounds from the movies come from.. Can you combine the spin and the up-and-down or is it either one or the other?

[@SaHaRaSquad]

It is combined at 7:20

[@MishinMachine]

Yes, you can watch on my first video kzbin.info/www/bejne/oJjcgIuYZq5-p9k

[@Irshu]

very smart

[@headrobotics]

Do you have plans to integrate it into a full arm and test? Could be pretty interesting to see.

[@MishinMachine]

Right now I'm just experimenting with joints, but maybe will design a full arm in the future

[@petermines3575]

Cool.

[@Blowjin]

He's just flexing by cool screwdriver. :-D

[@ferenceder3929]

Awesome

[@william.z220]

Hello ! Very Nice design ! Havé you some link where you Shared three cao or stl files ? I would be really happy to build one ! Thanks for reply !

[@ArmanCNC]

Шикарное исполнение! А продолжение планируется?

[@MishinMachine]

Спасибо! Видимо придется что-то придумывать 😅

[@matthewlee224]

Hello! Do you mind sharing the STEP file? I would love to build one! Thanks

[@egor_niko]

Огонь! Где скачать проект?

[@mogamadtromp9374]

Nice work……what nut driver are you using?

[@MishinMachine]

Thanks! It’s Xiaomi Mija Cordless Screwdriver a.aliexpress.com/_AZCNv7

[@haitaozhou6675]

Great job, Could you tell me how you fixed threaded brass inserts into your 3D printing parts, thanks a lot :)

[@MishinMachine]

Thanks! I just pushed them with soldering iron.

[@haitaozhou6675]

@@MishinMachine Got it, thank you so much. And may I ask another question? Is this how the joint works: when the two motors rotate in same direction with same velocity, then the first joint rotates and the second joint stays still. When the two motors rotate in different direction but with same velocity, then the second joint rotates and the first joint stays still.

[@MishinMachine]

​@@haitaozhou6675 Yes, it works like a usual differential gear. In this particular design first joint pulleys are smaller than second joint output shaft with the 1.6 ratio. So you have to calculate steps for each motor to rotate joints on specific angles.

[@haitaozhou6675]

@@MishinMachine Thanks, really appreciate it!

[@davidmalawey]

have you posted any 3D models, or are you open-sourcing any elements?

[@jhyland87]

Im wondering the same thing, lol.

[@sl_st]

Серёга Молоток.

[@CabinetBuildersWorkshop]

What is the power screwdriver you use?? Thats awesome

[@MishinMachine]

I left the links in the description

[@810mb3Rg]

Does it have limit switches? How do you know position, or is it open loop?

[@810mb3Rg]

Perhaps a similar design might be able to accomplish this with only two belts using more rollers

[@MishinMachine]

Yes, the pitch axis has limit switches. You can find it on my short video kzbin.info/www/bejne/q4DMZmx8fMmpldE Output shaft is open loop, it has the ratio to calculate the angles.

[@810mb3Rg]

@@MishinMachine I see now! Great design, thanks for sharing!

[@xSP3CTREx]

3D printing enthusiast, and missing a hand* I want to build something like this for more advanced 'helping hands' needs. Make some upgrades and coding. Will you be releasing the files for this?

[@MishinMachine]

I think it’s a good idea to release the files, hope to find some time to prepare all the things. Never did this before actually

[@alansitooo5297]

Were did you get your screwdriver and screw gun 🤔

[@MishinMachine]

I left the links in the description

[@jakester1390]

It looks like the belt is making poor contact with the internal ring gear. I bet more rollers with a smaller diameter would have better engagement.

[@MishinMachine]

Agree, I have some ideas for the next version

[@LordOfTheTermites]

Am I correct to assume this was designed to support an independent actuator (i mean something that can do it's thing with only wires)? It looks very nice and functional.

[@MishinMachine]

Hi! Thanks for the comment. Actually, it was just a proof of idea of inversed timing belt differential. It can support an independent actuator I guess.

[@StephanHoyer]

What brand are those tools of?

[@MishinMachine]

It’s xiaomi

[@saulotarsobc]

😍😍😍😍😍😍😍😍

[@mohibs83]

what printer did you used ?

[@MishinMachine]

It’s Artillery Sidewinder X1

[@chldlfdud12ify]

개쩐다..

[@ryanmast6977]

Great job, I would love files to try it myself if you are willing to share

[@MishinMachine]

Thanks! I have some improvement ideas, maybe will share files for the improved version

[@atamanapa3741]

Not Bad. Im joking this is very good 👍

[@Anyone700]

synchromesh cables would be way better than timing belts for this

[@LarsSchretlen]

What screwdriver is that?

[@MishinMachine]

I left the links in the description

[@KriptoDedos]

Добрый день.

[@danon-theautisticmaker8112]

:-)

[@borovoro]

долгий,надоело смотреть ,палец вниз