Build a Robot with Windshield Wiper Motors

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Drivetrain with Washing Machine Motors:
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[@ThePostApocalypticInventor]

Hey if you don't wanna miss out on update photos and texts etc. make sure to follow me on Facebook, Patreon or vid.me facebook.com/realTPAI www.patreon.com/TPAI vid.me/ThePostApocalypticInventor

[@wolvenar]

The Post Apocalyptic Inventor Thanks again for the vid.me updates. I am not at all into FB particularly after thier social experiments, etc. It just becomes to much of a time waster as well.

[@aserta]

Alternate drives. So for example on a remote, switch 1 has conventional car steering, switch 2 has dual steering, switch 3 has that weird combination of two found in some cars where the front wheels are controlled by you, and the rear two are automatically turned to a degree to lessen the turn effort, switch 4 custom individual wheel turning. About the last one, it might seem a complicated mess to put each wheel where it is needed, but, i have seen crawler rigs with such setups in the past. Quite effective when one wheel is lost in space and you want to anticipate a contact.

[@aserta]

For your DRILL PRESS, i did the same booboo like you, and fixed it easily doing this: Mount your lathe, doesn't need to be precise for this. Mount the appropriately sized cutter inside your chuck, remove everything off the saddle, that relates to the tool post. Mount a square plate (doesn't need to be precise, i was desperate to finish, did it all in 3 hours including running to the local machine shop supplier to buy new rod), and on it, mount a new piece of rod that fits your dimensions. THEN, using the saddle, run the cutter slowly at the highest speed (i'm assuming a small lathe like yours isn't too fast, mine wasn't when i had one) cutting away the new keyway. Round the old key's edges, make it smooth. Make sure it fits nicely but without binding, what likely happened to you is, there was something in the key way and the the action rose the key thus chipping and snapping the whole deal. Seriously, that's a thing you can do in your home with what you have now. Also, wanted to say, don't give up. A lot of us appreciate the work you do, immensely.

[@srfrg9707]

The Post Apocalyptic Inventor The choice of motors is very smart. Thy are small, powerfull, waterproof and should'nt be much used since their function was to remove the water whenever it rains and not all the time. I guess that the inverting switches you diconnected at 1:55 could also be used as crude turns counters in projects where you don't need such a fine angular precision in your feedback control. Your modular conception (same design for each wheel) is also a great idea. It simplifies both the design the construction process and the programmation. It also makes to frame structure extremely symetrical, which is usefull for simplifying the AI decisions of an autonomous robot. Great job.

[@jeschkec]

Bei 00:30: B1, kurz vor Horn Bad-Meinberg?

[@flixwald3196]

optic encoders might get problems with dirt. So I would recommend an enclosed encoder or magnetic encoder like the AS5047. I have made really good experience with the latter.

[@georgebrumbaugh6225]

You can use the scissor lift to raise and lower the robot if you would take the ideas that you've got and somehow connect them with the with the scissor lift you can create something that's so you have something that's bigger than your to drive over you can use those to raise the units above that and drive right over it

[@starfilmsanimation]

What you have made is called a 'swerve drive' and is used by some teams in the First Robotics Competition. There is a great amount of information available for those swerve drives. Here is an example of the awesome capabilities of your drive train: kzbin.info/www/bejne/oYurkod9nsaekK8

[@kentvandervelden]

Great reference. Is there a collection of ideas from First, an encyclopedia of techniques?

[@frac]

Another fun drive to experiment with would be the "bumper car" drive. A single central powered wheel with a 360 degree steering rotation, and fixed or swivel casters for the other rolling points.

[@ScottUmsted]

You might like the Chief Delphi site www.chiefdelphi.com/forums/portal.php . Our FRC team used swerve with pretty good success last season. Here's a sample of how our swerve works swerve-model.herokuapp.com/ that uses information found here www.chiefdelphi.com/media/papers/2426 .

[@starfilmsanimation]

While there is no centralized place for FIRST techniques, I would agree to look at Chief Delphi, as Scott posted above.

[@johnpossum556]

fracture, I was thinking the exact same thing as I watched this video. Envisioning a giant inflatable wheel in the center and some small casters in the corners.

