This project is really owesome Man! I'm a teacher in a mechanical and automation school and can't wait to print and start using this arm with my studdents. I saw in some comments below, u seem worried about finishing Belford release, I've seen a lot of projects that the comunity helps to finish and improve. One example is the CMD placer...
An amazing work as always. I'm a programmer of ABB Robotics arms and I can't wait for this project to be released to put my hands on it. Keep it up with your extraordinary work!
Nice to see the noise has been eliminated! This project is coming along so nicely, I can't wait for documentation to build my own :) Keep up the great work!
Hi Nicholas, thanks for your comment! The noise in the previous video was caused due to lack of magnet, since it was used only one stepper to test the three encoders. As long as the magnet is lost this noise is present. In the new video all three magnets are working together which results in a much quieter noiseless waves.
Thanks for keeping us posted with progress! These sensors looks perfect for another project I’ve had on the backburner for a while. Great work and keep it up!
Awesome! I have already asked this before, but that time has probably passed by now. When you plan to make the files public? I don't want to put pressure in any way, and I understand that such projects are very time-consuming, but this robot already looks (and it seems to work) so good that I want to start building it!
Hi Rasmus, I am receiving a lot of request concerning this question, mechanically is almost finished, electronic board and software not yet. Since a lot of people is asking about, I am thinking to release first the mechanical CAD pieces and list of mechanical components, in order people can start ordering and printing. Its hard to tell you a date, this is a lot of time consuming mainly in my free hours. So I cant give you a date, but for mechanical parts before end of the year its quite realistic.
Thank you for the answer! I encourage you to release the CAD drawings of the mechanical parts, etc. as soon as possible, the electronics, and especially the firmware, can always be improved. People who are able to do this project themselves will understand what a wonderful job you have done and will forgive any small mistakes. Just thought I'd add: I've had a bit of experience with small industrial robots, and I can say that your robot will do better than some cheaper industrial models. Maybe not with accuracy, but definitely with speed and power.
Hey I have been following your project for a long time and would also like to build the robot. I have some ideas about what you could do with it. Will the robot be available for download? Or is it your some construction?
Do you plan to write or use a script that can save the backdriven movements to program a certain behaviour? Or is it just for a PID control for heavy things a stepper motor might be sometimes to weak for?
Hi Tim, both. In future videos I plan to create a routine just using the backdriven movements captured and shown via web interface, its also used for the closed loop. But can have other applications such collision detection, home routine position…
Cool! It seems you found a partner for arm wrestling! I'll be waiting for the start of the competition! Sorry, but I'm betting on a robot! The idea with magnets encoder is also great (but don't cheat at competitions)! Will the encoder work in micro stepping mode?
Hi! haha funny xD, encoder will handle microstepping. Since It has 14 bit resolution, you can get 2^14 values per turn (16384 positions) on the stepper side, with TMC drivers you could go to the maximum microstepping 256, but the higher in microstepping, the harder to calculate IK. On top of that you have your gear ratio, which multiplies directly that resolution. There is enough resolution, mechanically you will never reach the max.
