Building the Terminator EP14. Shoulder

Continuing with the Terminator Build, working on the shoulder joint, quite a lot of machining went into this one.

[@ErnoSallinen]

I am utterly fascinated by your work. Amazing stuff.

[@SmilingDevil]

I mean this in the most respectful and encouraging way anyone ever said something to show respect and encouragement: you are certifiable nuts and I love it!

[@CraigLYoung]

Thanks for sharing 👍

[@regalheros347]

The level of thought and execution here is fantastic; those cycloidal gearboxes are superb. The gear hobbing machine is put to good use; wire tendons are a good human analogy. Great result and video. Thanks.

[@AndysMachines]

I've built robots with cable tendons in the past and always had problems with them (cables can stretch, slip etc..) So it wasn't my first choice, but I think it's the best option here. I'll find out how well it works when the arm is attached.

[@softandwet7350]

Tldr: I likeeee

[@Smartzenegger]

Very clever analysis of the mechanics and very clever way of pouring the metal so you don't choke the hole. Man, the way you design this and how it works, this is just genius!

[@josephbooth8431]

Love it, this thing will be fantastic when it’s completed

[@HardbrasH1]

Just remembered why I'm subscribed to this channel

[@FCleff]

Brilliant! Art in every respect! A modern-day Leonardo Da Vinci at work! Thank you for sharing, Andy.

[@Cyrob-org]

Awesome, very nice job !

[@3DIYOriginal]

Awesome Build !!! Congratulations !! 👍🏻👍🏻👍🏻😎

[@xarvacei6934]

Thank you for making that Dream true for so many people! So complex and welltought great work!

[@joell439]

Stunning 👍😊👍

[@lumotroph]

This thing is going to be a monster!

[@franksiam2975]

super good.. and fun to watch it

[@Smallathe]

A wonderful project. Superbly made and very impressive!

[@user-zy6hj3rw1m]

beautiful. Monster of his business !!!!! 🤖🤖🤖

[@rootvalue]

I am so grateful KZbin introduced me to your work. I think I anticipate your builds even more than Clickspring’s Antikythera videos! 🥲

[@BriShep123]

I had no idea someone is building an Antikyhera replica, thanks!

[@MrZomhad]

Really sick man! Very excited for the next episode of this!

[@jonathanjuanola8054]

Thanks for sharing 🙏🏼

[@benjifelicce]

its always a pleasure to see your work!!!!!

[@Andrew_Fernie]

Nice castings 👍

[@AndysMachines]

Some of them came out well, some had porosity/inclusions, Some I had to re-do. My sand casting technique is a bit rusty, I've not done this for quite a while.

[@jbrownson]

I've seen a few 3D printed cycloidal gear boxes, but not a scratch built machined one, neat video, thanks!

[@AndysMachines]

This is actually the first cycloidal gearbox I've built. The design was largely dictated by the space it had to fit into and the fact it had to be hollow. It turned out fairly well, it does have a small amount of backlash but runs nice and smoothly.

[@SDRIFTERAbdlmounaim]

now this is a good notification to wake up to 💡

[@jonathanjuanola8054]

He did it ! He did it !!!! Again !!!! Yeeeeees !

[@DoktorHalloween]

Stunning. Please, keep going!

[@ianbertenshaw4350]

That’s insanely good engineering!

[@smaqdaddy]

Anticipating the next installment! Have the notification bell on for it! Very nice work!

[@timmienorrie]

Super stuff!

[@bumpybumpybumpybumpy]

I've been absolutely loving this project. Keep up the great work!

[@molinaaugusto]

genio!! muy bueno. saludos desde argentina!!

[@Ducerobot]

Cool build.

[@gaminc01g9]

amazing again !

[@TheMustangGuy]

Very awesome work. I love watching your videos!

[@stevensmart8868]

Wow. Great work dude. On the engineering and videography.

[@tetepeb]

So glad your back, i really love this project. Thank you for documenting it for us :)

[@deany53]

high salute sir,, very clever

[@user-ux3dt7rr4e]

Это будет шедевр ...👍

[@douglasharley2440]

dayum dude, you never cease to amaze! i am absolutely certain that you could actually build a real terminator...a machinist terminator, not to destroy us, but to save us from improperly-hobbed gears. 🤣 peace

[@lazguevara151]

awesome man I love it!

[@cegp9942]

Наконец-то! Большое спасибо, автор!

[@matus1976]

This is awesome

[@thecorbies]

What?! NOT made from nimonic alloy? Pah. Only kidding. Great work. Regards Mark in the UK

[@jeremiahbullfrog1844]

May i suggest you put the next and previous episode at the end of each video of this series?? GREAT WORK HERE.

[@dhavalpithva5233]

The next level job and the next future is robot

[@hideyourcables]

This is amazing. But I need to know. What did you do in a previous life? This isn't some run of the mill, "oh I watched a you tube video on it", you have some amazing knowledge behind it all. 5 stars!!

[@older-wiser-better]

WHOA !!!!!!!!!!

[@herobot12handpie92]

Awesome

[@gregwmanning]

WOW

[@LargeFry1]

I am really enjoying this build. your skills are stellar. I like these later ones where you have a running commentary. Would have been cool if you made the motor for the shoulder much stronger. You said 40nm is comparable to human. This is a T-800. Should be 10 times stronger than puny human. Maybe hook a diesel truck motor to it. :)

[@pissmilker2313]

Make sure you leave place for limit switches or rotary encoders, so it'll be easier to pose later when it's done.

