Building an Internal Cycloidal Robotic Actuator

[@ericlotze7724]

A Robotic Actuator of This Quality *and it’s Open Source*?!? Absolute *LEGEND*.

[@Bisaw37]

Sorry to say your bolding didn’t work

[@ericlotze7724]

@@Bisaw37 damn youtube comment formatting, between that and mobile always getting messed up and blocking me from seeing longer things (enter key kind of deal) i am just A n n o y e d lol

[@mimp8365]

@@ericlotze7724Gotta have a space after the * to work sadly. Not like Discord.

[@F4ll-N]

​@@ericlotze7724 Tip: Don't put any characters right before or after the word you want in bold, for example: *LEGEND*. Will not get bolded because there's a dot right next to the asterisk *LEGEND* . On the other hand, does get bolded because I placed a space between the last asterisk and the dot. This is also the case for the first asterisk, just backwards: .*LEGEND* doesn't get bolded because there's a dot right before the first asterisk . *LEGEND* does get bolded because there's a space between the dot and asterisk. Hope this helps! It also applies to _italics_ with “_”

[@emmanuellawal2694]

​@@F4ll-Nyou are a *LEGEND*

[@ralphzogheib]

A+ for the sense of humor... A++ for adding fails... A+++ for perseverance! Keep up the good work!

[@TR-qt8tf]

Love a guy who hits a wall or the same wall and never stops moving towards their goal. Can't wait for more.

[@jerbear7952]

You've clearly never owned a Castle. Then you'd change your tune

[@StarForgers]

@@jerbear7952 Proceeds to fall into the Grand Canyon and walk into the cliff face repeatedly.

[@Tocqueville2023]

Alexis De Tocqueville in "Democracy in America" (democracy is meant, generally democratic, not the party) But he describes American farmers 1830, as tinkerers..inventors , an amazing part of American history. My earlier years was spent in a Cummins dealership. There were two guys who grew up in the country...they were the best mechanics

[@toddai2721]

Lovers hit walls... winner hit home runs. Check out my homerun... I am best engineer for China.

[@bentheremedia3011]

When you pulled apart the copper for a second time I just wanted to give you a hug lol. I’ve had to start over on my unreal engine plugin multiple times and the excitement/frustration is very real. At least in my case, it’s literally just code and not physical labor haha. This is such a cool project, thank you for sharing it!

[@LupusMechanicus]

Coming from a tinkerer in life and unreal engine, there is no difference bro, just hair pulling.

[@glock2point059]

If that happened to me, a hole is going in my wall

[@excitedbox5705]

To wind a motor coil use a long dull tip syringe tip mounted to a pen shaft. It allows you to "place" the wire between the slots where your fingers don't fit. Try bending it to different shapes if you need. Long sowing needles eyelet bent to a hook could also be used. Ideally, you want to fasten the stator to a fixture so you can use a second hook tool to pull loops into position with one hand while guiding/"paying out" the wire with the syringe tip or needle in the other.

[@snakezdewiggle6084]

@excitedbox5705 ✅ Genius.! +10,000 likes. Now, who are, and where is the hunan you replaced.?

[@TheScarvig]

@@snakezdewiggle6084 my dad works in a company making electric motors and they have a 5 axis machine that does exactly this fully automatic.... it does permanent tension control, bend radius control, full 3d positioning of the wire in the channel and even tacks and cuts the wire to the bus terminals when switching which winding its on...

[@snakezdewiggle6084]

@TheScarvig Yeah cool, thats great. What's your point?

[@kwonekstrom2138]

I have a mind to make gcode for my cnc to follow the path and make a little device to handle the details of wite position and tension for these.

[@Paul-rs4gd]

I think winding the coils is the biggest obstacle to home made electric actuators. If somebody finds a way to automate this, or simplify the build, it would be very useful.

[@DerSolinski]

Great video! A small side note, one thing to keep in mind when using cheap rare earth magnets: Buy in bulk, more than you need! Their Tesla field strength is all over the place, if you want to build high efficiency motors you need to measure and sort those to find similar Tesla strength. If you don't do that you can introduce nasty harmonics confusing your motor driver.

