Unusual Robot Arm. How it works? (IGUS RL-DP-5)

This is unusual professional robotic arm. It uses stepper motors instead of usual brushless, and worm gearboxes instead of harmonic drive. In the last joint it uses plastic stain wave gearbox (of course we look at it in details)! :)
For more information, the link to this robot arm: www.igus.com/p...
Special thanks to my special Patrons: RobotDigg Shanghai, Shounak Bhattacharya, M. Aali, Matthew Harrison and Vikas Marwaha!
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#RobotArm #Robotics #Stepper

[@Skyentific]

Hit the like button and subscribe to the channel. It cost you nothing but it helps me a lot!

[@Larock-wu1uu]

This is a comment to feed the KZbin algorithm. Keep up the good work!

[@Skyentific]

Thank you!

[@neur303]

Omnomnomnom 😋

[@backpackmc]

Such great content, very clear, very concise, a great teaching style. 30 years since I learned mechanical, electronic and systems engineering - but your channel makes me want to learn again. Keep up the good work!

[@TheNamelessOne12357]

In order to get high speed out of stepper motor you need high voltage. Use 48V power supply. TMC5160 are great, I've already tested them and they work flawlwssly. Going to build integrated stepper controller based on TMC5160, AS5047P and STM32 with CAN interface. The only problem is synchronization. You must calculate all accelerations and speeds so all joints will start at the same time, move synchronously and stop at the same time. Without it you won't be able even to draw straight line.

[@TheRainHarvester]

Are you subdividing the original line and hitting sub targets along the path of the original line? I had to do that on my whiteboard robot because the line would otherwise be curved due to non non linearities in the motion.

[@МихаилТокарев-н8р]

In my work I use robots from different companies, there is one drawback in this, you constantly need to get used to the new software and different control interfaces. Thanks for the video!

[@NZHippie]

Great channel and another great video, keep up the great work... enjoying this channel...

[@Skyentific]

Thank you for such great comment!

[@bgworkshop1705]

Can not wait for next video 👍

[@sci_rbs]

Please, the next video, i can not wait

[@rashmikp612]

This is absolutely brilliant!

[@bentcore2142]

Awesome video! Can't wait for the next :)

[@RixtronixLAB]

Nice video,thanks:)

[@PhG1961]

Great video !

[@relativisticvel]

Awesome!

[@Sam-dv3vt]

amazing

[@Simon-fn1ed]

Nice!

[@atefbenhazem9073]

I think that some of nylon plastic gears for igus robot are made by SLS printer and this kind of gearbox show an impressive reliability !! Thank's for the video and i know well that u deserve more likes and subscribers :) !! Great job

[@dmitrylashch8166]

Великолепная работа!

[@ЛштшфумАщвф]

Excelent, very interesting, thank you.

[@paulharvey6719]

cool! ty

[@damianwiecaw492]

Great

[@sabtvg]

Great info! Thank you very much. You explain a lot of technical stuff and also prices, tricks a practical concepts! (dont go faster please jeje)

[@sabtvg]

I am trying to lear about serie elastic actuators, I would really like to see something from you. I think sensible robots are in the near future. The robot can sense the external torque in all joints as well as we do to evaluate weight and inercia interactively. Thanks!

[@fabis9734]

Love your Videos ❤️

[@familyadmin5397]

Good evening! You are making great product reviews! How about making an really affordable robot Arm, from hoverboard motors? Those deliver very high torque per € and used are available for almost no costs or less than 25 € per piece. These could be used with ODrive or maybe even SimpleFOC? I'm probably not the first one to make this suggestion. Wish you all the best!

[@bano99]

I like this idea, as 4000 USD without the controller is not something I would consider affordable for normal hobbyists.

[@Fleurlean4]

I think it depends on your application. Whenever you want to make an arm with a reasonable payload you run into cost issues no matter the technology used in actuators. What we need is more motor designers working on high torque and low rpm optimization, the hoverboard motors are an example of this but the solutions for arms could be more elegant and efficient.

