6DoF mostly 3D Printed Robot Arm (Part 1)

[@dschony]

This is simply the smartest Open-Source robot I could find until now. So well designed! Specially the cabling solution! And also the background information in this and the following parts is worth a thousands THANK YOU!!!

[@AngryRamboShow]

You're really good a mechanically drafting. I mess around in Blender 3D, but you're doing some next level stuff in Fusion 360. This is probably the best Robot Arm I've seen on KZbin that's homemade. Definitely better crafted and designed than those DFRobot Robot Arm Kits.

[@Skyentific]

Thank you a lot!

[@joflo5950]

Wow, when I look at how amazing Robots you have build this far, I can't wait to see what you create with so much more time!

[@robotin3192]

build your own robotic arm with parts for printing or machining. download parts and manufacture your own robot with precision and quality. access our hotmart link go.hotmart.com/I43664641H?dp=1

[@pd.dataframe2833]

wow... a gem of a series... glad that I found it

[@Skyentific]

Thank you for your kind comment!

[@Nullzero98]

Thank you so much for doing these videos! This is so fantastic, and very easy to understand. Your Fusion 360 skill is very amazing!

[@Skyentific]

Thank you for your kind comment!

[@TheTyno37]

Helped me to learn a little bit more about 3D printing! Looking forward to the next one.

[@Skyentific]

Thank you!

[@Skyentific]

Please leave your comment! Any comment will promote this video.

[@alergu9478]

That is a really beautiful robotic arm!

[@Skyentific]

Thank you for this kind comment!

[@silverhead8243]

Very nice job, I think many people would like to buy the completed robot as DIY to build, I advise you to go for mass production of it. It will be nice if you share with people the links of components like motors, bearing, belts, electronics, etc.

[@Skyentific]

Thank you! I will put them soon, also with the STL files.

[@HassanOmariprofile]

magnificent piece of art :D .... what I also find very helpful for me is the way you use bearings and how you mount them

[@sanchitkumargupta1000]

Thank you! I love your videos. I was wondering if you will consider going in depth theory as well for instance calculation of torque, power and stuff?

[@leonardschonfeldt1724]

Thank you so much for sharing it is such an awesome robotic arm

[@Industrieelektriker]

Adam, i like this Project. Since yesterday i printout the Parts and order some other things from your partlist. thank you very much for this nice Robot Arm

[@robotin3192]

build your own robotic arm with parts for printing or machining. download parts and manufacture your own robot with precision and quality. access our hotmart link go.hotmart.com/I43664641H?dp=1

[@BairdBanko]

This looks so well done, worked out so nicely!

[@ff_ff28]

Шикарная игрушка! Вери гуд! Подскажите, с какого пластика детали?

[@Skyentific]

Спасибо! Я сделал две копии. Одну из PLA, а вторую из PETG. Обе работают хорошо. Так что оба этих пластика подходят.

[@williamhall5893]

This is a beautiful thing! Excellent.

[@Skyentific]

Thank you!

[@adamgabornemeth7044]

Nice work! Thank You for sharing the information with us!

[@williamlee7119]

Very glad I found your videos! I hope I will be able to make one!

[@marcrudyjohndery714]

Nice video .... thank you for sharing this wonderful robot arm design.

[@stonebayrocker]

Cool! Looking forward to follow on the rest! 👍🏻 Bought arduino and want to learn about motor control, maybe I will build my own robot arm! Will definitely follow along and then we will see!

[@Skyentific]

Arduino is great for this kind of projects. It is easy to program and powerful for most of the projects.

[@KruNong_Builders]

I really liked all your video. Thanks for you sharing

[@ceminan7927]

Thank you so much professor.

[@Skyentific]

You are welcome! Thank you for your comment!

[@1endell]

Beautiful work.

[@christophemalvasio5569]

@Skyentific nice small arm anyway without to be mounted on a moving chassis it will loose both precision and working space from what it should be with it :) i hope that you will make more solid arms with it so you could sell some of your good things produced by your arms

[@Skyentific]

Thank you! As soon as I will finish the build videos of this arm I will start a brushless motor robot arm.

[@urquizaramiro]

Incredible, work, I am also putting together my own robot arm, I will soon publish a video, I will be inspired by you to do it! Thank you!

[@Skyentific]

Thank you! You also have quite nice robots on your channel! Great job!

[@urquizaramiro]

@@Skyentific Thank you!!! I'm improving my robot arm, you inspired me, the main problem I had was the handling of 6 engines at the same time with some gcode program .... I found a pcb that facilitates that!

[@m.v.8976]

Very inspiring. Thank You for making these videos.

