@@Bisaw37 damn youtube comment formatting, between that and mobile always getting messed up and blocking me from seeing longer things (enter key kind of deal) i am just A n n o y e d lol
@@ericlotze7724 Tip: Don't put any characters right before or after the word you want in bold, for example: *LEGEND*. Will not get bolded because there's a dot right next to the asterisk *LEGEND* . On the other hand, does get bolded because I placed a space between the last asterisk and the dot. This is also the case for the first asterisk, just backwards: .*LEGEND* doesn't get bolded because there's a dot right before the first asterisk . *LEGEND* does get bolded because there's a space between the dot and asterisk. Hope this helps! It also applies to _italics_ with “_”
Alexis De Tocqueville in "Democracy in America" (democracy is meant, generally democratic, not the party) But he describes American farmers 1830, as tinkerers..inventors , an amazing part of American history. My earlier years was spent in a Cummins dealership. There were two guys who grew up in the country...they were the best mechanics
Great video! A small side note, one thing to keep in mind when using cheap rare earth magnets: Buy in bulk, more than you need! Their Tesla field strength is all over the place, if you want to build high efficiency motors you need to measure and sort those to find similar Tesla strength. If you don't do that you can introduce nasty harmonics confusing your motor driver.
Could you maybe suggest good magnets? Like these that are used in video? Where one can by them? There are a lot of magnets by amazon, I already bought several in the past, but they were not strong enough. Gerne aus einem deutschen (Online)-Shop.
@@BentFunction Best place are specialty shops that only sell magnets. They are still a bit inconsistent at times but way better than the cheap garbage. Theres a bunch of them, but you need to google them because YT just silently deletes comments with links nowadays without any warning. Except for those on googles payrolls, those are fine for some reason 🤔
@@sotirisbekiaris4055 I did, but YT keeps deleting those comments. Apparently I'm a scammer for including helpful links to sites that don't pay the G for ads. Way to go to destroy a platform. Lets see how long this stays up. And they wonder why people are so pissed.
@@DerSolinski hm thats sad. I don't know if you posted again a link. I can't find the comment... Try adding it with spaces so it is not recognised. We are going to figure it out
When you pulled apart the copper for a second time I just wanted to give you a hug lol. I’ve had to start over on my unreal engine plugin multiple times and the excitement/frustration is very real. At least in my case, it’s literally just code and not physical labor haha. This is such a cool project, thank you for sharing it!
To wind a motor coil use a long dull tip syringe tip mounted to a pen shaft. It allows you to "place" the wire between the slots where your fingers don't fit. Try bending it to different shapes if you need. Long sowing needles eyelet bent to a hook could also be used. Ideally, you want to fasten the stator to a fixture so you can use a second hook tool to pull loops into position with one hand while guiding/"paying out" the wire with the syringe tip or needle in the other.
@@snakezdewiggle6084 my dad works in a company making electric motors and they have a 5 axis machine that does exactly this fully automatic.... it does permanent tension control, bend radius control, full 3d positioning of the wire in the channel and even tacks and cuts the wire to the bus terminals when switching which winding its on...
Dude you are an absolute legend. Thank you so much for posting your fails. Showing my students that failure is part of the process is so hard to get when people hide there mistakes because internet narcissism or plain old human shame. I loved seeing your try fail cycle and you triumph by keeping the effort moving forward.
That’s so cool! When I was in school for mechanical engineering, there was a single mechatronics elective available only every 2 years- and it filled up in less than 10 seconds after registration opened.. needless to say I didn’t get in. I’m now hopeful that I can learn a lot about robot design on my own time from open source projects like the ones on your project! Thanks for making this available for people like me to tinker with and learn- it’s really awesome
I’m completely stunned by how you are able to muster up the energy to do this stuff while studying hard at university. It’s not like you are just throwing things together haphazardly! Amazing channel dude.
My favourite thing about your videos, other than the incredible subject, is that when you explain a concept you also demonstrate it physically with a small experiment. Wrapping the wire around the Allen key, running a current through the wire, and picking up nails is such a simple yet effective demonstration of the concept. It's super cool and inspiring. Thanks for sharing!
I was building my own CNC machine but I can tell you how frustrating making mistakes can be. Had to tear it down three times and begin from ground zero. Thank God I completed it 😢
such amazing production quality, simple and easy to understand yet somehow explains more in such a short time than anywhere else on the internet. awesome idea as well and just amazing video overall. not even 4 minutes in and you definitely deserve a sub!
This is amazing. My dream is to see open source mechanical engineering become more common. You can get away with open source software for basic analysis (FEA, CFD, etc), but there really isn't a truly open source cad platform that is usable without enthusiastically introducing your head into your desk. Very awesome that you provided all the cad files!!!
I'm glad to see that this is do-able!! I attempted a similar build with a planetary gear system and got stuck at making the rotor on my cnc machine. Also, making durable gears from scratch was a challenge
Quality man, your range of engineering skills is enviable, might not beat the MIT cheetah motor, but that was like teams of phds, this is super impressive for one person iterating on a design.
A few decades back there was a guy with a 5ph system. I proffered a "rim drive" system to "create the future" program and won a nice tool. A huge peripheral magnetic drive for large ships. The huge horizontal flywheels would help stabilize the ship in rough seas. It was really simple, and reliable.
