How to improve the precision of the actuator?

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The Planetary Robot Actuators from my recent videos have a significant backlash. Which reduce the precision of the robot joint. Here I've tested the idea, that the additional reduction stage (with the zero backlash belt) will increase the precision.
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#Actuator #ODrive #Robotics

Опубликовано:

9 сен 2024

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Комментарии : 84

@Skyentific 5 лет назад

Please don't hesitate to leave your comment! This will promote the video in the youtube algorithm. Thank you!

@diyrobot9455 5 лет назад

Please urgent; how to control super 300 servo motor by arduino? thank you for your great work

@R2D2Belgium 3 года назад

Great build ! do you share the STL' s on your Patreon and the used parts list ?

@sato4kaiba 5 лет назад

@05:48 Skyentific: You can use the timing belts. First you need to determine the max torque a belt can handle, and then you can double or triple the number of belts to distribute the level of torque you wish to test. You can also use a tensioner and a micro switch to determine if the amount of torque being use is too much. There is a proportional ratio between torque and tension on timing belts.

@dempa3 5 лет назад

Great solution! I think many of us are impressed with the 3d prints. Consider making a series on designing and printing in the future! I suspect it would be very appreciated.

@Skyentific 5 лет назад

Thank you! I think I should do this. Thank you for idea!

@dmitryplatonov 5 лет назад

You should add roller(s) to increase belt angle around small pulley so it will not skip.

@kapytanhook 5 лет назад

Beautiful job! Smart way to get low backlash, high reduction, high efficiency. Really excited to see this in a robot arm. When you started with the planetary gear I was disappointed because backlash made it almost useless big robotic joints, but this video has changed my mind :)

@victorldunn9638 5 лет назад

Thank you - again - for your videos - Clear Presentation - Easy to watch - Great mix of Practical and Theory that make it easy to absorb the detail. Looking at the comments - I too would really appreciate seeing a spin-off set of videos on the topic of how you achieve such quality with 3D printing - especially how to achieve such good tolerances when the past fit together so well.

@deanoconnor7807 5 лет назад

Really admire the quality of your 3d prints and the design skill behind them. Looking forward to your continued videos, what is the print material and the type of printer?

@PhG1961 5 лет назад

Awesome ! And it's still getting better ! Great work, looking forward to see the complete assembly of the arm.

@joselagunas643 5 лет назад

I really like your designs, good work. Watching from Tijuana, Mexico 🙋

@kevinhiggins320 5 лет назад

Thanks my friend.

@Skyentific 5 лет назад

Thank you for your comment!

@AvivMakesRobots 5 лет назад

Very informative. Thank you!

@antonwinter630 5 лет назад

great work. looking forward to seeing how much load it can handle with strong belts

@ViktorNiniadis 5 лет назад

Thanks for sharing!

@dalatony 5 лет назад

Can you use screen video recorder and record the 3D design and drawing on SW or any software you use, and upload it on RU-vid even in speed mode

@Skyentific 5 лет назад

Yes, I can do this. Thank you for idea!

@janniclasgladbach 5 лет назад

I support the idea! Would be very helpful

@vilamaker7762 5 лет назад

Greate Project. Congratulations.!!!

@patrykbuczynski7533 5 лет назад

beautiful work!

@jasoncreech4486 5 лет назад

Great job

@MatterLabz 5 лет назад

Your designs and videos are fantastic! I really enjoy seeing you create something then test it's capabilities. Do you have a website or some location where you share information on the components you use in your projects? I'd like to purchase the motor planetary combination you are using here. Also do you make your design files available anywhere as open source, or for purchase? Keep up the great work...

@pigi_experiment 5 лет назад

Great Video!!! Can you make a video that explain how you in general 3d print all components connected to the actuators?

@duodot 5 лет назад

While that is a fine solution, and a stunning design (I really like how you've kinda made your own modular system with adaptor plates and mounting brackets and such), there is not much more performance you can squeeze out of this actuator before you'll have to move on to ballscrews or wormdrives.