[@bano99]

You've probably seen the latest video from Levi Janssen on his latest high reduction gearbox. kzbin.info/www/bejne/apjOk5VoeKeth6s It would make a great combination in the robot arm

[@beest_]

Hi,. Interesting video. Enough information, but a little bit too fast. What's missing is Links to all parts used. Without that list it's hard to find the parts . Thanks

[@Vladimir_Java_dev]

Понра, что всё понял - я только начинаю воспринимать английский на слух, так что четкое произношение оказалось кстати. Про отсутствие люфта. Наверняка он есть, но руками его обнаружить сложно. Так как используются червячные пары - наверняка есть "мертвый" ход при смене направления. Было бы прикольно его выбирать при помощи энкодеров на шестерне. Сейчас, как я понял, энкодеры будут установлены непосредственно на вал шагового двигателя, что позволит программно ловить потерю шагов из-за несоответствия рабочего тока и нагрузки на валу. p.s. червячные пары используются в экваториальных монтировках, там интересны две вещи: это периодика (в большей степени зависит от червяка) и "мертвый" ход, который обычно постоянный, поэтому его измеряют (в шагах двигателя) и потом программа-драйвер при смене направления быстро отсчитывает эти шаги и потом уже разгоняет двигатель. Разгон/торможение приходится делать чтобы избежать потери шагов (сорри, что пишу очевидные вещи, но вдруг это будет кому-то еще интересным).

[@pgabrieli]

looking forward to the next video, I too am planning to use a TMC5160 with a Teensy to control a stepper motor (even if not in a robot), so that's absolutely great! since I'm new, could you please tell me what's the model for the position encoder? what do I need to look for online to get one? thanks!

[@Skyentific]

The encoder name is AMT 103.www.digikey.ch/product-detail/de/cui-devices/AMT103-V/102-1308-ND/827016 Btw, AMT 102 is basically the same encoder, but in slightly different form factor.

[@pgabrieli]

@@Skyentific thanks!!

[@kevinburtch]

@@Skyentific Please add that link to the video description. Nice work with showing how the strain-wave reduction works, BTW. :)

[@emanuellucaci5020]

Analyzing robots like this is really really nice. As a 4th year student in mechatronics, this is gold for me. A good ideea for a series of videos could be just analyzing the popular robot arms that are out there with pros and cons, etc.

[@Skyentific]

Great! I will try to do more videos like this.

[@henria.277]

It's complete junk and more expensive than the first chinese light robot options with proper cycloidal reducers (QR3 - ER3). At this point you're better off dropping 2K more for a UR robot with aftersale service, wide support, path teaching and a teach pendant.

[@ARVash]

@@henria.277 Depends on what you're doing with it. Not everyone needs or wants those features.

[@wolframsmith5]

As a mechatronics myself, I hope that these affordable robot arms would be around more in the future. My uni falculty had a UR5 robot arm but it's just too expensive for us to be allowed tinkering freely

[@zazulin-lab]

Hello. very cool robot. question - why not KUKA????

[@myetis1990]

good and clean job, I always wonder how much backslah does the worm screw mechanism have and does it worth to use. If results are ok then I will use this method to make my own arm.

[@luoyangbobiprecisionbearin986]

It's great! Thanks for sharing! By the way, we need to count how many bearings had been used on the arm! Haha, Cheers!

[@RazorSkinned86]

Not as unusual as you would think. A lot of the extremely large industrial robotic arms use worm gears. You can find videos of the oil filled chamber of the worm gear posted online by service techs who find it too cool.

[@DZQuranlife]

Ser i need help please ! Where i can connect with you ?

[@Chadvivid]

Can I buy your used robot arm set?

[@bobobo1618]

Do you have particular suppliers for your Aluminium extrusions and electronics?

[@elcrackent13]

@Skyentific Do you teach robotic?

[@sushanthrajasankar5910]

Nice, isn't a 3d printing board a good alternative to the controller to keep the costs down.

[@ericvauwee4923]

No not really, or not without heavy modification which is not really worthwhile tbh

[@pd.dataframe2833]

Awesome......what is the encoder that you used at the end. Any links? Thanks

[@pgabrieli]

this is what he answered to me above: The encoder name is AMT 103. www.digikey.ch/product-detail/de/cui-devices/AMT103-V/102-1308-ND/827016

[@aayiyedekhtehaihindimohdnishar]

PLEASE GIVE THE STEP FILE OF IT

[@williamhuang5329]

Hanzhen harmonic drive gear , gear reducer, robot gear , over 30 years experience

[@elcrackent13]

Somebody here know how to get started to learn all this?

[@localhawk1]

I have bought the small plastic harmonic drive from Igus. "There is flex, but no backflash". The reason is that they use two part flexspline. SLA 3D printed. The flex is the reason why I dont like the drive. Under load, it is the same as backlash. And it might be the reason why they only use it on the last axis. here kzbin.info/www/bejne/pJmrdaWBa9h2iNU is the two part flexspline concept shown in detail. best reagards and thanks for all you videos

[@beenNgone]

Ah, thank you for this, I was curious about the material choices for the harmonic. No mater how much we may wish it away, physics and material science gets us in the end.

