Backdrivable Kinematically Redundant (6+3)-DOF Hybrid Parallel Robot - Part 1: Trajectory Control

This video demonstrates the operation of a novel backdrivable kinematically redundant (6+3)-dof spatial hybrid parallel robot. This robot has a very large translational and orientational workspace. Redundancy is used to completely alleviate singularities and to operate a gripper without having to mount any actuator on the moving platform. The parallel hybrid architecture yields high dynamic capabilities, as demonstrated in the last part of the video.
Links to related research articles:
- Concept of the general architecture (RA-Letter): ieeexplore.iee...
- The robot design and analysis (ICRA-2019): ieeexplore.iee...
- The forward kinematic analysis (Journal of Mechanisms and Robotics-2020) : asmedigitalcol...
Link to related video:
- Human-robot interaction : • Backdrivable Kinematic...

[@aion2177]

Gives you an idea how freaking well designed human hand is that it can do all that in fraction of the volume, and have even more sophisticated grip then 2 flat jaws coming togheter.

[@Deaner3D]

wish I had a second thumb attachment though...

[@rajashashankgutta4334]

Millions of years of trial and error will do

[@randomnobody660]

Also...sort of not? Arthritis, carpal tunnel, etc. Lots of features sure, could use some robustness thou.

[@spamspasm8183]

@@randomnobody660 It's plenty robust. When was the last time you needed to have your in-born end effector replaced?

[@honkhonk8009]

@@spamspasm8183 2 hours ago

[@Jontium1]

Absolutely amazing!

[@konsultarvode6527]

Yes, very interesting indeed. I will surely use this one day.

[@HKFencer]

Now put it upside down, place a 3d printer head on it and make it a true z axis 3d printer

[@antman7673]

Looks like very precise engineering.

[@Studentofgosset]

Work has been proceeding on the crudely conceived idea of an instrument that would not only provide inverse reactive current for use in unilateral phase detractors, but would also be capable of automatically synchronising cardinal grammeters.

[@Everett-xe3eg]

Thats amazing and im impressed.

[@aravinthkumar7924]

Good concept and implementation

[@acoral1035]

How did you achive such precision? And how do you avoid gimbal lock and other stuck situations? Seems like under some angles upper joints must stop, and require infinite torque to move.

[@luuk341]

beautiful work!

[@numbernine5044]

This will hopefully make our electric vehicles one day. I can see this assisting an assembler putting and installing small and heavy parts into tight spaces.

[@SynthRockViking]

How would program from scratch, how the motors react to input from a controller? 🤔

[@pirobot668beta]

I'd like to see this at the end of a larger 'arm'. With this as a 'finger', it could handle all sorts of tasks with a tool-changer at the finger-tip. 3d-printing rig, gripping tools, cutting tools, welder, drill, instruments, cameras...just the sort of thing to send out the Asteroid belt and build a habitat before the Humans get there...

[@aoeu256]

Yeah this will be nice for a self-replicating universal constructor. I see a lot of 3D printers have arms(kzbin.info/www/bejne/fmSpl4isiK17nJI), but if you let the nozzle detach from the hand you could also use the hand to assemble things like itself (it would 3d print its parts). However, to make it work for anything it needs a large amount of redundancy which this has.

[@user-by3jd3ub6s]

wonderful

[@whoaboutofcup]

Best auto prayer.

[@rezganger]

what are these used for? its very articulate but i dont see too many uses,in addition to what other robots do. please elaborate. im sure theres more to it than what i see.

[@muhammedendesutku2714]

just woaw amazing 💯

[@David-wd3vi]

Need to show combined rotation and translation. Also Z axis translation was not demonstrated.

[@georgeslucas3389]

Il y aurait des choses à faire avec Thales pour les motions des simulateurs de vol !

[@Jake-wl2ol]

Please i just want to see this be used on a 3 d printer for conical slicing

[@Terrestre1]

Impressive!!!!

[@ericz4992]

You can find 6+3dof platform in my video zone,I designed it and it’s for VR game,also I made a huge platform can contain 24 people at the same time.

[@weihe4586]

Amazing work! Would you please tell me the parameters of the motor or where I can get one?

[@tan-sy-nguyen]

Thanks !!! Please refer our article about this robot: ieeexplore.ieee.org/abstract/document/9306904, where we also described the hardware.

[@vice.nor.virtue]

0:51 me when Sandstorm comes on in the club.

[@AI_LookBook_Studio_AI]

wow wonderful

[@faked8586]

What’s the point of the redundancy? Why not just 1 arm that can do all of this? Is it for rigidity?

