Smooth Moving Micro Robot Arm

[@Tyetheberious]

Very nicely implemented velocity curves - the motion is very fluid.

[@ElectronDust]

Thanks Tyler. I implemented my own stepper pulse generator in order to get the acceleration / deceleration to be as smooth as possible!

[@mikewebster3291]

@Rotten Brainz Pop

[@pabloschonffeldt]

The movement of the arm looks super smooth! amazing job!

[@ferrumignis]

Really nice job on this, the motion is super smooth. Needs a gripper on the end though!

[@alfiolocatelli5093]

Oh damn I love it! Implementation of kinetic is magnific!

[@TechBuild]

That's a nice and smooth working robot. Stepper motors are far better than servo motors for this application.

[@juanmontes8905]

Nice job selecting speed ramp and microcontroller selection

[@KhandulaGyeltshen]

wow its awesome and thank you so much for your video, i been searching robotic arm using this motor and finally i got it. may i know the axis of this robo arm and can we do using ardunio uno and driver shield?? please help tysm.....

[@MuratTAMCI]

it's really so soft.. i like it!

[@alexxxalexxx5075]

Very good 👍. Respect from KZ 🇰🇿

[@nightcloak3819]

amazing, now im going to try and replicate this

[@cristianriosestrada7771]

Hey dude, I'm trying too, so if you want to work together, tell me, little bit nooby in this things, but learning anyway xD

[@nightcloak3819]

@@cristianriosestrada7771 lol, same here not that good at this kinda stuff but i just ordered the motors from ali express, so their gonna take about a month to come

[@cristianriosestrada7771]

Night Cloak More or less the same, I talked with a electronic’s store a little bit close, so let’s see if they have and tuesday I can send a messenger to get it. Do you have Telegram?

[@snoppgubbe2310]

Dildos in 2000: :--- Dildos in 2025: 0:20 ten times speed

[@TechsScience]

So smooth & adorable

[@shuha3216]

How did you reach such smoth moving ? Where can i read more about this your project? It is cool!

[@Hasan...]

Search for polynomial trajectory

[@alex.manusovich]

Hello Tobias, That is phenomenal work! Thank you a lot for inspiration. Can I ask you is it possible to use more powerful steppers for base with your own implementation for IK positioning algorithm? Also do you think it is possible to add Z axis to your library too, assuming that base will be rotating? Just wondering if you thought about that before and there are no fundamental issues with that.

[@ToPProjectsCompilation]

Hey, the project is really amazing. If you wish to feature it in our channel (no money involved), then kindly reply.

[@sergioangellopezarteaga2008]

If i wanted to do one of those, but only one motor per axis, how much wight could it lift?

[@ElectronDust]

Not much, I'm afraid. At least my design can't handle more than a few grams because it is already pushing the limits by supporting it's own weight as it is. That's the downside of using cheap components.

[@calvinkong6701]

incredibly smooth motion. Btw, how much current do you provided to move all the motor?

[@ElectronDust]

I think it was around 1.7 amps total for all the motors

[@sergioangellopezarteaga2008]

Excuse me, i read that these motors use 240mA each so, how did you power 7 of them? Thanks

[@ElectronDust]

All you need is a power source capable of providing enough current. Using your stats it seems like we need at least around 2A. I actually used a 12V, 10A power unit, that's why I hadn't spent much thought on the current drawn.

[@sergioangellopezarteaga2008]

Electron Dust oh okay, but i saw the source marked 1.12 A on the video. Those motors consume less current or why the 1.12?

[@ElectronDust]

@@sergioangellopezarteaga2008 ah, I see. You saw the Ampere meter on the power source displaying 1.12A. That just means that all the motors just happen to draw 1.12A at rest. If you use the A4988 you're able to adjust the max current drawn with a potentiometer. I might have set it a bit low and that's why my 7 motors happen to not draw as much current as you might expect.

[@radiantelephant]

Great project! Which software did you use for the 3D assembly animation?

[@ElectronDust]

Unity!

[@thevikaskandari]

Was that the actual speed of motor or you fasten the video ?

[@ElectronDust]

That was the actual speed

[@ЮрийМел-в2о]

Thank! I am doing a similar project. And I need automatic set zero position. Limit switch is similarly bad. I want to know zero position immediately after on. For this reason, I chose the MG 996 servo. But precision is not good. But the accuracy was not very good.