[@BentFunction]

Could you maybe suggest good magnets? Like these that are used in video? Where one can by them? There are a lot of magnets by amazon, I already bought several in the past, but they were not strong enough. Gerne aus einem deutschen (Online)-Shop.

[@DerSolinski]

@@BentFunction Best place are specialty shops that only sell magnets. They are still a bit inconsistent at times but way better than the cheap garbage. Theres a bunch of them, but you need to google them because YT just silently deletes comments with links nowadays without any warning. Except for those on googles payrolls, those are fine for some reason 🤔

[@sotirisbekiaris4055]

If you have any eshop recommendations that would be nice!

[@DerSolinski]

@@sotirisbekiaris4055 I did, but YT keeps deleting those comments. Apparently I'm a scammer for including helpful links to sites that don't pay the G for ads. Way to go to destroy a platform. Lets see how long this stays up. And they wonder why people are so pissed.

[@sotirisbekiaris4055]

@@DerSolinski hm thats sad. I don't know if you posted again a link. I can't find the comment... Try adding it with spaces so it is not recognised. We are going to figure it out

[@dorjedriftwood2731]

Dude you are an absolute legend. Thank you so much for posting your fails. Showing my students that failure is part of the process is so hard to get when people hide there mistakes because internet narcissism or plain old human shame. I loved seeing your try fail cycle and you triumph by keeping the effort moving forward.

[@philxcskier]

That’s so cool! When I was in school for mechanical engineering, there was a single mechatronics elective available only every 2 years- and it filled up in less than 10 seconds after registration opened.. needless to say I didn’t get in. I’m now hopeful that I can learn a lot about robot design on my own time from open source projects like the ones on your project! Thanks for making this available for people like me to tinker with and learn- it’s really awesome

[@bobweiram6321]

I've watched thousands of build videos and I've never felt this intimidated.

[@robinkarlsson1460]

I’m completely stunned by how you are able to muster up the energy to do this stuff while studying hard at university. It’s not like you are just throwing things together haphazardly! Amazing channel dude.

[@deshazo_henry]

It feels like I've seen a lot of videos of these 3D printed gearboxes lately but this is the first one with this production value I've seen well done

[@austin-91]

I was building my own CNC machine but I can tell you how frustrating making mistakes can be. Had to tear it down three times and begin from ground zero. Thank God I completed it 😢

[@liamthedevastator]

My favourite thing about your videos, other than the incredible subject, is that when you explain a concept you also demonstrate it physically with a small experiment. Wrapping the wire around the Allen key, running a current through the wire, and picking up nails is such a simple yet effective demonstration of the concept. It's super cool and inspiring. Thanks for sharing!

[@100bees5]

Making content this smart without making the audience feel stupid is no easy feat. This is so cool.

[@krzysztofkowalski2816]

i can fix my car now, and build websites. I am now an engineer.

[@DigitalChurchCultist]

honestly, love how you show us trail and error part of progressing, i have noticed lack of it on internet lately and it feels weirdly reassuring seeing someone else fail but grt up, thank you

[@cvasold]

Nice job. Thanks for showing the attempts that didn't work. Watching you trials made me appreciate the simplicity of the harmonic drive.

[@qualifiednot]

This is amazing. My dream is to see open source mechanical engineering become more common. You can get away with open source software for basic analysis (FEA, CFD, etc), but there really isn't a truly open source cad platform that is usable without enthusiastically introducing your head into your desk. Very awesome that you provided all the cad files!!!

[@nachumtwersky7206]

Absolutely amazing! I’m sorry about the A1 recall though, Bambu really does make great printers

[@googleyoutubechannel8554]

Quality man, your range of engineering skills is enviable, might not beat the MIT cheetah motor, but that was like teams of phds, this is super impressive for one person iterating on a design.

[@billj4137]

Guys voice sounds like he should be doing shows on the discovery channel. Interesting video and great job putting this together.

[@esser50k]

I thought this guys was overrated.. now I think he's underrated. This was very impressive!

[@jay.from.intrnl]

I'm glad to see that this is do-able!! I attempted a similar build with a planetary gear system and got stuck at making the rotor on my cnc machine. Also, making durable gears from scratch was a challenge

[@garbageman3992]

such amazing production quality, simple and easy to understand yet somehow explains more in such a short time than anywhere else on the internet. awesome idea as well and just amazing video overall. not even 4 minutes in and you definitely deserve a sub!