@basementadmin 5 лет назад

Excellent!!!!!

@myetis1990 5 лет назад

good job but, I'm still waiting for Harmonic Drive Gearbox. If you make a tutorial about it then it will be more appreciated

@ilyadin5702 5 лет назад

Hello, май диер френд! Your channel is the best! I want to know, where do you use this amazing things to you doing.

@gregoryM101 5 лет назад

Thanks, another great video! Would you consider providing a link for the stl files and parts list with your videos?

@katerinarostova4312 5 лет назад

For the moment, the stl files are available only to Patreons. You can find a link in the description to this video above.

@rraymakers 5 лет назад

Nice series. When doing the payload test, please use a better solution than a bag with rice packages. Your videos have evolved passed that point a long time ago.

@MicheleHjorleifsson 5 лет назад

try kevlar fishing line it doesnt stretch or give, great to eliminate backlash

@3str4ng3d 5 лет назад

That's gonna make a great shoulder joint! I wonder what you have in mind for the rest (smaller) joints.

@ostrov11 5 лет назад

Спасибо )

@Skyentific 5 лет назад

Спасибо за комментарий!

@localhawk1 5 лет назад

Thank you for this video. A very nice idea. I do not know much, but the topic is interesting for me. I bought a Harmonic Drive HFUC-20-100 (100:1 reduction), with an existing mount and a 10mm bore . Turns nicely. I would like to give it to you, if you like. My idea is, maybe usefull for comparison and I have seen 'simular' chineses harmonic drives for 400 eur single samples on alibaba. Looking forward to further videos. Best regards from germany

@user-rd3lj4gn4s 5 лет назад

May be better to use white bell, which is armed by steel rope? Backlash will be less.

@Skyentific 5 лет назад

Yes. I think this will help. Thank you for idea.

@pd.dataframe2833 4 года назад

hi..how did you make the gt2 pulley model...should the 3d printer be super precise to make it work

@ArnaudMEURET 4 года назад

(Here’s my contribution to feed YT’s algorithm. So you have to answer :-)): Was this the full speed of the motor ? Because from my eyes, it seems to be able to achieve a much greater speed. And who doesn’t like swifter robots ? Were you limited by the encoder specs ? Power supply ? Surely not the ODrive. Keep going !

@SergeiSugaroverdoseShuykov 4 года назад

if you don't want backlash - use hypocycloid gearbox instead of planetary

@32353235e 4 года назад

@Skyentific have you looked at asymmetric gear profiles for backlash free actuation?

@diyrobot9455 5 лет назад

Please urgent; how to control super 300 servo motor by arduino? thank you for your work

@FilterYT 5 лет назад

Thanks for another great video. I'm wondering what the implications are of the placement of the rotary encoder. If you put it on the final output would the motor be bouncing back and forth about the backlash? Would the final backlash be less or more? Thanks again!

@MrZomhad 5 лет назад

Hi, glad to see it worked out well! Are you still planning on building a robot arm? :)

@Skyentific 5 лет назад

Of course! I actually started to make the drawings of this arm. But it takes some time. I plan to completely finish the new robot arm by the end of summer.

@MrZomhad 5 лет назад

@@Skyentific Cool! Good luck, I'm looking forward to it!

@mibli2935 5 лет назад

Dear Skyentific: Can you provide an engineering definition of "backlash" that you implicitly use in your excellent video? That will be a big help. Thanks.

@peterweber79 5 лет назад

en.wikipedia.org/wiki/Backlash_(engineering)

@tetraquark2402 5 лет назад

I'm waiting for you to build your own iron man suit that actually works

@MrRitzyVlogs 5 лет назад

Have you tried either a 3d printed harmonic drive or Cycloidal Gearbox to reduce backlash?

