One-Motor Robot Arm #2 - Differential Drive

Рет қаралды 154,770

Күн бұрын

Пікірлер: 187

@dustida 2 жыл бұрын

James I don’t know if you step back occasionally and appreciate your work but this project is absolutely incredible. This could be an entire mechanics thesis and you are just doing this as a fun project. As always I am absolutely blown away

@BlueScreenCorp 2 жыл бұрын

As a professional applications and services developer, who has almost 10 years experience, and who does some hobbyist mechatronics I agree the stuff that James does is magic

@TheAustinyarnott 2 жыл бұрын

This man brain is operating on another level entirely. brilliant and incredibly satisfying.

@BardCanning 2 жыл бұрын

James, you consistently have the weekly output of an engineering prototyping team. That's not including the additional work to shoot and edit the videos. I'm equal parts confused and impressed.

@Cheeky_Goose 2 жыл бұрын

I really didn't even know it was possible to get so many different motions from one spinning motor like this, but this was a great and eye-opening demonstration. Bravo!

@Jehty_ 2 жыл бұрын

The crazy thing is that the system doesn't have to stop with 3 axes. He could ad basically as many axes as he wants.

@reggiep75 2 жыл бұрын

@@Jehty_ - The problem with Backlash in the gears would eventually catch up unless the gears were metal. It really would be nice to see how many axis' could be put in such a project tho.

@adblockturnedoff4515 2 жыл бұрын

Check out breaking taps video on a mechanism with similar concept which is used on JWST. Also don’t forget to check out the comments section on that video for links to other videos with similar concept. It is really fascinating 👍

@bmxscape 2 жыл бұрын

@@reggiep75 gears being metal does not remove backlash, it is the tolerance between the gear teeth and valleys

@BoysonDynamics 2 жыл бұрын

Might look into trying helical bevel gears for the joints. I've used 3D printed bevel gears inside of a similar project in college and we were able to clear up a lot of backlash by making them helical bevel gears. This project brings back so many good memories and I look forward to seeing this completed.

@Roboticlay 2 жыл бұрын

That arm is absolutely mental! Your sketchbook must be a work of art and displayed in a museum someday. A big thanks to James's trifecta of sponsors; 3dfuel, Lulzbot, & simplybearings! With a surprise guest appearance from JLCPCB, that's a great deal.

@Convolutedtubules 2 жыл бұрын

I am starting to think that James has a whole team of people working for him. It just seems like a lot of work for one person to keep doing!

@Vengefultwinky 2 жыл бұрын

I cannot recommend spiral tooth bevels more highly. Straight tooth is very sub par as you could see with the backlash. In traditional manufacturing there's a reason we go through 10x the effort to make spiral teeth, and with 3D printing in this case its practical zero cost change

@Coneshot 2 жыл бұрын

The design of this is absolutely genius! I do have a difficult time trying to think of a practical use for such a design. (but what do I know, I could never create anything as cool as this!)

@jamesbruton 2 жыл бұрын

'Education'

@eccentricity23 2 жыл бұрын

@@jamesbruton Well consider me educated :)

@travisash8180 2 жыл бұрын

@@jamesbruton x, y, zed !!!

@danwood1121 2 жыл бұрын

This channel always gives me the extra push to work on my own projects, the way stuff is presented is really inspiring.

@tafaragadze6432 2 жыл бұрын

How does this man not own a Robotics company? How is this hobbyist? This is beyond amazing. A refined and upscaled version of this could be used in factory robots. 1 motor and large relatively simple gear systems makes them cheaper to buy, operate and upgrade. Maintenance us still up ok the air. And the possibilities are huge, imagine an artificial arm or leg that just needs 1 motor to run, making them more accessible.

@starstuff11 2 жыл бұрын

Have recently started watching this channel, and I'm in constant awe at James' ingenuity and hardwork. Kudos!!

@Skyentific 2 жыл бұрын

My favorite project! :)

@andrewbrown6525 2 жыл бұрын

With everything pivoting around that center it seems like the perfect use case for a slip ring to get the encoder feedback and run an end effector with no angle limits.