[@georgelewisray]

All Good !! . . . . .(1) You continue to excel at VERY clearly explaining complicated topics (2) Seems you are getting caught up and finding your old good rhythm after a very difficult and long transition from the old shop to the new shop in a new location (3) video flow/organization you describe feels very good to me ( get my attention, explain the tech details , finish with some background/related material ) . . I reminds me a little bit of the way to do 'public speaking =>> a:: tell them what your going to tell them // b:: tell them // c:: tell them what you told them . (4) Your apparent recovery from the difficult move is very inspiring to me because I have been going through a one year+, BIG move of house/very-large-shop/tons-stuff and it feels/felt overwhelming, but I am getting back my balance as you seem to be getting back yours. . . . THANKS for what you do!

[@Dust599]

you might want to consider using potentiometers for steering positional information. You can tell where each is at any time, with an encoder you dont know where you are on power up

[@MsSomeonenew]

Maybe as an addition, potentiometers aren't known for their stable readouts.

[@absurdengineering]

@@MsSomeonenew Potentiometers can be very dependable but it requires attention to detail. Typically, you want zero current in the wiper, ie. an “electrometer” buffer right at the potentiometer. These days it’s easy since you have tiny FET op-amps that can be mounted directly on the potentiometer and only need a bypass capacitor to operate in the buffer configuration. Otherwise, you need a shielded wiper connection to a remote amplifier, and the shield has to be bootstrapped, ie. the output of the amplifier has to drive the shield, to cancel out the cable capacitance - but that’s less preferable than a buffer right at the potentiometer. Potentiometers interfaced that way will provide very clean signals even if they are very scratchy in terms of wiper impedance. Why? Because there is “no” current flow in the wiper and thus wiper impedance doesn’t affect the potential. When things are clean enough, even complete disconnection of the wiper from the track provides enough capacitive coupling to maintain reasonable output while the wiper regains contact. And that’s the secret to using potentiometers as dependable position sensors. They only fail when the resistive track gets physically worn out enough that the wiper is riding on the substrate. That is remedied by using potentiometers that have specified rotational life and it’s adequate for the application. Cable potentiometer transducers are commonly used in aerospace applications, after all, so it’s not unthinkable that if you flied enough, your safety depended on the performance of one or more such transducers. Also, reliability requires that potentiometers used as input controls should not be used to directly divide any AC signals, ie. if you want a scratch-free volume potentiometer then you can’t be passing audio signal through it, but instead using its “DC” voltage output to control a variable gain circuit element (or software). The reason? High impedance wiper interface has low bandwidth. At higher audio frequencies there is enough stray capacitance to “expose” the wiper impedance changes, and re-introduce scratching in the audio output. So, passing audio or any such signal through a potentiometer makes the application inherently orders of magnitude more sensitive to wiper resistance changes and thus scratching. Sure, it’s an “easy” way to get a volume control implemented, but you get poor performance out of it - according to the low effort put into the design. Voltage controlled gain stages are not too hard to design, since it’s rarely needed for the gain control to be highly linear, only the audio signal path has to have high linearity. They don’t have to be perfect multipliers.

[@MaxMakerChannel]

Am I right in the assumption that I need to remove the ground if I want to run it forwards and backwards? If it goes backwards it will fry my Arduino right? Because suddenly the ground would be positive right?

[@smartassist9700]

Did you test different size wiper motors for strength? I know some can lift 400 lbs. I’m building a n RC lawn mower. I want to consider wiper motors . ( it may pull a leaf grass catcher small trailer). I was going to steer with two rear wheels. I’m buying components now. I cannot read electrical plans.. lol sorry. PLEASE RESPOND HERE SO I GET NOTICE.

[@crazyirishman121]

Great work, I’m looking forward to the video on Control and Programming. And also what interface you’ll use to control it.

[@1959Berre]

Eat that Elon Musk ! Seriously, you have some interesting ideas and qualifications. But I think you forget that you have only one head and two hands. Try not to jump from one project to another. That lathe (maybe some other tools you have lying around) should be in working condition before you attack other monsters.

[@EanSchuessler]

We need many heads and many hands for great projects like these!

[@martin_mue]

The four wheel steering would make it a great platform for a drawing robot. Make some streetart.