[@MrWachowsky]

Really nice design!

[@Skyentific]

Thank you. I will soon put the STL files for open access.

[@MrWachowsky]

@@Skyentific I would love to learn from you, so if this is not a problem could you upload step files as well? Or better yet - f3d files with design history :)

[@enotbert]

Отличная рука!

[@Skyentific]

Спасибо!

[@RoboticalHeart]

Wonderful work. This is one of the best DIY Robots related channel in KZbin. I see you're using Prusa i3 MK3S 3D printer. Do you recommend going for Prusa Mini (print area 18x18x18cm) as its much cheaper?

[@haotonys7380]

这么厉害的up主怎么没么人关注呢

[@diegogarrido6935]

Your videos are great! Good quality and content!

[@Skyentific]

Thank you very much for this kind comment!

[@Sabinodireda]

Ciao, complimenti per il progetto, mi ha affascinato da subito, sto terminando la stampa di tutti i pezzi, solo che trovo una grande difficoltà nel reperire tutte le cinghie, pulegge e cuscinetti necessari. Non sarebbe una cattiva idea se mettessi a disposizione un kit pronto per l'acquisto di tutte le parti meccaniche. O magari dei link diretti per l'acquisto....spero tu possa aiutarmi, complimenti ancora, Sabino.

[@andreasdanner9106]

Awesome! Does anybody know where to get the belts in europe. It seems they are a little bit exotic.

[@Vernon1xx]

Hello sir, and thank you for this amazing project. Can you please direct me in where to obtain the proper belts? So far, no luck.....

[@Skyentific]

Thank you for your comment. The best place which I know is sdp-si.com. They are not very fast, but they have a big choice of different belts.

[@Vernon1xx]

I finally realized why I could not locate (2) the belts from SDP-SI. They emailed me with new stock numbers for the two 9mm belts. A 6R53M128090, 128 teeth GT2 3mm, 9mm wide timing belt, is obsolete/ discontinued - replaced as A36R53M128090 $11.01/ea available stock A 6R53M152090, 152 teeth GT2 3mm, 9mm wide timing belt, is obsolete/discontinued - replaced as A36R53M152090 $11.73/ea available stock

[@matthewking5362]

@@Vernon1xx This needs to be pinned, or at least have skyentific update the list

[@ДмитрийАлексеев-ь4й]

Здравствуйте! Столкнулся с такой проблемой - распечатанные детали не сопрягаются между собой (( не подходят на десятые доли миллиметра, постобработку выполнять очень сложно и неаккуратно получается. В чем может быть причина? Или нужно сопряжения сначала промазывать клеем для размягчения пластика?

[@Skyentific]

Скорее всего ваш принтер не совсем точно печатает. Я отдельно калибровал свой принтер. И с хорошей калибровкой, единственное что я делал - откавыривал поддержку.

[@theodornitu]

Nice build! I would love to take part of the project if it will be open-source :D It would be nice as a compact camera robotic arm :D

[@Skyentific]

Excellent idea. I would try to put it in open source this weekend or at the beginning of the next week.

[@qwertyu13243546]

Incredible work!

[@frankdearr2772]

Great topic, thanks for sharing :) 👍

[@aleksandarkolov]

Great design!

[@Skyentific]

Thank you!

[@alreqeb_productions]

Love IT! what do you use for homing? I don't see any sensor nor limit switches

[@Skyentific]

Thank you! Very good question! I don't have any sensors for homing. For the moment the Arduino program knows exact initial coordinates, and like this it works without homing. But I use Trinamic drivers, and with them I can home all motors without limit switches (like it is done on the Prusa i3 MK3 printer), but I didn't implement this feature yet.

[@tamgaming9861]

Really great explained!!!

[@Skyentific]

Thank you!

[@RichardVicky]

Awesome work!

[@Skyentific]

Thank you!

[@RichardVicky]

Skyentific what driver do you use? I currently build 3 axis arm with nema 17 stepper motor

[@markayala7752]

nice as always

[@Skyentific]

Thank you for your support!!!

[@stevenalex9439]

Nice work!

[@Skyentific]

Thank you!

[@shrinivasganti90]

What sheet are you using on your printer to print PETG? It looks like the Spring steel smooth one but I heard it can damage the bed material. How did you do this? Thanks for great content 👍

[@Skyentific]

Yes, it is smooth PEI. I apply a glue stick on it (I use standard glue stick, which is provided with prusa printer). The glue helps to release the part. (Usually we apply glue for better adhesion, but here the glue works like separation) It works perfectly and I have not damaged any steel sheet. Usually I apply a little bit of glue on the sheet in the middle and after I use paper towel with alcohol to smudge the glue homogeneously. You need a tiny tiny layer of the glue. Usually this glue layer last for 2-4 prints, and after I reapply it.

