Amazing i think to give job to one of my 3 x1c printers but looks little complicated to connect all this in final result 😅, but very interesting project
The wire routing and potential for chafing through the wire insulation is concerning here, particularly at 5:23. Might I suggest a 2.0 version with more consideration for wiring between and through rotating/moving parts?
That is actually not a problem. We have now run the robots for a year and never had a problem. It rotates only 180 degree and has some sloop. If it were rotating more and there was not enough extra wire it would be bad I agree.
That really cool. Its almost like the way my 3d printer moves I got an ender 3 v3. Belt drives are something else. You could also make pretty much every joint like that if you wanted to.
Don't you think, using a high price BLDC and an even higher price controler for the BLDC isn't massive overkill and not even good enough? I'd use a small stepper motor with an inexpensive controller and a nice reduction gear box like a strain wave gear box. This way much higher gripping power can be achieved.
This gripper is on par with industrial grippers in terms of performance. The point is not to have the most gripping power but to be able to pick objects without braking them, detecting when they slip, measuring their dimensions, and controlling the applied forces depending on your needs. You can look up industrial adaptive grippers and check their prices, performance and capabilities.
@@source-robotics I really appreciate your answer and the details. Still your version is very expensive by using a BLDC motor and controller. A Stepper motor with a tmc2209 might give you the same control with measuring the amps ramping up as soon as it touches something. Also using a fitting gear ratio might fit your needs as well. Aaand with steppers the price stays in range for a diy project. Still I appreciate your video a lot!
Best implementation of 3d printer robot arm to date. During the design phase was it considered to scale up the size of the arm? Is there any possibility to double the work envelope or payload for large automation tasks?
We have been doing 3d printed arms for 7 years now. This size of the robot is optimal for 3D printed parts and cost. If you go bigger you need more expensive motors and electronics. That is in turn heavier and plastic starts to fail there. Then you need some reinforcements in form of metal and then it is even more expensive. So this size of the robot is a perfect sweet spot where you get best of everything. A lot of people force human sized 3d printed arms but they always fail.
@@source-robotics so in your opinion for something larger it would be better to invest the time and money into something like a universal robotics cobot or similar?
@@jamieclarke321Not necessarily. You could still diy something but the price for bigger robots rises exponentially. Chris annins ar2 robot is bigger then this and has good performance but is all metal and still kinda wobbly for its size. It uses same gearboxes as parol6 and 15 arcmin backlash on robot this size and his size are really noticable. If you placed some 500 dollar harmonic reducers it would be much better but then again you are getting closer to ur, small kuka/fanuc price with that option.
Did you make the electronics? (Drivers, sensors, main controller...) Because im starting to see about microcontrollers (PIC based) and im curious about how to apply it... I'm supposing its better to buy some solutions more than developing all.
Yes the electronics is custom made. about diy or buy it depends about your knowledge and experience. If you are just starting it could take 2-4 years to get something to ready to use state.
All joints are controlled with: source-robotics.com/products/spectral-micro-bldc-controller They are connected to PC via CAN and all high level code can be run on any PC
Free STLs but paid STEPs, that surprising. It's open-source but people can't contribute? Also, I'm not sure it's open *source* if the *source* is not available Cool arm, though
Could you please tell me what their movement mode is like when you want a joint to trigger a limit switch? Is it directional position control? Or constant torque control? And I saw in the video that the limit switch is triggered twice. Why is this considered?
It is constant velocity mode. It triggers twice since at the first trigger it might already be at the trigger point and a little off.for example J1 is laying down on the switch and it is triggered but that is not a real zero pos. So it needs to move away and hit it again
@@AandHAutomationllc We developed our own drives for FOC control of steppers and BLDC. We are currently implementing them on our robots. You can check on our store.
Hi! I am wondering will the control board with stepper drivers be back in stock in the short future? Additionally, I am tuned to build this robot for learning purposes and was wondering how hard would it be to attach a camera to the toolhead for facial/object detection?
Hey, they should be available next month it is best to send us an email at info@source-robotics.com and we will contact you as soon as they are available. About the camera it can carry 1kg+ so it should have no problems carrying a camera. To do tracking and detection stuff it could be done with some effort.
Uhmm just to know ¿Did you make all calculations for mechanical deformations and sheesh? Because in my university we saw a little of it (and seems interesting but hella problem to do with all parts)
Nah way bro 6 years of research... And i want to do a robot manipulator like this in 2 years (im still in bachelor's degree) pls tell me ure already have phd or something xD because this for me is crazy