[@kentvandervelden]

As always, interesting and educational! Keep up the great work.

[@antropod]

What if you use a power source with center tap (+12v, -12v, and 0) and control motors with only 2 switches instead of H-bridge? Also in this configuration, you can use chassis as a wire, and you don't need to cut the connection.

[@sjefoekel6058]

TheAntropod back emf will cause problems

[@sulymanalouf2889]

how much weight can it move ? 100 - 300 lb? plz reply fast

[@tripshortswithme]

Is wiper motor is suitable to make electric wheel chair??

[@camdflage]

Great job! May I suggest building a wiring rig from the ceiling of your workshop, with the wiring fed through a long extended spring, to allow top down attachment to your test devices, and reducing the trip/obstruction hazard. You could possibly even add connectors at the end of the wires. Maybe 10 lines?

[@CmdrRoot]

Swerve drive! Search FRC swerve drive on youtube and you'll find some really cool demos of other robots.

[@carpmon7016]

would a quadcopter controller board control the 4 motors...

[@johnpossum556]

Are you building this for Ave's bartending robot?

[@Jannik9394]

That would make a perfect stand for a steerable drillpress wich you could drive outside automatically in order to work in the sunshine ;) As always very nice work!

[@clem494949]

I fear to see your robot making multiple weel rotations breaking the connection with the motor it carries. Easy mistake to do while programming it.

[@nickhawkins6601]

An easy fix for this would be a simple clock spring using brass rod and copper contacts. Not sure if that would be compatible with a potentiometer to identify wheel orientation though.

[@PArezina]

Amazing as always! Looking forward to new videos.

[@sagniknath5537]

You Sir are the very definition of German Innovation. Amazingly executed and explained projects. I also see you are well versed in the nuances of all types of engineering from electrical to even mechanical. I am curious to know how you obtained such a broad background of engineering in general . Usually with KZbin channels dedicated to tech, they mostly focus on one type of skill, be it computer science, electronics, electrical or mechanical. Yours' is unique in being adept at all of them

[@alecjahn]

Premature comment: Yes! This is gonna make my day.

[@murraymadness4674]

During the apocalypse those motors will be free everywhere. But today, they are rather expensive! Even my local junkyard wants $30 each for them.

[@yereverluvinuncleber]

Will you use the robot to extract melted plutonium from the cores of reactors that have suffered a melt-down?

[@althuelectronics5158]

very sooper sir

[@dronefootage2778]

1:13 you said combine the two idears but i think you meant to say ideas (no r)

[@vsevkrawczeniuk8019]

I like the new intro music!

[@agentbsik]

Moin, welchen beruflichen Werdegang hast du?

[@FixUntilBroken]

I'm not really sure where this robot build is going, but it's an interesting path.

[@haroldthibault9921]

At 6.34, we can see the wise moving from the drillpress when you're pressing on !

[@danljohnston]

That sure is a long complex list of work to take on.........but that's why I am a subscriber and supporter of TPAI! If anyone can do it you can.

[@smartassist9700]

Phase 2 is camera(s) ,sensors, and full automation. Disabled, I need it to work for me. (Cut grass, haul trailer and go dump it and return. (Find me and bring trailer from storage even.) Third, I made good vacuum for Gras /leaves. It can pull that to clean up yard! So we are working on same project. Motor options (wiper motors, wheel x chair used motors, Or more expenssive strong motors for robots.

[@BiddieTube]

One thing to consider, and is important, in the future, is to install an electrical emergency disconnect pull out plug that disconnects all power from the source. It must be real easy to get to in the event the bot decides to go nuts. I have already got a wiper motor and plan to get more. I did not consider that brush to ground issue, glad you brought it up. I plan to use the motors for general purpose small motors. The only choice is stepper or dc automotive types. The only type ac induction motors available in USA, and likely the world, are FAN DUTY motors. Those are wound with too small of diameter wire so the motor will burn up if it is not used as a fan. There are a few non fan motors available, but they are more expensive than far larger motors. Near the end of the video the Thing you have looks like it is powered by a small ac motor, maybe 1/10 hp. It looks old. Many years ago, small general purpose ac induction motors were common and cheap, but no longer.