@DonsArtnGames 2 жыл бұрын

Thank you for reigniting the maker in me again

@yureca2513 2 жыл бұрын

Only for fans over 18 years old CUTE-LADIES.XYZ/?NAKED ⚡️ tricks I do not know Megan: "Hotter" Hopi: "Sweeter" Joonie: "Cooler" Yoongi: "Butter So with toy and his tricks, do not read it to him that he writes well mamon there are only to laugh for a while and not be sad and stressed because of the hard life that is lived today. Köz karaş: '' Taŋ kaldım '' Erinder: '' Sezimdüü '' Jılmayuu: '' Tattuuraak '' Dene: '' Muzdak '' Jizn, kak krasivaya melodiya, tolko pesni pereputalis. Aç köz arstan Bul ukmuştuuday ısık kün bolçu, jana arstan abdan açka bolgon. Uyunan çıgıp, tigi jer-jerdi izdedi. Al kiçinekey koyondu wins taba algan. Al bir az oylonboy koyondu karmadı. '' Bul koyon menin kursagımdı toyguza albayt '' dep oylodu arstan. Arstan koyondu öltüröyün dep jatkanda, bir kiyik tigi tarapka çurkadı. Arstan aç köz bolup kaldı. Kiçine koyondu emes, çoŋ kiyikti jegen jakşı dep oylodu. # 垃圾 They are one of the best concerts, you can not go but just seeing them from the screen, I know it was surprising 💗❤️💌💘

@robertmartin6800 2 жыл бұрын

He said "bevel gear" so many times that it went all funky and now I can't say it myself.

@yureca2513 2 жыл бұрын

@TheMeditron 2 жыл бұрын

This thing is spectacular! I'm so genuinely impressed and I've been watching you be impressive for many years!

@H34... 2 жыл бұрын

This is really cool, I think improvements could be made to the drive system, theres an awful lot of gears in series introducing friction and backlash. Trying to think of how you could drive each axis more directly from the CVT. As an idea, you could have a timing belt pulley, with a hemisphere on one side of the pulley. The hemisphere meshes with a driven wheel. You can tilt the hemisphere against the driven wheel as you currently do, this would result in some belt twist but as long as the pulley is relatively small or the distance to the next pulley isnt too small the belt should be fine taking up that twist. Then you can drive the axis directly with the belt. Eliminates many of the gears and worm drives for less friction/backlash.

@H34... 2 жыл бұрын

To get rid of the backlash for testing purposes, you could pretension each axis on one direction with a bit of bungee chord. It put some more load on the gearbox, but it gives you more consistent positioning.

@teo4807 2 жыл бұрын

This is so cool, love the large 3d printed pieces. Personally I work with smaller pieces and its so hard to manage the tolerances at that scale. Sadly they have to stay small as the parts are mostly meant for small drones.

@michoxi 2 жыл бұрын

Are you using SLA or filament? With SLA you get excellent tolerances and it became very affordable in the last 2 years

@videoviewer2008 2 жыл бұрын

I'm happy with my 3D Fuel so far. Works pretty nice.

@yureca2513 2 жыл бұрын

@richardward6747 2 жыл бұрын

You are my favorate youtuber atm, legend. As such it is my duty to give you advice so ingenius only smart people recognize it's brilliance.. Pulse Water pistol turret for ceilings with fire-sense stuff!

@HaloWolf102 2 жыл бұрын

You have been a brilliant educator for thousands of students and people around the world. I thank your efforts.

@HateSonneillon 2 жыл бұрын

I wish this video existed like a year ago. Would have been a great reference for some very similar mech art I was working on.

@deplorablesecuritydevices 2 жыл бұрын

Incredible work! I am very appreciative of the idea that 3d printing has given us all the ability to get a glimpse of the inside of your mind. I suspect we are only seeing the tip of the iceberg with all these incredible inventions.

@gammongaming9081 2 жыл бұрын

You have been the person who inspired me to do what i do!

@yureca2513 2 жыл бұрын

@marshallvisions9410 2 жыл бұрын

You are incredibly brilliant, good sir.

@regulatorjohnson. 2 жыл бұрын

I don't know how you do this stuff so quick. It's unbelievable

@Jynxx_13 2 жыл бұрын

Using fine pitch gears should eliminate a good bit that nasty backlash. Just a suggestion cause that beautiful piece of engineering is way above my pay grade.