[@shrinivasganti90]

@@Skyentific Thanks for your reply Sir. I ended up using the textured sheet in the end. Finished printing all the parts, got most of the mechanical components too, assembling now!

[@alvarobravok]

Hi again!, still looking for cnc cutting files (GCode) of the carbon fiber panels? Still can’t get from posted files

[@alvarobravok]

Hi anyone having the code files to cut the carbon fiber parts? Can’t get the gCode from the DXF posted by the maker!

[@emilsmedegaard4827]

Totally NOGO to print this in PLA? :) Nice robot!

[@cyberspider78910]

where do you find to model so many things and 3d print ? ? I am totally impressed...

[@KevinGaddy67]

Thank you for taking the time to make your design available. Do you have a list of parts I need to buy? The model of steppers you used? Thanks again.

[@Skyentific]

Thank you for your comment. I am writing this list write now. The full list will be available this weekend. This is the beginning of this list: Motors: Nema 8 (8HS13-0604S) 33mm, stepperonline, 4mm shaft, x1 unit (16.00) Nema 11 (11HS12-0674S) 31mm, stepperonline, 5mm shaft, x2 units (22.22) Nema 17 (17HS19-0854S) 48mm, stepperonline, 5mm shaft, x1 unit (9.48) Nema 23 (23HS30-2804S1) 76mm, stepperonline, 6mm shaft, x2 units (40.30) Belts: A 6R51M087060, 87 teeth GT2 2mm, 6mm wide timing belt, sdp-si, x2 units (10.26) A 6R51M139060, 139 teeth GT2 2mm, 6mm wide timing belt, sdp-si, x1 units (5.55) A 6R53M128090, 128 teeth GT2 3mm, 9mm wide timing belt, sdp-si, x1 units (10.06) A 6R53M152090, 152 teeth GT2 3mm, 9mm wide timing belt, sdp-si, x1 units (10.67) Pulleys: A , GT2 2mm, 20 teeth, 5mm bore, sdp-si, x3 units A 6A53M020DF0906, GT2 3mm, 20 teeth, 6mm bore, sdp-si, x2 units (16.12) Bearings: Ball Bearing, 21x15x4, hobbyking, x3 units (7.21) Ball Bearing, 16x8x5, amazon, x3 units (5.00) Q6000 ZZ, 26x10x8, hpceurope, x2 units (6.62) Q6001 ZZ, 28x12x8, hpceurope, x2 units (6.62) TB51102, 28x16x28x15x9, hpceurope, x2 units (5.00) Carbon fibre parts: Cut from carbon fibre sheet (3mm and 4mm) (could be printed from high stiffness plastic) Axis3part1 (3mm thickness), famoushobby, x2 units (23.04) Axis2part1 (4mm thickness), famoushobby, x2 units (33.24) Axis1part2 (4mm thickness), famoushobby, x2 units (53.52)

[@JiffiJiffJeff]

Anybody know what servos are being used for this project?

[@jacobknudsen5912]

hi I can not find the parts for the robort arm so I want to hear if you could post some links where I can buy them

[@losangeleslakers727]

Amazing loved it

[@MrSalireza]

Awesome job👌

[@Skyentific]

Thank you!

[@vincenttan1261]

Hi Skyentific, thanks for sharing all this with us. May I ask, how many roll of filament did you use for printing your robot arm? Can share where you got the yellow color from? Thank you.

[@youfaba]

Very nice and inspiring work. Tried to apply your arduino code to my 5 DOF arm, but bid not work correctly. Maybe because of the DH matrix or youe equations. If you can help, it would be appreciated. Also pls explain the positions nominations and code if possible. Thanks

[@Skyentific]

I plan to do the next video about the software and also explain the kinematics of this robot. I can also try to help you, if you would give me more details about your robot and what do you mean by did not work correctly?

[@youfaba]

@@Skyentific hi. 1) my robot is 5 dof. Meaning i dont have your joint #4. So i am not sure how the DH matrix theta and alpha (lines 595 and 596) should look like. 2)my robot geometry is as follows R1=0 R2=200 R3=150 D1=200 D3=0 D4=0 D6=135 3) i need to know what are the 6 parameters in the X positions (lines207 to 211). Are they end effectir X,Y,Z in millimeters and rotation around X6 and Y6 and Z6? In degrees? I will be waiting your video about the code. It will certainly help alot. I have already used your part of the code for stepper driving. The acceleration and decelleration phases are great and help alot in torque management when the steppers starts and ensure a smooth arriving to target. I love it. I was using accelstepper lib but it cant do this in multi stepper mode.