[@sharzanco]

nice project but i think one motor for steering is enough and all three wheels can connected by one chain belt

[@kennethkustren9381]

If you split that coupling nut 15-20mm in, perpendicular to the bolts... You have a tapering threaded ballscrew nut .... No ?

[@Keep-Exploring128]

send it to Mars

[@electrosound4595]

can we make a electric bicycle from these wiper motor?????

[@Hehe14llllllllllllll]

Hey i want ask you if we can beld left system by this motor..

[@spacejihadist4246]

I just found out this channel and I love it. Anyway, can you add tracks on that? Like a Leichter Ladungsträger Goliath?

[@TheDefpom]

I think I also cover most of those skills as shown at 26:45... only I don't tend to merge them into a single project like you are in this case!

[@stephengodfrey2150]

I just want to mow the lawn using only two motors attached to rear wheels and dolly wheels wireless remote controlled

[@khalmaxroboticsgh3176]

hello I have a similar problem. I literally burned out my mosfet motor driver. can you kindly explain how cutting connection to the wiper motor enclosure works. it is not really clear. is there a way I can do that without having to open the motor?

[@WV591]

get yourself a DC motor controller and make it a remote control no wires, better yet since you are German, you can probably design your own controller. the rest of us have to buy them :-) TU on film.

[@benniedonald]

I built an 8ft by 46 inch wooden storage box. 8ft tall I could use use that for moving it around.

[@cdoublejj]

weld that fucking drill press if the keyway can't be welded and re machined :P either way looking forward to videos.

[@asifkamal8829]

@the post apocalyptiC inventor what if I mount the motor with an insulator between the motors and the body? That should insulate them from each other right?

[@fizikfizik]

i am using same motors and same h bridges. i didnt cut anything but its seems they are working fine together. i dont know why. i am using only the slow turning pins. may be its about that ? i thing the trick maybe i didnt put them in one framing.? they are isolated seperated frames.

[@christopherbowersdresser4188]

what ever happened to this machine? i was checking your channel for updates, but it looks like you re designed

[@_caracalla_]

Love from Turkey!

[@denisdespins1127]

On the beginnings of the robot, I really liked the music on the intro.

[@ThriftStoreHacker]

What a great setup! If you want more power and torque look into electric wheelchair motors. I have built ebikes and other fun stuff with them on my channel. Sooooooooooo much torque!

[@michaelmayo3127]

What you have in embreo is a mobil multi-directional static-platform.

[@BrianBoniMakes]

For years high end cinema dollies have performed all these motions. Think about moving a large camera that you want to always be looking in a certain direction, all that Ackerman stuff quickly goes out the window. Here's a few examples, look how closely they look like what you built. www.chapman-leonard.com/downloads/users-guides/1710_users-guide.pdf

[@bobvincent5921]

Thanks very much, l learned a lot.

[@asmolbean9300]

Next: "build the starship enterprise with washing machine motors"

[@SandyWalsh]

Love it! I've been heading down a very similar road but your steering mechanism is much better. And I really like that you have the axles supported to reduce strain on the bearings. Nice work!

[@BrainSlugs83]

Instead of using rotary encoders, have you considered using laser mouse sensors? It's a neat way to recycle old mice; and new sensor chips from China are under 1.00 US D a piece with 1200 to 1600 steps/inch. Just run them across an enclosed/matte section of the output shaft. (Then backlash from the gearboxes won't even matter.) -- Use PID in the Arduino the control steps/sec or position. For sensory data, you can grab an old Kinect cheaply off ebay; mount it to the top? Raspberry PIs are impossible to find right now, but old laptops or NUCs can be sourced cheaply also. (I Just scored a 2.4ghz NUC with 8GB RAM and a 250GB SSD for around 40.00 US D. -- So it has a bit more compute power than an RPI anyway.)

[@anoirnunesdesouza9074]

My friend, you are. I also liked your video. I just do not know how to turn the rotation.

[@PacLevkov]

You need to cut the wires inside the wiper motor. Also cut the ground wire wich connect one terminal of the motor to its ground case. After removing the integreated encoder, you can control the motor in both directions.

[@ChiTownTino]

Awesome

[@Metalistforlife]

Your english is excellent. Cheers !

[@Tycowiz]

Great video.