@Robo_Kong 2 жыл бұрын

This is abousolutly incredible

@MechDickel 2 жыл бұрын

Wow, this is awesome! Very nice project!

@zundappwatercooler 2 жыл бұрын

Incredible love the way you think and design youre models 👌

@rossbrigolimusic 2 жыл бұрын

This is a mechanical engineering marvel!

@charlierobson 2 жыл бұрын

This pleases me greatly.

@c0b678 2 жыл бұрын

I should be asleep but then I saw this.

@yureca2513 2 жыл бұрын

@Mrcaffinebean 2 жыл бұрын

Always amazing James. I don’t know how you do so much so quickly.

@BRUXXUS 2 жыл бұрын

This really is astonishing. Very much looking forward to the next video!

@xaytana 2 жыл бұрын

I'd put a slip clutch within the gears at each of the arm joints, Lego has a fairly simple design that'd be entirely 3D printable. Since the two arm joints, so far, are driven entirely mechanically based on multiple drive inputs, there's not really a way to put a limit switch in the system to avoid crashing one arm segment into the next; plus a limit switch wouldn't do all that much in a drive system like this, other than turn off the motor, as a servo return to zero wouldn't be as effective as a motor shut-off. Slip clutches are the physical analog to the digital limit switch, the arm sees resistance in movement and the slip clutch slips under excessive torque. Since the bevel gears have fairly thick bases, these would be a great spot for a slip clutch, one in each of the shoulder pivot drive, and one in the drive at the elbow. I posted this in a comment thread on the last video, but I still believe the rotational base should have the drive motor vertical, for expansion reasons. This orientation would contain the drive motor and drive system within the base fully. Need a more powerful motor? The universal base could house a stronger motor. Need more outputs? Just extend the height of the base, possibly even via modules, and you can achieve more drive outputs. This would also minimize the footprint, as you're not swinging a motor around with the shoulder swivel, not to mention mass reduction. I still want to see Skyentific's opinion on this kind of drive system for robotic arms, since he's covered a variety of systems. I think the main concern is power and efficiency, each additional drive will sap that additional amount of power. But there's also nothing telling the motor to run at a specific speed to meet the same efficiency as more typical drives. But then the issue becomes that the motor itself needs a transmission, to achieve the various speed and power requirements as various outputs get turned on and off, to have higher efficiency. It's a massive balancing game that would just make this system inefficient compared to having discrete motors per degree of freedom. I think the only practical use, when efficiency is concerned, is having a dual CVT acting as a controllable differential, much like what VW is doing with wet clutches on the rear AWD bevel gear (not a differential) drive system in the newest Golf; but outside of a differential, I think all practicality very quickly tapers off outside of some very specific use cases. It is an interesting concept, though, I just think disadvantages of a multi-output system like this outweigh any practicality.

@retko8718 2 жыл бұрын

I remember at one point designing a locked diff 4 wheeler with forced wheel tilt for steering, and dammit wasn't it glorious

@Paul-rs4gd 2 жыл бұрын

The economics of this approach are interesting. A single large, powerful motor can be used for all joints. That means a lot of power can be delivered at all joints (provided the clutches can handle the torque). This could be cheaper and lighter than using individual motors for each degree of freedom, however system introduces a lot of mechanical challenges, and complicates control of the arm.

@mitulshobbies6868 2 жыл бұрын

I understand the individual words but not so much altogether. But I do like the pretty colours! Great videos, thank you for sharing them with us.

@ParametricCPA 2 жыл бұрын

“There’s nothing particularly clever about this” - looks pretty clever to me!

@kittguy 2 жыл бұрын

Great job! I really like the idea of utilizing a single load motor the way you designed it. As a sidenote I have a feeling that at some point with all vibrations and back and forth load the nuts on the axels will unlock and start moving on the axels with the gears which may lead to linear motion tearing the whole thing apart. Maybe you could make a flat spot on the axel for a lock screw for the gears? Also backlash would probably be less noticeable with worm gears

@rizkyp 2 жыл бұрын

He always makes things look easy.

@Panthera_Leo_ 2 жыл бұрын

You know how factories back in Victorian times had one giant steam engine for the whole building and all the machines are driven by it directly? If those factories got robot arms its how I'd imagine they'd work

@Eden_Maker 2 жыл бұрын

You are amazing James.