[@localhawk1]

hi, i have seeen, igus build also a complete robot with these flexsplines kzbin.info/www/bejne/p6GaeZdtabqSebs but I think its just a demo and it wiggles a little bit

[@Fleurlean4]

Good info thanks

[@VideoStefan17]

a comment ;)

[@thefallenone6210]

Potato

[@anotherwingover]

Whenever you go DIY, things get cheap and hobbyists like me like that. It's a pity that this robots price tag is considered low cost by industry standards. But I think there is a lot of potential especially when I look at your 3d printed robot arm designs.

[@Winallmoney]

That you clarified "Sh#t metal" to 'Sheet Metal Structure' made me laugh and got you a like.

[@fabis9734]

Same ;D

[@mwngt12]

On that note, what sheet metal type is it? Aluminum, SS? Thanks!

[@radist2s]

Просто невероятно! Иногда, не столько нужны подробные инструкции, сколько вот такие краткие тех-наводки. Спасибо!

[@Skyentific]

Спасибо за фидбэк. Постараюсь чаще такое делать!

[@LeLehel]

I don't even understand why you looking into TMC5160 just now??? You can easily write simple python code to control steppers by sending goto commands and more.

[@SantaDragon]

I like the way how you say "sheet" metal at 2:53 xD

[@tomforrester377]

Very cool!

[@rayeaglenz]

A great video, 👍😊 This is a comment to feed the KZbin algorithm. Keep up the good work!

[@Skyentific]

Thank you!

[@JoJoNumbarOne]

Great video!

[@stefanguiton]

Great video!

[@AsafGaming]

First hhh

[@Skyentific]

Confirmed! :)

[@DPTech_workroom]

А как вам такой вариант? kzbin.info/www/bejne/mZetn2qKaalgbM0 Чем больше напряжение, тем быстрее могут двигаться шаговые двигатели.

[@Morberis]

Not a great E-stop? At least it's not a chinesium one like I see many people use.

[@DeKempster]

Was thinking the same, its a Eaton. thats an A brand. we use those buttons all the time in our machines.

[@beenNgone]

Thank you for the review. I'm interested in the material choices for the 5th axis harmonic, especially the flex spline. The "chunkiness" of the design seems to indicate that it is also plastic... something that I would hesitate to do for a commercial design, but this is Igus, and they do know their plastics? If it does use plastic components, I am interested in what witchcraft they have invoked to give them confidence that it will be reliable? An accurate, and reliable, plastic harmonic drive, is a holy grail for the maker community and opens up lots of possibilities for low cost precision drive chains.

[@kevinmryan1903]

Love your videos. Did you consider making a brushed dc motor actuator with quadature encoder & PID control? That would be great performance vs cost

[@Zappyguy111]

Man, I wish I had A$13,000 for one of these robotic arms... And a legitimate reason to buy it.

[@sanjayyadavtamilselvam5479]

Hoping to be as fluent as you in the area of robotics in the coming future ! Thank you for your detailed videos

[@jaroslawpiotrowski210]

Good idea for low cost robot. I waiting for next video about driver.

[@beachboardfan9544]

Why worm gb over harmonic drive or vise versa?

[@tmd3753]

Awesome, waiting for the next video.

[@aFlyingElefant]

Cool project! Cant wait to see more!

[@mberoakoko24]

Wonderful

[@gauthiersornet6051]

This is too many expensive for me. There are good robots armes for about 2,5k$ (good enought for my purpose)

[@spamspasm8183]

Can you elaborate on that comment? Looking for an option at around that price range. Thanks.

[@Fleurlean4]

@@spamspasm8183 May I please ask what your application is?

[@spamspasm8183]

@@Fleurlean4 Machine tending for a CNC wood router. I would like it to be able to place precut wood and/or plastic slabs onto the machine and take out the routed products and place them on an adjacent shelf. Slabs are pretty light and will be around 1kg in weight.

[@gauthiersornet6051]

@@spamspasm8183 less expensive with a gripper ! (they are also available on webshop) : www.kickstarter.com/projects/mirobot/mirobot-6-axis-mini-industrial-robot-arm?ref=discovery&term=robot%20arms www.kickstarter.com/projects/niryo/niryo-one-an-open-source-6-axis-robotic-arm-just-f?ref=discovery&term=robot%20arms