[@HARSHALPCP]

You could use 2 relay board with optocoupler as a H bridge for very cheap

[@JohnSmith-cl3ez]

'we need to make a rapid prototype' nein, it need to be made of metal! excellent work mon librepenseur, your "R2D2" goes well! hopefully, you will cross-post your vids to OPENCOG et to IIASA, IQOQI etc. let me know when SeiburDeine-Mittlestandler opens eh?

[@HomeGrownPyro1]

Question for you that I think you'll be able to answer. I recently wired a wiper motor and when running it in the normal direction, I can change from low to high speed by simply connecting the + wire to the high speed or low speed pin. The problem I'm having is that I want to run the motor counter clockwise, so to do so, I just switch the wires around to reverse the polarity and it works but only on the low speed pin. When I connect the wire to the high speed pin, the motor only runs in a momentary start/stop motion. Do you know why this is happening or what I can do to correct it? Thank you

[@m42665]

Nice work I know what you mean about knowing so many other things to put it all together , this is like not needing anybody you got it all cover or know how to find information ! The bad thing I find is nobody to talk to about what I am doing or thing about . But I must say it is good to see smart people doing the thing there good at like my self .

[@mr.meseeks2037]

I have an idea for an invention that could make millions...be nice to see you give it a go

[@TheFurriestOne]

Intriguing intro clips! Hope the damage to the drill-press isn't terminal and getting the lathe up and running goes smoothly!

[@mattymcsplatty5440]

independent steering and power, so awesome!!

[@izzzzzz6]

Winter is coming (Here!). Any chance of a personal transportation tracked vehicle? I was thinking grass skis with motors. Or perhaps a trike with 3 or 4 powered tracks. Perhaps using many motors and inverted timing belts, such as those found in cars. Any large garage who work on one brand of cars will regularly be throwing such belts in the trash and they might accumulate many of the same size tracks.

[@douro20]

Modern vehicles don't even use pure Ackermann geometry.

[@gwynkemp-philp4577]

That trend must be driven by the tyre companies!

[@berhanegebriel3155]

Please help your neighborhood elementary and high schoolers so that they will be self-supporting future good citizens. Just a request. Thanks.

[@American_Made]

not sure if you will get great parts off that lathe. better to get at least a 14x40.

[@jatigre1]

FYI, Think wireless charging. How about a charging "mat" so your robot can wireless charge while it's working, so you can minimize the batteries weight. Even in a big warehouse. Induction coils should resolve the problem, while the mats are made with a aluminum printed pattern. Your welcome!

[@saschakolb7102]

you should not just cut the grounding. better replace the wire link with a capacitor, to sustain the shield-effect. A long ground wire will emit radiointerferences due to the AC current flow: seperate DC but keep AC. For Automotive manufacturers those connections are important for getting the required technical certifications- If they could they would even economize this small piece of wire and soldering point.

[@Jhongerage]

I'd like to build a one wheel version of this as a remote control tail dilly for an aircraft. However I'd like to add a clutch so that it can be moved by hand. Any idea of an affordable clutch assembly? Electromagnetic clutches are quite bulky and expensive. Some sort of spline collar maybe?

[@alessandr2012]

create an algorithm(ackerman equation to angles ang(L,R)) and variate the angle in equation, done. now you have a precision ackerman steering. but you have a problem yet: the speeds of each motor.. hmm lets discute this below

[@mattymcsplatty5440]

I remember a documentary showing german soldiers during WWII controlling a tiny tank with electric motor and explosives. The soldier would walk behind as it was controlled using wires and drive it under a tank or some other military target. The soldier was always 50m or so behind it so it would of been a scary ass maneuver. It was ahead of its time. Smart idea too.

[@manho2965]

tôi đã thiết kế 1 cấu trúc có nguyên lý giống cái này trong đồ án tốt nghiệp, nhưng robot của tôi chịu tải 200kg nên phải dùng đến hộp giảm tốc.

[@waitemc]

Anyone here in the comments that's thinking about building somthing like this.. goto junk yard get 4 wheel hub the new types not cone type a lot of them are 5 on 4.5 lugs as well which fit small lawn and garden wheels all the way ip to 1/2 ton truck wheel not to mention most have 28 centers splines

[@joemAwesomeMan]

DIY AUTOMATIC STORE AND RETRIEVAL SYSTEM DIY AUTOMATIC STORE AND RETRIEVAL SYSTEM I see that there's potential!