[@explorer_1113]

Wow. This amount of production quality, humour, skills??? Learnt a lot from your vids.

[@RobertLBarnard]

Beautiful design and execution! Tested under load with no cooling and no lube. Yes, fully out of metal would be awesome!

[@fabianmuhlberger6153]

Internal Wobbler dive - pretty good name! TY for showing the iterative process, and also the mistakes you made! Amazing work! It is also pretty cool that we live in an era where we can go from printed prototype to machined part as an Individual without a big company. Pro tip: if you have friction fit metal parts, temperature differences are your best option. Put one in the freezer and one in the oven and chances are, they will fit together. ;)

[@bryanst.martin7134]

A few decades back there was a guy with a 5ph system. I proffered a "rim drive" system to "create the future" program and won a nice tool. A huge peripheral magnetic drive for large ships. The huge horizontal flywheels would help stabilize the ship in rough seas. It was really simple, and reliable.

[@noahboursier]

Hitting it with a hammer and ".9 inches is more than enough" had me rolling.

[@htomerif]

I was so wrapped up in how great this thing was I didn't catch that it was definitely gonna burn itself up until you mentioned it. It seems like in a cycloidal drive with steel or aluminum hardware, it would be vulnerable to galling in the long term, which a planetary drive isn't. I know there are steels and coatings to deal with galling but they're not usually cheap.

[@AbdulRahman-ju6wk]

With this level of production quality, you deserve wayyyyyy more subs

[@tehspamgozehere]

The tossing of parts and the mad tappytapping 'calculations' add just the right kind of humour. Nicely done.

[@jasontaylor6517]

Just a tip for getting interference fits together easily. Cool or freeze the aluminum part and heat the steel part. Usually putting the aluminum part in the freezer is enough but depending on how you clearanced it you may need dry ice or liquid nitrogen. Heat the steel part to 300F. Usually only one of these methods is needed to get a tight interference fit together but sometimes it takes both.

[@GovernmentFails]

the fact that you basically matched the quality of a production motor is crazy even if 0.9 inches isn't that much

[@amogusenjoyer]

By far the best cycloidal and robots projects in general on yt right now. Very well thought out

[@syntaxerorr]

Great video. You have a lot of faith in that actuator with those weights hovering above your laptop!

[@milkrecu]

A next generation Jeremy Fielding. Great details ( complete w/ miss steps), theory and documentation. Thank you and please keep up the good work.

[@JaredWyns]

Epic build, I've been wanting to build/design one of these for a hex/dodeca bot I've been concepting, this'll serve as a good reference point for a similar type of design as QDD is necessary for the desired torque values. Awesome insights!

[@RJ-xc3pb]

I'm currently waiting for the eccentric cycloidal gear project. By the way, great work!

[@JPToto]

I love these exploratory videos so much. Well done, sir!

[@greapsoho]

Also just in case nobody knows this, every city, suburb and rural town has at least one machine shop. Almost no one can say that they have"limited access to mills or lathes holding me back".

[@patrickmurphy255]

This is really cool. I actually made a 'non-internal' cycloidal actuator for my Capstone project in undergrad.

[@ReighKnight]

I have been thinking to develop exactly the same motor for 3 years now. Good you made one. I even read the same MIT research papers. Great work dude, keep it up

[@ericlotze7724]

13:15 This is the math equivalent of the “Movie Hacking” lol

[@Noname-iq1gz]

That’s what I do in exams so the teachers don’t suspect I’m cheating

[@grinselbub]

Phantastic engineering skills, great sense of humor. Also nicely edited. 👍 Never give up, never surrender!

[@keenheat3335]

how nostalgic, havent seeing a graphing calculator in use since a decade ago. Thought they all got replace by smartphone app by now. I remember programing my ti-calculator to solve fluid dynamic problem that show all the intermediate calculations, so you get full credit during exam. I think ti-basic back then only support single letter variable. So you only get to use 26 variables in your program. So I had to use array buffer to store additional variables. tons of goto statement. Debugging the program was a pain in the ass. But I'm glad to see graphic calculator is still being use by student today.

[@Muny]

Awesome work! It looks like you put a lot of impressive effort into this design.