[@brantwedel]

You could add potentiometers for initial zero position to a stepper system like this, which would be similar accuracy to a servo, bit only read them at startup. So the movement accuracy would be good, but initial position might be off a bit. You could use some algorithm to improve accuracy of pots while moving tho by taking more pot readings as the arm moves and averaging.

[@ЮрийМел-в2о]

motion perfect! how defined stepper motor zero position? Did you make the planner yourself?

[@ElectronDust]

The zero position is defined as the robot arm standing straight pointing upwards.

[@LegitLeeVelez]

Great project just wondering are you storing the movements when press the push button for each axis of the arm so you can use it later?

[@jaled79]

Hello I congratulate you, excellent project, I have a question, which of these stepper motors did you use?28byj-48 - 12VDC 32-Step 1/16 Gearing or 28byj-48 - 12VDC 32-Step 1/64 Gearing. I ask you because I only get 1/16 Gearin.

[@celebrimb055]

Can you able to make prosthetic smooth like this

[@AyobeTech]

Good work

[@ElectronDust]

Thanks!

[@leonardocarloslimamendoza6771]

Que programa de diseño 3D usas??. Me lo dices por favor, tu proyecto es muy bueno es un 100 para mí👍

[@ABID5]

Great Work there! I really appreciate.

[@anggayudistira4057]

Very smooth, nice

[@RyanChiang-x9h]

How do you home your robot?

[@tahaabujrad7806]

Very nice design. What is the name of the 3D simulation program you used in the video?

[@ElectronDust]

It's Unity

[@tahaabujrad7806]

@@ElectronDust thanks, can you upload the file for me, i am currently on a project and i want to 3d model it, and if you do not mind i want to start on your design.

[@ElectronDust]

@@tahaabujrad7806 The CAD files and the Unity code to animate it are both in here: github.com/T-Kuhn/ESP32-MicroRobotArm

[@anassaleh9236]

Question: I don't know how to code the SeeKool ESP32. If I connect it to an Arduino will it still have accurate results? I mean will the arm move as smoothly?

[@ElectronDust]

Just install this plugin to the Arduino IDE in order to code for the ESP-32: github.com/espressif/arduino-esp32/blob/master/docs/arduino-ide/boards_manager.md The problem with the Arduinos is that their clock speed is quite low (16Mhz). The ESP-32 operates at 160Mhz. More speed means that we are able to make the pulse signal for the stepper motors smoother. So no, it won't move as smooth as in the video with an Arudino (at least not with the code I used.)

[@pantsucha]

is there place where you can shere code?

[@Timsturbs]

two motors for one joint? why? otherwise pretty cool

[@berkcan2439]

I think it is for sync movement. Only opposite motors are connected same joint.

[@kjyhh]

How many IO pins for so many motors? Is there a 2nd motion coder?

[@bratcyryl7630]

You used stepper motors?

[@JaydenLawson]

Can you get stepper motors like this that are very quiet?

[@instazx2]

Did you convert them to bipolar, or are you still using the unipolar setup? They are a lot more powerful in bipolar, and can use the off-the-shelf A4988 drivers.

[@ElectronDust]

I did convert them to bipolar! There are so many advantages. The increase in torque sure is the biggest one. And being able to use the A4988 means that you only need 2 output pins per stepper motor (step and dir), compared to 4 pins when driven with the unipolar driver they came with (at least in my case the stepper motors came with a unipolar driver)

[@Bigrob552002]

Liked and subscribed after watching this video! Are those trinamic silent stepper modules?

[@tukitutoall1579]

what program do you use brother? I`m mexican

[@mrboleus8240]

Parts total worth: *$10* Assembled: *$1 000 000*

[@juanmontes8905]

Information is power and power is money

[@Pablanz]

Maybe a stupid question but, why 2 servos on each joint?

[@ElectronDust]

Just wanted to try it out. There's no "best solution", but this worked out quite well.

[@Pablanz]

Electron Dust Great, thanks!!

[@rajibsarkar01]

@@ElectronDust I might be wrong but I think 2 geared stepper pair is always rotating in opposite direction and this nullifies the gear backlash to a great extent. Isn't it?

[@electronicabasicacekit]

Excelente trabajo

[@animadoarts5123]

Which motor are these?