[@aoeu256]

This would be good for a replicator like a replicating 3d printer as parts could become damaged so the redundancy can help you. By noticing which parts work and which parts don't work you could make the parts replaceable especially if you have multiple of these hands. One of the hands would take out deficient parts that are connected like lego, use a 3D printer nozzle to print a new part and install it, the deficient parts would be back into the melter to be used to print new parts like a hand would be made of multiple of these 3D printed parts. If you print another 3D printer but smaller you could make an even smaller replicator hand on going and the redundancy will help correct errors until you reach bacteria size. Our big-machines would then be made of a network lots of these tiny redundant 3D printers allowing our "things" to self-repair. You could go backwards and build massive things by self-replicating the machines using easily found material like sand, mud, carbon from the air, ice on top of mountains, being careful to also build energy collectors.

[@DoglasBubbleTrousers]

Is this comedy?

[@edwardandrade4390]

I'm gonna need one or two of these to replace my knee joints

[@edwardandrade4390]

@Sir Scofferoff no kidding I'm gonna move super fast with perfection

[@thomasstuart6861]

But does the tri motive parallelogram method work as well as any other method of deriving the polar position of a half sphere of any radius. I wonder are the co-ordinates described as a sphere with finite variable radius. The question is can it elevate the sphere and retain the perpendicular aspect. I also wonder if it could better be done by cable pulley/sheave encoding rather than direct rotary encoders. I also wondered are those counter balances on the drive axis. Must be working very very fast to need those.

[@jmez927]

What’s missing is the gattling gun missile launcher fusion cannon attachment. Then is would be useful

[@MightyRoy]

If inverted it could be a state of the art delta printer

[@lucrolland7489]

Well done Clement. This parallel mechanism could make a nice CNC machine. Do you want to work with me on this?

[@pkmcnc]

I doubt about the machine tool. Rotary actuators are not stiff enough

[@lucrolland7489]

@@pkmcnc Using PKM for machine-tools was my PhD thesis topic. I agree with joints in general but the actuators are the stiffest that you can imagine. As for rigid joints, after my collaboration with professor Hebasker at ETHZ in around 1996, that was a topic I worked on recently when I was at Memorial University and solved so it is now possible to make stiff revolute, universal and ball joints.

[@andriikyrychenko248]

@@lucrolland7489 Nice to meet you. I also has been working with PKM machine tools in my lab, you can see some of them in my videos. Sure, having rigid and precise joints is the key to building a decent machine tool... Not that I specifically worked on this, but I haven't found a simple and efficient design yet. I just located the ME thesis of your student in Memorial University. At the first glance I like revolute and universal joints, but the design is getting cumbersome for the "ball" joint. Are they capable to bear significant forces in machine tools?

[@lucrolland7489]

@@andriikyrychenko248 Indeed, I could design them to withstand the necessary torques and forces. They are just the rotary version of the V-based prismatic axes that you find in CNC machine-tools and if you want to discuss how this works then we can meet over Zoom. There is also a conference paper presented by my student. Send me an email to [e-mail]

[@pkmcnc]

@@lucrolland7489 I emailed you on Tuesday

[@Julli1202]

Has the sound been disabled?

[@HKYT649]

cool

[@yohanesadiprayogo]

🙏

[@xczhang2974]

I like this video so much. If you don't mind, I would like to ask your permission to share this video on China's other website. Of course, I will give sources of the original website. Thank you very much.

[@tan-sy-nguyen]

Thanks !!! It's great that many people like our work and of course, it's nice of you to share it with a clear source information.

[@jargero8203]

Imagine a gun mount

[@TheWizardGamez]

Enemy: lol, im out of its FOV Gun: Aims at itself Enemy: wait... Gun: so u have chosen death

[@Nobrainn]

stop flexing lmao nice work

[@user-cj3bx7fd7d]

ストリートファイターのダルシムみたい

[@gigachad1983]

cool dance

[@lordhexon]

Isnt university of laval pushing french only policy ?

[@palakons]

oh, this is NOT a render!

[@kasperpborum]

tsamenamam

[@user-ow7qc9lh1e]

Исполнения индийскава танца

[@chenhaoqian7838]

we are ball screw original factory, hope we have Chance to cooperate

[@firsfnamelastname8490]

lol

[@Mindsi]

Can a robot play flamenco guitar yet? $1000 if you can build it. Another $1000 bonus if it can actually physically compose and play a piece of classical guitar! And a another bonus if you can get it playing piano!

[@cho4d]

robot playing piano has been arounda long time - see pianola

[@Mindsi]

@@cho4d that’s too linear, even though it’s on a roll!

[@ivantut9210]

It is expensive usless toy.

[@deildegast]

You meant, "I am" instead of "It is" ? This is a research prototype.

[@retard1582]

The problem with all of these stupid Kinematically redundant movment systems is that they all just waste energy by having unnessacary extra joints, and actually limit your rotational axis and your range of motion. The recipie for success has been figured out in the 80s; copy biology, improve what you can.

[@edgarpoe7255]

Yes, yes, but can it make coffee?

[@yourchannelname325]

make shure it can be crushed by a giant hydraulic press...

[@jinhur8193]

Damn, is this 2015? Or does canada suck ? .. no wonder their laws are ridiculous…