[@juanpablosilvaramirez7118]

Hi! this is one of the best robot arm i had ever seen. But i have a question, what model are the engines you use? (motors)

[@consig1iere294]

Hi do you have a complete assembled 3d file? Thanks.

[@ignacioandressokolargandon8982]

Nice thanks.

[@Skyentific]

Thank you!

[@snoop3336]

Sir excellent work.Can i get the 3d models of every part.

[@Skyentific]

Thank you. All the files on github. Check the video description.

[@snoop3336]

@@Skyentific thanks sie

[@igorandrusyk2307]

Очень круто!! А планируеться открывать електронику и софт? Так же интересует будет ли интеграция с ROS??

[@Skyentific]

Hello! Excellent question. Yes, I will make electronics and soft open source. The electronics is quite simple. The soft is written in Arduino. I never worked with ROS, but I think in the future I will try to implement it in ROS (and I have no idea how difficult is it). :)

[@차우현-d8d]

Hi, great work on the robot! I am wondering how u managed to control the motors? As far as I know, it is impossible to know the position of stepper motors without some kind of an encoder or end stop switch, which u seem to have used none of such. I'm building a robot arm myself and your advice would help me in a lot of ways! Thanks!

[@SimonBauer7]

you just put the robot into a known position first either manually or automatic with homing switches and after that you can just count the steps of the motors and there is your position

[@ivan2vp61]

Amazing video Sr. Excuse me where did you buy your carbon fibre parts?

[@Skyentific]

Thank you! I've ordered them from famoushobby.com website. You can send them the drawings and they will cut the part from the carbon fibre.

[@ivan2vp61]

@@Skyentific Thank you by sharing the information to me. You're great Sr.

[@ayetuomapaul3160]

Hello Skyentific. Do I have to make any alterations to the STL files on your GitHub page if I wish to build the robotic arm?

[@capt_fruit]

Heya; when you use those 3d printed pulleys do you model them yourself/use generators or do you get them from manufacturers who provide CAD models for their products?

[@pathompongpuangpong7494]

Good channel

[@Skyentific]

Glad to hear this! Thank you!

[@balahuraadrian9342]

Hi, I am a electronics enthusiast and I was wondering if you sell your robot arms. I would love to build one but I have ALS and my body is not working... I want to program one to feed me.

[@wlwl6122]

What is the load capacity ? How heavy can it lift?

[@mohammadsulaiman272]

On what basis you decide the link lengths apart from the work space(reach) ?

[@robotdog8713]

nice and very good.

[@xuzhang4987]

教程很好，下面翻译成中文更加棒了

[@zaferrefazi2201]

Hello pal. I assume that you made the drawings in Fusion. Could you add .ipt or step files of the assembly and parts. Stl files not usable for autodesk inventor. I would like to increase the geometry if you may upload .step or .ipt

[@zaferrefazi2201]

Hello dude the project is masterpiece. Accurate and good repeatibility. I would like to open and modify the your drawing and play with it. Could you upload step or ipt files to github, I can not use stl files I would be very glad.Meshed drawing has no surfaces.Otherwise we have to 3d print the files one by one and make measurement on each part 😃

[@ShafiUllah-gv2hw]

I love this

[@cristiantalos4042]

Hi! I've watched all your videos on the 6DoF robot arm and they way you explain everything motivated me to order the parts to build one myself (for school). Unfortunately, I've hit a roadblock with the bearings from Engrenages HPC. They only ship orders of 500E, but the bearings required sum up to 40E, so they cant provide with the bearings. Do you have an alternative for the bearings from another supplier? Thank you very much! :)

[@Skyentific]

Hi. Which exactly bearing you cannot find?

[@Skyentific]

The thrust bearing you can find in amazon, for example: search for “51102 bearing” on amazon. I think this is the most difficult bearing to find :)

[@cristiantalos4042]

@@Skyentific Hello! So far, i've found an alternative for the bearing on aliexpress, the only one that's left for me to find is the 21x15x4mm. I've found the 6702ZZ, but the specs are 15x21x4mm (the numbers are not in the same order). But based on the video, i think it might be the right model. Is that correct? Also, regarding the Swagelok tubes, would it be possible to use an alternative other than steel? Like plastic or brass?

[@Skyentific]

This is the same bearing. For the tube: the brass would be ok, if it has right dimensions. The plastic, I am afraid, would not be strong enough.