[@thecrikster]

Wow you have been busy! :) I feel your pain making these parts without a lathe. I have tried making a basic slip ring using a drill press in the past and it is complete blind luck that you don't screw up the alignment and have to start over. In the end I settled for a second hand automotive part from a car steering wheel. But in some cases, if you wanted something stronger i.e. not plastic, you will still have to make your own.

[@tiger12506]

A bit too late now, but what would have been really cool would have been slip rings for the wheel drive motors. Then you wouldn't have to worry about passing the 360 degree mark with your steering motors. :)

[@fleaniswerkhardt4647]

Great work. Some questions - at 10:00 - the flat steel bar is 70mm wide but how thick? Wouldn't it be better to use bearings on the moving surfaces in the steering mechanism? How many watts does the unit chew up? The motors rotating the wheels can turn through 360 degrees. How do you stop the wires twisting without a slip-ring?

[@nr7000000001]

You could spare yourself a headache by using absolute encoder discs for the steering wheels, but you need more light sensors. And have doubt about the durability of the wormweels. But I must say this is an amazing project that has a lot of potential for future projects, very nice! I watch all of your videos

[@gianfrancofronzi8368]

Excellent work, you are a very crafty guy considering. You went way beyond the perimeters that I would have made, mine would have been way simpler like cave man to what I saw you just do. Excellent.

Putting an r at the end of idea is a speech defect popular in certain parts of America and one or two regional accents in england, it's not correct though.

[@Seegalgalguntijak]

If you're planning to use this robot as a mobile camera tripod and record video from it while it is moving, it may be that the vibrations from the movement are too much for the camera to handle (especially if it doesn't have mechanical image stabilization). You talked about suspension earlier, but then I have seen nothing that could count as suspension on the robot: No springs or dampeners of any kind. Possibly even some dampening piece made out of rubber would already help a lot.

[@moiquiregardevideo]

Ideally, if you can detect the torque on each of the 4 tractor motor, you could allow more diverse steering angles. It could be done with strain gauge which detect minute distortion between the motor shaft and the wheel shaft in the same way as an electronic scale measure small bending on an aluminium base. The closed loop would apply as much current needed to equalize the torque on each wheel. This would automatically adjust the rotation speed as needed given a specific steering. The robot would still be set in motion with a target speed, but each motor would increase their torque together, to always match and the PID loop would change the torque command when approaching the target speed. In turn, each motor would have a separate PID loop to adjust the PWM to reach the specified torque.

[@DerSolinski]

I presume your workshop machines where made in the DDR and you are thinking that a angle grinder is not precise enough? Just think what the level of craftsmanship is necessary to get any decent results with those machines back then and imagine if they had access to even the cheapest angle grinder today...

[@m3chanist]

Your steering is going to need absolute positional sensing as well as relative positional sensing which is what your gray code encoders provide. For initialization at the very least. IE, at startup, it doesn't know the wheel facing orientation, eg a momentary sensor of some kind on each wheel. Kind regards

[@technosiveinnovations3476]

I m using this motor for a project , and when I have rotated motor its max speed by 12 v 9 amp battery ,a motor becoming a hot..what should be do for keeping motor normal temperature.

[@EdEditz]

Wauw! Mount a camera tripod to that and you got yourself one very cool dolly!

[@matschase]

I'm happy to join another provider then KZbin. just one question: why vidme? on the first glance it doesn't look so user friendly

[@wolvenar]

Did this ever get made into anything with a purpose? I am absolutely sure something like this would be amazing for set props.

[@socialhostage8534]

Wouldn't you be able to modify the slow speed brushes part to be able to monitor the position of the rotation?

[@mattymcsplatty5440]

Weld up the missing material etc and file in keyway maybe, I hope you can save that little workhorse of a machine.

[@irawarnaca8133]

Love the concept, it will be a huge challenge. Hope to see more soon.

[@silvanamaddalosso7929]

What type of white glue did you use? Thank you

[@frab88]

Amazing! How do you make those animations? It would be nice to have a "meta video" about how you edit your videos.