[@TallinuTV]

Awesome, I loved watching all those tests, especially how precise it was even with the weights on it!

[@lucaswalker7093]

Props to you for continuing after the things kept not fitting. I would've probably gave up after spending 5 hours wrapping that copper lol.

[@dieselphiend]

Bearings strike me as the single most underappreciated thing in human history.

[@SalimsWorkshop]

Your videos inspired me to start my own KZbin channel! I’m currently making shorts and working on my first real video about a project I’m doing. Thanks for the inspiration!!:)

[@QuintBUILDs]

Well done! Almost thought I heard old Airwolf theme music towards the end.

[@OddJobEntertainment]

7:50 Slight correction, when the output of a gearbox is the opposite shaft the gear ratio of a cycloidal drive is r= (P-L)/L where P is the number of pins and L is the number of lobes on your gear. This can usually be simplified to n-1 compared to the number of pins. You can also use the casing as an input or output, in those cases you have an n ratio to the number of pins. I've been playing with some cycloidal designs myself for some university projects as well.

[@MarkHarrison-rp2tq]

I learn so much from each of your videos... not the least is that an impressive final result is often built on top of many retries!

[@Brocknoviatch]

I thought I was the only person who used a calculator like that! Super impressive video, thanks for sharing.

[@gentryx]

Love how you also share what didn't work.

[@marionardoni]

Wow, I just had to pause the video to say how impressed I am with your work! Your clarity, confidence, and knowledge really shine through, not to mention your great sense of humor. It’s rare to see such a combination! I have immense respect for what you're doing here. Keep up the fantastic work-I’m excited to see what you come up with next!

[@kersgames6382]

This is just AMAZING! So cool!!! I will make one and find the system properties to make it run on a MPC algoritm! No integrator windup and optimal control in one!

[@ChrisLocke1969]

very impressive - probably the best DIY actuator motor I've seen yet! Top Kudos to You!!!!

[@kirleyq1394]

Criminally underrated channel

[@0MrENigma0]

While most of this is over my head on a technical aspect.. or rather requires more focus than I am able to give at this moment.. I must say how amused I am at how you have used a tablet to make your own type of whiteboard animation. Thanks for your efforts and ingenuity.

[@jisookim9971]

I have also same design idea back then but I don't have a 3D printer unfortunately and seeing it works is absolutely awesome!

[@iChromie]

Incredible problem solving and persistence! Great you was the project through to the end - the results speak for themselves 🚀

[@hayoun3]

This is truly monster actuator Ive ever seen in terms of opensource

[@shardoolgokhale109]

You never fail to amaze me with these high quality videos!! Keep it up Aaed!!

[@AaedMusa]

Appreciate it bro!

[@brandonfarmer4323]

This guy drives himself crazy designing, building, testing, and improving his design, just to get to the end and throw it away and never use it? This hits a little too close to home for the rest of us engineers, hah. Nice work, thanks for sharing!

[@NikoKun]

That future theoretical smaller version sounds like it would make an amazing part for building a humanoid robot.

[@TazerEngineering]

This is high quality stuff. Designing the whole actuator must have taken forever and the editing is also on point!

[@comradeotaku2412]

James Bruton did this 3 years ago, it's nearly a 1:1 and it's giving off impersonation vibes, like the carbon fiber tube test and the stock video of Boston dynamic dogs in action which were also in his videos. However I acknowledge the fact that it could be convergent development and you two just had the same idea. I don't mind inspiration and recreation videos, taking ideas from others and giving it your own spin, but I draw the line at impersonation.

[@comradeotaku2412]

kzbin.info/aero/PLpwJoq86vov-0hxOQPff-6LvpvcojPUH0

[@RACHIDZE]

Good job, Musa,really I like your work it's too much great I hope a big future to you. I'm Rachid from Algeria 🇩🇿🇩🇿

[@ImeanFFS]

Just discovered this channel, I'm on a glorious binge!!

[@stormycatmink]

Ahh.. school, when I could focus on just doing cool things.

[@Jorgefer88]

Your video is very interesting!! After the first design of my completely 3D printed actuator and seeing its limitations, I am making one completely in metal. In my case I have acquired a small CNC so I can do everything from home. It's funny how much of what you explain in the video I have experienced (the hard way) heheh

[@AaedMusa]

Your actuator was actually part of what inspired this project. Can’t wait to see what your come up with!

