My recent work is making a robot ,the related joint design adopts the structure of conventional spiral gears and belt ,it is so good to see your amazing work,,I saw the reducer using this timing belt structure before，but i only consider that it was not stable and had low load ability at that time ,you are a good designer, wish see more good ideas from you in the future.
Very cool! love the way it moves. My only concern is the length difference between the in and outside of the belt, I'm curious if it wears down fast... It looks like in the last clip the top of the belt ring is more worn than the bottom side. Very nice idea! great job!
Thank you! I think the reason of this kind of wearing (chewing) is because inversed pulley and wheels has the same width of 6mm as a timing belt. Usually pulleys are a bit wider (7 mm) to make belt move more freely. But openbuilds wheels are 6mm width. It was just a proof of idea. I have some ideas of another version.
Awesome design, extremely well done. The only thing I dont really like, is how the tensioner bolt is offset from the belt center, inducing a moment. Especially under higher loads this is likely going to be a point of failure (or at least cause reduced stiffness of the system under higher loads). Also I have heard stories of such 'inverse pulleys' not being able to cope very well with higher loads, with the belt detaching from the inside of the pulley. Still, I applaud the design, extremely compact.
Incredible nice design! differential motion is very intriguing. The 3 rollers for each axis in the bottom part, the belt is in a direct line towards the next idler, did you compensate this error in the circular ringgear? Or did you left error as is? (about 0.47 mm of error for 30mm of distance over a R50 circle)?
Really nice desing, I wanna see it in use :) Btw, what brand are the tools you are using? Screw dirver and electic driver look nice and to be the same brand, what are those ?
That belt drive system is weird! In a great way, though. It took me a while to figure out how the belt was wrapped around in there. It does not look over-strained either. Does the belt show signs of wear at the twist first?
French C’est vraiment magique. J’ai hâte de voir la suite! Partages tes fichiers ? Je suis exactement dans le cas où je veux faire un bras articulé pour caméra smartphone avec AI face tracking
@@MishinMachine Got it, thank you so much. And may I ask another question? Is this how the joint works: when the two motors rotate in same direction with same velocity, then the first joint rotates and the second joint stays still. When the two motors rotate in different direction but with same velocity, then the second joint rotates and the first joint stays still.
@@haitaozhou6675 Yes, it works like a usual differential gear. In this particular design first joint pulleys are smaller than second joint output shaft with the 1.6 ratio. So you have to calculate steps for each motor to rotate joints on specific angles.
Am I correct to assume this was designed to support an independent actuator (i mean something that can do it's thing with only wires)? It looks very nice and functional.
Hi! Thanks for the comment. Actually, it was just a proof of idea of inversed timing belt differential. It can support an independent actuator I guess.
3D printing enthusiast, and missing a hand* I want to build something like this for more advanced 'helping hands' needs. Make some upgrades and coding. Will you be releasing the files for this?
Yes, the pitch axis has limit switches. You can find it on my short video ru-vid.com/video/%D0%B2%D0%B8%D0%B4%D0%B5%D0%BE-uOi59FGdv_o.html Output shaft is open loop, it has the ratio to calculate the angles.