@lolcec81 2 жыл бұрын

Комментарий в поддержку канала и ролика, а также труда мастера.

@maxstarrofficial 2 жыл бұрын

brother james… you are insane. 💪🏾💪🏾💪🏾💪🏾😮‍💨

@portalfan267 2 жыл бұрын

Please do more of the very useful robot

@nelsondisalvatore9812 2 жыл бұрын

Open dog is my fav of all time. I wait for the day you do v4.

@davisdiercks 2 жыл бұрын

Me watching the differential drive: that's a really clever use of that mechanism! James: there's nothing particularly clever about this

@brucereichert6509 2 жыл бұрын

Yeah, he mentioned the Armitron. Best example of a robotic Arm that only used one motor.

@810mb3Rg 2 жыл бұрын

Look into the Inception Drive. It's another kind of continuously variable gearbox, possible to 3D print

@NuncNuncNuncNunc 2 жыл бұрын

@8:30 Funny, I was thinking wasn't this the same as some toy from the 80s right before you mentioned it.

@chuck2501 2 жыл бұрын

never mind! should wait the video out :)

@rpavlik1 2 жыл бұрын

The demo at 0:55 looks so much like the drive mechanism of a "Scrambler" carnival ride...

@theodom1858 2 жыл бұрын

You are a very clever man.

@Terminarch 2 жыл бұрын

That final differential rotation could be a worm gear extension control instead. Don't know why that would be useful, but just a thought!

@vitalmurashev1852 2 жыл бұрын

всегда like шикарная работа

@ivprojects8143 2 жыл бұрын

Excellent as always James! I don't understand how you prototype these things so fast.

@MrJob91 2 жыл бұрын

this type of drivetrain reminds me of the age of steam. Where one engine would run complete factories.

@gumbykevbo 2 жыл бұрын

Yup,I was thinking of the resemblance to line shafting as well.

@fouzanjaved5441 2 жыл бұрын

Sir, can you make a video about the Bluetooth robotic arm tank.

@Niohimself 2 жыл бұрын

This is amazing.

@bulletproofpepper2 2 жыл бұрын

sweet! thanks for sharing.

@sky_ful8426 2 жыл бұрын

I thought of hydraulics and then you started talking about it ;) Nice projet!

@carlphillipson9887 2 жыл бұрын

As the motor runs constantly it would be ideal for use with a steam engine. YAY steam powered robots XD

@geomanisgod 2 жыл бұрын

Superb robot

@Nobe_Oddy 2 жыл бұрын

BRILLIANT!!! I would probably be doing the same stuff if I had listened to those PSA's and never got into drugs 😢 I am the living embodiment of failure. KIDS, DON'T BE LIKE ME. BE LIKE JAMES! :D

@TechsScience 2 жыл бұрын

Great job

@regularfryt 2 жыл бұрын

I'm fairly sure there was a DARPA or NASA project in the 60's or 70's which used this sort of mechanism to drive the legs on a four-legged person-carrier. Can't find a picture of it now though. I know it's not the Walking Truck, that was hydraulic.

@Creeperboy099 2 жыл бұрын

Would be awesome if you made a slip ring mechanism so you could run power from outside of the arm without having to worry about wires when it rotates

@ZiggityZeke 2 жыл бұрын

wow this is really cool, goddamn

@rossbrigolimusic 2 жыл бұрын

James can you make a quadcopter drone with a single drive motor? It would be a great PoC and may lead the wat to internal combustion engine drones.

@hasuo9749 2 жыл бұрын

Cool i've seen similar things in auto industies

@rocky7gd 2 жыл бұрын

Just WOW

@kooshanjazayeri 8 ай бұрын

this was great, i always thought how i could implement this kind of system you voice is slightly nasal which can be addressed with a 3 month self practice or a professional voice coach if you are interested

@Dilshad-gu7je 2 жыл бұрын

Should we be worried? I am starting to think James workshop will be the place the robot overlords will arise.