[@csai5763]

where TO LEARN THE INVERSE KINAMATICS ...ps tell someone

[@pepsiatlas5452]

steppers over servos any day baby

[@ElectronDust]

Hehe, I get you. Once you get your hands on steppers there's just no way to go back to servos

[@grathado28]

wish i could get 3d printed version lol

[@eachineonlineeducation780]

hello i am new can anybody help me how to make this arm??

[@Aerox90]

Is it more noisy than if a servo would be used in place? (Hard to hear due to the music). Are stepper motors as easy/-or easier to control than servos? And which one is more reliable in terms of accuracy?

[@ElectronDust]

Depends on the specific servo / stepping motor you use. I recommend just buying a cheap stepping motor with A4988 driver to get a feel for how it is different from a servo.

[@JOELwindows7]

This is your daily dose of Recommendation DIY mechatronic arm

[@williamhuang5329]

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

[@omkr0122]

Awesome!

[@masar-at]

What can it do ?

[@ElectronDust]

Not much really. I just wanted to see how far I could push this cheap stepper motor. And how smooth I could get it to move. And whether I could get the Inverse Kinematics to work or not. It was one of those projects where I got I little lost in the details...

[@masar-at]

@@ElectronDust thanks for posting the video :)

[@cohaniskis3175]

Satisfying

[@dascaluioan1296]

And where's the micro (extremely small, of microscopic order) part in this project, only used in the title as click bait?

[@ElectronDust]

Thinking about it you're right. It isn't anywhere close to the realm of micrometers is it.

[@Mukeshmiktecrep]

Out of context comment: Suppose god has a hard disk drive which has all the location and type data of each atom in the Universe.

[@ismaelnunes475]

what's your degree???

[@gabrielcorrales8878]

how can it be so sensual

[@krrishchheda2252]

Supersmooth

[@jianguochen4662]

加個陀螺儀裝置。

[@EletronicaeTecnologia]

Excelet

[@dushmanthakumarasiri5046]

Can you please send me the things you needed for this project

[@mininchannelservice]

Good

[@Fabio.1986]

Waoo che bello!!

[@cristianriosestrada7771]

Hey! I'm trying to replicate this! So if someone due to coronavirus has time and is trying the same, welcome! I would like to understand better the schematic from 1:01. I mean. (I'm from BCN, sorry if I don't speak perfectly english). For example 2 motors are connected to the same driver, but the current then is divided? Does it use a relay? Well, let's work together with coronavirus right? xD

[@ElectronDust]

If you use two motors on 1 driver you're driver will need to provided double the current. Because the motors used here are small and don't use much current (especially the 12V version), this is no problem.

[@cristianriosestrada7771]

Electron Dust Thank you! Let’s see if it works. I now have some 5V version, but let’s see if I can get the 12V version. By the way, really impressed with your work! I mean, a lot of perseverance! Really appreciated. I will try to get with more people with the same project so we don’t bother you very much, we are a little bit noobies,right? hahaha. Super subscribed!!!

[@Manu.Makes.Things]

Now get some encoders!

[@docstrench948]

Wow, genial.

[@josedelmontealmansa6259]

Donde vivo no hay metro =(.

[@antoniobarriosavila1535]

👌👌👏👏🖒🖒😀😀

[@MikeMcRoberts]

Why do people put music over tech videos?!?!?!?! Let us hear the goddamned machine working !!!!!!!!!!! AAAAAAAAAAAAGGGGGGGGGGGGGGHHHHHHHHHHHH!!!!!!!!!!!!!!!!!!!!!

[@PiefacePete46]

In general I agree with you, but in this case the music is well chosen, and the music and movement are complimentary... it adds to the total effect.

[@ЮрийМел-в2о]

yes! music is not need for the tech video!!!

[@sakkarepku1651]

Woman robot need this

[@garikagarkov8258]

И нахрен он нужен?

[@Мойевропейскийжидобандеровский]

Шоб було.

[@MikeMcRoberts]

Please repost a video WITHOUT the music. We want to hear the machine in use, not some crappy elevator music. Thanks.

[@ElectronDust]

Hi, This one is without music: kzbin.info/www/bejne/qqiteGOlqbhreas

[@MikeMcRoberts]

@@ElectronDust Great! I can hear it at work! Thanks a lot.