[@Skyentific]

I know that sweglok tubes can be difficult to find, usually they sell them by 5m long tubes :).

hi firiends ı like your projeckt ı am from turkey and ı have channel to youtube in turkish can ı coppy and can ı do it video to your projeckt. ofcores ı give to link your chanel and your web

[@даулетаксейтов]

Я английский не особо понимаю но вас понял

[@tae898]

Totally enjoyed the video. Thanks for the amazing work. I have two questions: 1. Is it better to use stepper motors or servo motors to make a robot arm like yours? 2. Can you also include a one-time donation scheme instead of the monthly option?

[@Skyentific]

Very good questions! Thank you for comment. 1. With the professional industrial servos it is possible to make an excellent robot arm. But these servos cost from maybe 500 dollars. But cheap servos, which people usually use, have very low precision thus the robot arm has a precision of only 5mm (or some times even 10mm). With stepper motors it is more difficult to make robot arm (as you would need to make some kind of gearbox (reducer)). But with steppers you could get a 0.1mm precision. And also with stepper motor you can control the acceleration (you cannot do this with cheap servos), thus with steppers the robot arm moves more smoothly. 2. Good advice! Thank you. I will do this!

[@tamgaming9861]

@@Skyentific thanks for this very good answer to understand this from the ground! May i ask because i havent found the answer so far, how much gramm or kg will it be able to work with? And how much precision your build - the has atm?

[@anandpatidar1566]

what size pully it is? the 3d printed one

[@zeyadadham9030]

please i want the sld file of this robot

[@staceyhoskins8113]

whats the max payload capacity of this arm

[@jianxu9032]

I like your video!!!

[@Skyentific]

Thank you!

[@hoandao1957]

What is the size of the 2 motors

[@flycamservices9529]

Are the parts PLA or ABS? Good joob!

[@Skyentific]

Thank you. This is PETG. More precisely: prusament printed on Prusa. :)

[@gravit0n]

@@Skyentific how much time did it take to print and how much plastic?

[@pain4743]

hey bro, what should i learn to build one like this ?

[@Skyentific]

You can learn robotics, electronics, math for inverse kinematics, and physics. But I think the best way is to start to build something, and as soon as you have problem, learn something to solve it. Like this it is more fun. I only learned math and Physics at university, robotics and electronics I learned on the go, when I needed it.

[@pain4743]

@@Skyentific Thank you for your reply, last thing can you recommend me source to learn kinametics of robotics please ?

[@Goodwill345]

I would like to buy your latest completed robot arm, what is the price, how to buy and what is the payload, I need a good end effector for pick and place of 1 to 2 kg objects. I searched in many places how to contact you and I could not find a contact email address. This is very impressive you should scale up to manufacturing, I am sure you will sell a lot. Please reply how we can buy? Thanks

[@prajeshsanghvi57]

Is this a closed loop system?

[@mertcapkin7263]

How much does it cost to build this robotic arm?

[@VictorGallagherCarvings]

Excellent video. Is this robot accurate enough to hold a 3D printer extruder ?

[@Skyentific]

Excellent question. I think it is accurate enough. I estimated the repeatability of this robot around 0.1mm.

[@pd.dataframe2833]

may I ask what your profession is?

[@Skyentific]

Of course. I am scientist in plasma physics, nothing to do with robots. :)

[@jayank.duggal4814]

@@Skyentific Have you ever used robots in your job (in plasma lab). And Sir, good job on whole series.

[@error-db1fc]

It can use g code?

[@Egor_ZDE]

...долго подбирал фразы с чего начать, но ничего впечатляющего...в общем: очень...очень-очень Нужны ваши видео на русском!

[@lzz709]

why not this robot have no Limit switch

[@Skyentific]

Why it should have limit switches? It works perfectly fine without them :)

[@Industrieelektriker]

How to connect and control the robot with ROBODK? I've built the robot, but I can't program it.

[@williamhuang5329]

Hanzhen harmonic drive gear , robot arm gear reducer, , over 30 years experience ,,

[@Ottomane__cCc]

Hello this question is translated from turkish to english: I printed the robotic arm and equipped it with Ramps 1.4 and TB6600 and TMC 2209 drivers. I also created an APK via MiT_Inventor, everything works perfectly! Now to my question: How can I combine 2 sketches into one via Arduino, i.e. practically the normal Sketch.ino without Bluetooth and the Sketch with Bluetooth.ino.... so that I can freely choose which one I start? The 2nd question would be whether I can then integrate it into my APK file? I would be very happy if you help me in this regard, or you make a new KZbin video on how to add it further. I have mastered the basics of programming: You can see my robotic arm here on KZbin: kzbin.info/www/bejne/g3ealYJqmaZ8d9k