[@Jorgefer88]

@@AaedMusa Thank you so much! Your videos are very instructive and original, you have given me some ideas too. I would also like to see your progress!

[@suomi35]

Another awesome project. The world is lucky to have you!

[@peterm9696]

That winding and unwinding those coils must have been extremely painful. Love your videos

[@brunobock372]

Really good stuff. Ironically got the recommendation while designing a planetary actuator and wishing I was allowed to use cycloidal for the project

[@davidluftig4644]

Fun and very clear! Thank you! Looking forward to seeing prior work and future projects. BtwGreat presentation skill, clear large graphics. Good/great pacing , sound and wonderful comedic timing! Whoo hoo!

[@IstasPumaNevada]

That's an awesome design. Very cool seeing the process of design, assembly, and testing.

[@marc_frank]

man i've had this video in my recommendations for a month already always skipped it because no design ever has or will be truly optimal but fine, i'll watch it now

[@AaedMusa]

Hopefully I've changed your mind! I call it the optimal design because it is compact, allows for virtually any gear ratio and if built properly has little to no backlash.

[@marc_frank]

​@@AaedMusait is pretty awesome 👍😃 and i was very happy when i saw your reply

[@arnaudthiercelin8631]

This was great. I really like your format. Super rich in details, not much fluffs. Looking forward to more.

[@a-aron2276]

This is unreal, I love your sense of humour, it's quite Irish, sarcastic af😂

[@frafracho473]

Your videos are really amazing in every way, you’re clearly one of the best KZbinr out there

[@BessChoice]

Bro.. you are built different. Great job on your consistency and creativity.

[@_The_Phantom]

Thank you, I've been lazy with my robotics project searching for an ideal motor setup, this is going to help me a lot

[@Fleurlean4]

What are you making?

[@MushInSkull]

​@@Fleurlean4 Besides a mess?! 😂

[@Fleurlean4]

@@MushInSkull …of their finances

[@smolbug2975]

11:55 my mind is entirely blown. I had no idea that existed.

[@-n3rv1o43]

quite impressive improvment here, i'll waiting for more cool designs

[@CenReaperYT.]

I was waiting for the new video for 2 straight months lol

[@muffty1337]

Your actuator had me impressed. I like the performance. :)

[@ohp98]

This video led me to binge all of your other content and hit the subscribe button, great work!

[@BobbyDukeArts]

Really cool project and excellent video!

[@AaedMusa]

The Goat!

[@twistedshadowsaf]

Most stressful point in this video is 16:04 .. watching those weights move towards your laptop is like a final destination reel in my head

[@sansbury95]

Very impressive. I've machined a number of cycloidal gearboxes and have found them to be a real bear to get them to run without binding. To get this kind of torque is a great result. The other thing I've occasionally wondered about is whether you could print a harmonic drive using nylon or something similar for the flexible ring.

[@Maverus]

This channel is criminally underrated...

[@djruido1]

Bro when you said open source I felt back from my chair. Thank you 🙏🏽 😅

[@antonioanaya1807]

Thank you. This is a Wonderful contribution to OSH communities trying to reduce their supply-chains! I'll spread the word.

[@PhG1961]

Amazing! You're my hero! Great ingenuity and craftsmanship! I'm looking forward to see your next video!

[@Mercurium]

Amazing work, cant wait to see what you do next!!

[@Mehmet-nn3rk]

If you want to make it even more compact, here is my suggestion, instead of using central eccentric shaft, use 3 of them located between outer diameter and inner diameter of the cycloidal disk. place 3 double eccentric shafts with helical gears at the end of them. Now put a central gear that motor will drive. This way, you can play with reduction ratio much more. This configuration will give you approximately %20 less volume and mass while specs are similar to your model. Cheers

[@silverace_71]

im making an AI powered robot and this is by far the best motor i found online (with everything open-source) Cant wait to see it optimised even more!

[@MitchStahara]

Your production quality is increasing, also awesome motor design, well done!

[@coolbosplayz5318]

Umm im to a point early and just wanted to say ur content is something i specially wait for to watch, its a good day when u post.