[@rootyourmom]

F"+_+Ng KZbin! I gotta hit the bell for your videos, they never miss, but I never see them! Good work Andy, love it!

[@AndysMachines]

Hey Ryan! Good to hear from you, thanks for commenting!

[@nou5440]

nice

[@user-kz2wp9gs1i]

Супер !!! :)

[@PISTOLERO1988]

👏🏼

[@MrVolt]

Thrilling progress and wonderful work in this episode. How did you calculate the design for the cycloidal drive? CAD plugin or?

[@AndysMachines]

I actually designed it in excel using a formula I found online, then just copied and pasted the values into a gcode file for machining. Only the cycloid discs were CNCed, everything else was done on a manual lathe/mill.

[@gennadyplyushchev1465]

So great build, and so bad motor! :)

[@AndysMachines]

I actually really wanted to use a brushless motor for this, but even the low KV ones have a much higher max. speed and much lower torque at low rpm, meaning I would need more gear reduction, since I want low speed and high torque. Brushed motors are more 80s anyway!

[@20thcenturyfoxyoutube]

If you can completely automate this process, Skynet will be that much closer to ending the world

[@sergeyworm1476]

I love this project! Could you tell what is the weight of one shoulder? And how are you going to control the motors and joint position? And have you thought about using brashless motors?

[@AndysMachines]

Thanks! Each shoulder unit weighs around 5kg. The motors or joints will have encoders attached for feedback of the position. Yes, I initially wanted to use brushless motors due to their better power/size ratio, unfortunately though they are much higher speed and lower torque than brushed motors meaning they need a bigger gear reduction so the advantage is lost.

[@DrDevos]

brilliant work as always! fundraiser for CNC, waterjet or tool of choice? would serve you well.

[@SamwiseGamgy47]

Ok so we’re just helping to design the murder-robots now? Is that it?

[@MadHatter123456]

Holy cow! How come the almighty algorithm isn't pushing your channel harder?

[@seeza]

Skynet got to you too, huh?

[@eldricliew6223]

What's the backlash you managed to achieve on the cycloidal gearbox? Very curious how good a DIY cycloidal can be.

[@AndysMachines]

I did measure the backlash and it came out to around 0.5°, though I deliberately cut the discs with some clearance to avoid binding as I was aiming for smooth running rather than low backlash. I'm sure it's possible to do better with DIY equipment, even some of the 3D printed ones I have seen have been pretty good.

[@eldricliew6223]

@@AndysMachines Thanks :)

[@cyberneticinterfacemodular3996]

Any milling machine you use.Do you use CAD sofware.

[@artbyrobot1]

can you do a video clarifying the goal of this project please? Is this just a animatronic or will it be a full blown humanoid robot that will be capable of doing tasks and walking around etc?

[@AndysMachines]

The goal hasn't changed since the start, though perhaps it will be time for an overview soon when I start putting all the individual pieces together. Yes it will be an autonomous robot, but it won't be able to 'walk' (refer to ep.1).

[@artbyrobot1]

@@AndysMachines thanks for replying. I guess I hadn't seen that first video for years and forgot stuff in it.

[@web2156]

My guys hands don't look real! Maybe he's a Terminator and he's just building replacement limbs!

[@gregwmanning]

Gday Andy, Have you done a video on you rolling machine used in this video?

[@AndysMachines]

I actually built that slip roll because I couldn't find a small one that would roll thicker material. Yes, there will be a video on this coming soon!

[@martysmith871]

Id say grab a 3kw brushless motor and go into actual terminator strength territory. Though I think Cameron said it was actuated by high speed hydraulic servos in "real life".

[@Jimmy_Moon]

What was the weight for whilst pouring the molten metal Andy?

[@AndysMachines]

To keep the top half of the mould in place. Aluminium is denser than sand so sometimes the top box can float on it and the metal will leak out of the sides.

[@Jimmy_Moon]

@@AndysMachines I didn’t know that. Is it 100% sand you use or is it mixed with anything?

[@AndysMachines]

It's a naturally occurring sand but it's actually a mixture of sand and clay (Bromsgrove greensand).

[@cyberneticinterfacemodular3996]

What lathe are u using.

[@AndysMachines]

It's a generic chinese 10" bench top lathe, sold under many different names.

[@EliasFakenami]

Did you make that Terminator model yourself?

[@AndysMachines]

It was actually a couple of different models I downloaded from Turbosquid for reference.

[@EliasFakenami]

@@AndysMachines You should really credit the original modelers then. Someone put a lot of work into those models.

[@AndysMachines]

I actually bought them, they weren't free, and this was many years ago (more than 10). There are many more better models available now and the ones I originally purchased may no longer be there. There are also many free models available on Thingiverse, but most of them seem to be copies of each other and all seem to have deliberate alterations made, perhaps to get around licensing/copyright laws.

[@JanTuts]

Do you ever interact with your fellow UK KZbinr James Bruton?

[@AndysMachines]

I watch his videos, but that's all. Though I think he lives not too far from me.

[@comradeweismann6947]

Comments for the Algorithm God

[@ellgwapo.1754]

Meby the most' of posibol.

[@wantafastz28]

Pour faster!