@fadybenmoussa2114 2 жыл бұрын

my dream is to become an engineer like you sir

@timothykramer8731 2 жыл бұрын

Cool stuff! I got to know your channel a while back! I wonder if these designs are also being used in practice and if not, have you considered patenting before sharing this piece of art with the world? Keep up the great high-quality entertainment 😄👌

@jamesbruton 2 жыл бұрын

Most of my stuff is specifically open source, this will be once it all works

@timothykramer8731 2 жыл бұрын

@@jamesbruton Thank you for your contribution!

@MaxBrainDevices 2 жыл бұрын

Super intresting concept! I wonder if the same system can use in a exoskeleton so you can use just one powerful motor to move all the joint

@petermines3575 2 жыл бұрын

Awesome.

@asnaeb2 2 жыл бұрын

very cool

@Kids_Scissors 2 жыл бұрын

This makes me wonder if there are any real world machines where all the movement is powered by the single drive on an engine

@paulsaunders5555 2 жыл бұрын

As Always bang on James. Have to say my brain was going but there are no read spots on those gears for when it runs the end stops. But then I slapped my self and reminded my self there is a friction train in the middle so hit the end stop and your just on tire on tire. So hope it don't mash gears to bad. My head sales the shaft up the middle might be contributing to the slop as it's all relying on the wrist gear to carry the resistance down. Any advantage to changing that to a pair of threaded bars so it's not relying on thread so much? You always get my head in the game on a Tuesday morning. Xxx

@dannyb9083 2 жыл бұрын

jargon

@reggiep75 2 жыл бұрын

Would adding internal struts, inside the box, not make for a more supported and stronger structure? It would take planning and adding additional metal struts into the plastic struts would be drastically minimise slackness and improve transmission. It's a fair amount of work but would be perfect for the acme level of the device.

@NyeMechworks 2 жыл бұрын

If this were made in metal it looks like it would be a pretty robust system You could probably save yourself some engineering by having an array of screw-drive actuators in the base that connect to the arm joints (elbow, etc) with bowden cables.

@PawelTylinski 2 жыл бұрын

why don't drive each axis directly from the clutch? One clutch to the first joint and second clutch to elbow?

@lexdysic416 2 жыл бұрын

Does anybody else want a stupid long video of him making these things in fusion 360? I would watch 6 hours of design for learning purposes.

@elanman608 2 жыл бұрын

I suppose I can be accused of being a pedant. This arm has 4 motors 3 servos plus the power motor which is one more than the number of degrees of freedom. In fact any movement caused by electricity involves a motor of some sort, even a solenoid is a motor. Absolutely brilliant piece of engineering though. As far as i can see the only way of eliminating motors would be to use mechanical computing. 😃

@VictorBreazzeal 2 жыл бұрын

Some one give this man a metal

@kaiezesi6630 2 жыл бұрын

Okay next video make a Hydrolic Torque converter - flywheel generator

@fictionalfurniture7744 2 жыл бұрын

A Bungie from the top of the arm to the bottom of the orange plate for the slop?

@abdelrahmanmohsen2735 2 жыл бұрын

man you are building strange toys

@mccadelarsen6836 2 жыл бұрын

Any recommendations on where to study up on gears? It’s been a while since I looked at them in school and I’d love to brush up. Thanks!

@Androidzombie1 2 жыл бұрын

I really had trouble with the inverse kinematic part. I built my own servo arm and did the trig like in your inverse kinematics servo arm video but I can't get the arm to work like that for some reason. I have no idea what's wrong. its the first time I'm doing inverse kinematics. Does anyone know any good resources that might help with precisely controlling servos like those 20kgcm servos?

@fjs7916 2 жыл бұрын

James, do you think that a v2 system with less backlash could be controlled by an entirely mechanical PID control loop? The ball-wheel mechanisms are nearly mechanical integrators and differentiators already so this could be a really cool addition. I’m just imagining a robotic arm with motion smoothing that could have existed during the industrial revolution!

@timplett1 2 жыл бұрын

Is there a benefit I'm not seeing of using two outputs mixed together to control the shoulder and elbow? It complicates the control significantly compare to simply using one output for the shoulder and one for the elbow.

@jamesbruton 2 жыл бұрын

More torque at the shoulder, but otherwise no.

@timplett1 2 жыл бұрын

@@jamesbruton I'm assuming then that a single CVT is unable to transfer the full torque of the motor? Or is there something I'm missing that would provide more torque?