Just a tip for getting interference fits together easily. Cool or freeze the aluminum part and heat the steel part. Usually putting the aluminum part in the freezer is enough but depending on how you clearanced it you may need dry ice or liquid nitrogen. Heat the steel part to 300F. Usually only one of these methods is needed to get a tight interference fit together but sometimes it takes both.
I was so wrapped up in how great this thing was I didn't catch that it was definitely gonna burn itself up until you mentioned it. It seems like in a cycloidal drive with steel or aluminum hardware, it would be vulnerable to galling in the long term, which a planetary drive isn't. I know there are steels and coatings to deal with galling but they're not usually cheap.
I have been thinking to develop exactly the same motor for 3 years now. Good you made one. I even read the same MIT research papers. Great work dude, keep it up
Epic build, I've been wanting to build/design one of these for a hex/dodeca bot I've been concepting, this'll serve as a good reference point for a similar type of design as QDD is necessary for the desired torque values. Awesome insights!
This guy drives himself crazy designing, building, testing, and improving his design, just to get to the end and throw it away and never use it? This hits a little too close to home for the rest of us engineers, hah. Nice work, thanks for sharing!
This is just AMAZING! So cool!!! I will make one and find the system properties to make it run on a MPC algoritm! No integrator windup and optimal control in one!
how nostalgic, havent seeing a graphing calculator in use since a decade ago. Thought they all got replace by smartphone app by now. I remember programing my ti-calculator to solve fluid dynamic problem that show all the intermediate calculations, so you get full credit during exam. I think ti-basic back then only support single letter variable. So you only get to use 26 variables in your program. So I had to use array buffer to store additional variables. tons of goto statement. Debugging the program was a pain in the ass. But I'm glad to see graphic calculator is still being use by student today.
Also just in case nobody knows this, every city, suburb and rural town has at least one machine shop. Almost no one can say that they have"limited access to mills or lathes holding me back".
Internal Wobbler dive - pretty good name! TY for showing the iterative process, and also the mistakes you made! Amazing work! It is also pretty cool that we live in an era where we can go from printed prototype to machined part as an Individual without a big company. Pro tip: if you have friction fit metal parts, temperature differences are your best option. Put one in the freezer and one in the oven and chances are, they will fit together. ;)
7:50 Slight correction, when the output of a gearbox is the opposite shaft the gear ratio of a cycloidal drive is r= (P-L)/L where P is the number of pins and L is the number of lobes on your gear. This can usually be simplified to n-1 compared to the number of pins. You can also use the casing as an input or output, in those cases you have an n ratio to the number of pins. I've been playing with some cycloidal designs myself for some university projects as well.
While most of this is over my head on a technical aspect.. or rather requires more focus than I am able to give at this moment.. I must say how amused I am at how you have used a tablet to make your own type of whiteboard animation. Thanks for your efforts and ingenuity.
Wow, I just had to pause the video to say how impressed I am with your work! Your clarity, confidence, and knowledge really shine through, not to mention your great sense of humor. It’s rare to see such a combination! I have immense respect for what you're doing here. Keep up the fantastic work-I’m excited to see what you come up with next!
Your video is very interesting!! After the first design of my completely 3D printed actuator and seeing its limitations, I am making one completely in metal. In my case I have acquired a small CNC so I can do everything from home. It's funny how much of what you explain in the video I have experienced (the hard way) heheh
James Bruton did this 3 years ago, it's nearly a 1:1 and it's giving off impersonation vibes, like the carbon fiber tube test and the stock video of Boston dynamic dogs in action which were also in his videos. However I acknowledge the fact that it could be convergent development and you two just had the same idea. I don't mind inspiration and recreation videos, taking ideas from others and giving it your own spin, but I draw the line at impersonation.
If you want to make it even more compact, here is my suggestion, instead of using central eccentric shaft, use 3 of them located between outer diameter and inner diameter of the cycloidal disk. place 3 double eccentric shafts with helical gears at the end of them. Now put a central gear that motor will drive. This way, you can play with reduction ratio much more. This configuration will give you approximately %20 less volume and mass while specs are similar to your model. Cheers
Fun and very clear! Thank you! Looking forward to seeing prior work and future projects. BtwGreat presentation skill, clear large graphics. Good/great pacing , sound and wonderful comedic timing! Whoo hoo!
man i've had this video in my recommendations for a month already always skipped it because no design ever has or will be truly optimal but fine, i'll watch it now
Hopefully I've changed your mind! I call it the optimal design because it is compact, allows for virtually any gear ratio and if built properly has little to no backlash.
This will (sometimes) be a fairly high frequency motor. At high frequencies ferrite cores perform better than iron. If you cast your own ferrite cores (magnetite and epoxy), you can wind the coils first, and cast the core round them.
I have done a similar actuator about a year ago and I agree with you. Its tooooooo much work. But if you aim compactness and precision, its the best option available diy. I have made it full metal using AL7075 and made my design to be used with standart 90 kv bldc motors. But I dont use it. Its on my desk due to massive work I put into it. But thats it. Planetary gears with helical gears are sufficient for me. At least for now. If I want to make an ABB or KUKA class robot or something similar, then it will be more than a paper weight :D