@andresgodinho 5 лет назад

Hi, this is just someting i was wondering... Couldn't you put an encoder on the output? This should Help with position accuracy

@helderrocha3228 4 года назад

Hi. You have done a great job first of all ... can I ask for help? which drive is suitable for brushless motor with encoder (motor as in video, encoder coupled) to connect to a 6 axis cnc controller board? thank you if you can help

@albertox0404 5 лет назад

Hey, why you don't buy a stepper motor with the planetary gearbox in OMC Stepper Online Store? The backlash of this planetary gear is very small and has a lot of torque ( 25 N m) Great video, congratulations from Spain

@pierrekircher4383 5 лет назад

smart question - yet it should be obvious that any servo can move faster then 99.9% of steppers ( stepper are extremely slow by default) just by the way they operate + stepper tend to lose steps ALOT .. so encoder + servo is the way better choice at least in robotics

@IM-gp9yj 5 лет назад

Здравствуйте. Спасибо за ваши видео, они очень мотивируют меня. И меня очень беспокоит один вопрос- насколько точен бесколлекторный мотор в сравнении с обычными шаговыми моторами Nema? И в чем у них разница?

@enott 5 лет назад

Какое передаточное отношение получилось? Конструкция очень эректильная!❤

@MrWachowsky 5 лет назад

How would you use stainless steel wire instead od toothed belt?

@sgwong513 5 лет назад

Can you provide the brand/model of your dc brush-less motor? thanks.

@juliermearaujo 5 лет назад

1. Motor: Aerodrive 4250, 350KV from hobbyking 2. Planetary Gearbox: 42XG30-ZYC from Aliexpress 3. Encoder AMT102-V from digikey. Watch this video: ru-vid.com/video/%D0%B2%D0%B8%D0%B4%D0%B5%D0%BE-VsecsMZuupI.html

@tibizambo3594 3 года назад

Reduction ratio?

@menarafat 2 года назад

what's the name of this motor ?

@Kawaiiization 5 лет назад

Any details on that motor?

@abj9121 4 года назад

There are harmonic gearboxes 0 backlash, you know, maybe you need that..

@candygirl333 3 года назад

where can i find those bearings?

@malihal3049 8 месяцев назад

Hello, were you able to find where he got those bearings from?

@operaadissipantisn4468 4 года назад

I want to do from this project. Can you help me?

@brycedavey1252 5 лет назад

Where do you buy the gearbox from?

@fabiogregoroni7129 5 лет назад

Which 3d printer do you use?

@kirilchi 5 лет назад

Are you going to use different belt for better torque?

@Skyentific 5 лет назад

I don't know yet. One possibility is to use large belt (like 15mm wide, for example). Another possibility is to use the stainless steel wire, but in this case the rotation range will be limited...

@kirilchi 5 лет назад

@@Skyentific I like the wide belt idea :) I am following your builds, today ordered the slew bearing - what you achieved already is a win. With belts/other options I will wait for you future discoveries :)

@srikanthn6404 5 лет назад

How do we make zero backlash

@justtestingonce 4 года назад

You don’t need to, your 3d printer has small backlash and works fine, otherwise just use an encoder

@RustyleSuper 5 лет назад

Привет Skyentific , не подскажешь почему не используешь шаговики, из-за цены, мощности? И как добился вращение на нужное кол-во оборотов? Англ не знаю

@BauritoTV 5 лет назад

Основная проблема это малый крутящий момент

@dekutree64 5 лет назад

Here's another reducer mechanism which may interest you ru-vid.com/video/%D0%B2%D0%B8%D0%B4%D0%B5%D0%BE-HxCDbEL9afc.html Same underlying principle as your orbital drive, and even more similar to Gear Down For What's compound planetary gears, just with a single planet, and different tooth profile to avoid jamming when there's only one tooth difference between ring and planet. You can get good ratios with very low tooth counts. And here's a helpful link for creating cycloidal discs in Blender www.otvinta.com/tutorial05.html The rest of the modeling is easy. Just a bunch of boolean operations with cylinders.