Hands down, this is the best printed robot out there! You should consider selling a kit with all parts except the printed ones. I am sure this would be extremely popular
Amazing project! Can’t wait to see more, can you do a more detailed video of the internal drives, assuming that your using a Kuka style gear system and belt transfer.
good thinking using the motors as a counterweight. I wonder if you could do the same on the first arm. that's probably a tad more complex. Let us know when we can download the CAD files please! even prototype files would be incredibly helpful to the community.
Hey men! Pretty nice project It could be an amazing miracle if you release the project for educational purposes ! You will have a big audience ! Congratulation keep doing it !
Great job, one of the best looking arms I've seen. Did you test payload? Edit: Is that black piece a rest for joint 2? Or does it serve another function?
Beautiful job! I’ve been looking at the Kuko cad files for this design, and I’d love to know what you used for the forearm transmission shaft (shaft within a shaft). Any plans on releasing a Bill of Materials? Thanks!
By far the coolest 3D printed robot arm! And I have so many questions: Is it closed or open loop? Which microcontroler did you use? Did you write inverse kinematics yourself? And of course do you plan to open source it?
Hi Tim, Thanks for the comment. This version is open loop, but I am developing the version in close loop too. The mic I am using is Teensy board. The inverse kinematics is fully written by me, the IK its adjustable of course, in the video is set up 100 per mm, which means every 0.01 mm a recalculation is done. Concerning open source is not clear yet. Its a prototype not finished yet.
@@ZeroBacklashRobotics beautiful work! Im usually around industrial robots and that is pretty convincing. Also this would be huge for smaller cinematographers / youtubers, for product videos moving the cam around
Have a look at Chris Annin’s AR4. It is fully developed now, he released STL, and software for free and kits are also available. CAD is available for a small fee also.
think I have designed a 6-axis control board for stepper motor, a cortex m7 processor +6 trinam driver tmc2208, plus the provision for 6 encoders controlled by the stm32 f7, it works perfectly, really the electrical part is there but I'm looking for an ally for the mechanical part ........
When I see this DIY type robot arm build. My first interest is how stable is it. I look for any deflection, movement past the point when the joint changes' direction. This looks smooth, but it's hard to tell with the camera moving. It's almost like you're moving the camera each time the arm changes direction.
Nice progress! The motion is very smooth. I really like this kuka design :) I'm waiting for some aliexpress parts to arrive for my robot. I'm trying to replace the stepper motors which have low torque with a brushless dc motor and a chinese odrive controller from makerbase. Should also be more accurate. Did you use the strain wave gearbox in this robot?
Hi Nadav, thanks for your comment. The design indeed is inspired in Kuka Robots. For the moment the strain wave is not used in this project, it could handle the torque in J4,5,6 but no not in J2. It will be possible to integrate it in future versions, with a higher torque strain wave generator.
Hello, can I ask you about motor movement transition in joint 4,5,6? I found that wrist is made with differencial mechanism, but im still thinking about transmiting torque from joint 3 to wrist. Things that came to my mind are just flexible shafts or some kind of gearbox, but im not sure, great job by the way.
Hello Dario, the zero position is done in a specific position, you can see it at the beginning of the video. Right now the steppers are open loop. Next step is to put them into close loop with absolute encoder, then the zeroing will be easier and accurate.
I'm about to start reading Biologically Inspired Control of Humanoid Robot Arms as I've been dreaming of having a UR3e for macro motion control cinematography... when you're ready PLEASE TAKE MY MONEY - I too would love to purchase your design!
Everyone need 2 of these in their kitchen ! Put an AI on them let him learn to cook with cooking video ... Just be prepare to make a lot of cleanup for the first few thousands of recipe !!! 😁
Hi Head, its just pure Arduino code written by myself. With an IK library to generate every type of movement. There is no software required to control the robot, you can program the movements in the same Arduino just typing the movement command and the desirable values.
Hi GO_GO, thanks for the comment. The drivers are equipped with a technology which always drives the motors at the minimum current required, for the actual load condition. Doing that the energy consumption is less and also the heat. But indeed is a good point to keep in mind.
Hi @SnApO, I would like to implement FOC since combined with magnetic encoders can be really nice. But didn’t try yet. At this moment I am using TMC drivers controlled with step and dir.
Bad A$$ I love it. What software are you using to control the bot. I build a diy robot arm using arduino and steppers but can not find a simple control software. ROS wants your first born child just to install. Thanks
Hello. I want to make a 3DOF (or 6DOF if possible) robotic arm that can hold 100kg at the end. In addition, it should occupy no more than 50x50x50cm. Do you see it feasible? Would you like to collaborate with me? Thank you very much.
@@ZeroBacklashRobotics awesome! Yeah I've worked on the Kuka KRC2 and KRC4 robots, I recognize that triple motor in back design. Yours is the first I've seen to use the belt transmission on anything smaller than a KR4 4 kilo payload robot
Those three motors in the back personally I think is a really nice idea, and smart solution in robotic engineering. Thats why I wanted to bring this concept in such small factor. Most of industrial robot should apply this concept more.
Thats tricky question, IK uses a lot of trigonometric formulas but also matrix calculations. The complexity of the IK is that you can get the same position and orientation in 8 different configurations. Its difficult to answer this. You can try but I would base the calculation in some proven method like DH.
Hi kinzang, technically is possible xD you can program it as you wish. But a robot with a scissors I don’t know if its a good idea haha. I wouldn’t use my head for testing it. Thanks for your comment ;)
Hi Marcos, its just pure Arduino code written by myself. With an IK library to generate every type of movement. There is no software required to control the robot, you can program the movements in the same Arduino just typing the movement command and the desirable values.
hello friend, I am very interested in this project, is there any way that you can share the files with me or you can sell them to me, it would be very useful for a project at the university
