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OpenTorque Actuator (developed by Gabrael Levine)

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I have decided to build the OpenTorque actuator, developed by Gabrael Levine (hackaday.io/project/159404-op.... I changed the design slightly to adapt for my hardware (bearings and 3D printer). The idea is to test Quasi Direct Drive reducer (reducer with the large air gap and low reduction ratio below 10). In this video I have build this reducer and tested that it works. In the next video I will test it and check how applicable it is for the robot arm.
Special thank you to my special Patron: Wesley Corp!
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#Robotics #ODrive #OpenTorque

Опубликовано:

20 апр 2019

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Комментарии : 194

@briangroene7756 5 лет назад

Incredible. Awesome actuator. Can't wait to see it on the robotic arm

@Skyentific 5 лет назад

Thank you!

@JulianMakes 5 лет назад

This is just brilliant! It’s got me so excited to try some of these things. Brilliant prints too (I love my mk3 too!). I’ve only ever done things with steppers so am keen to try some brushless motors. Thank you so much.

@Skyentific 5 лет назад

Thank you for your kind comment!

@krishnapraveen6862 4 года назад

I cant able to skip your videos and leaving the comments like.... Love ur videos. So explanatory. Thanks for entering into RU-vid world 😛😛. Since no one is there to explain these things freely in youtube. 😅😆

@ConstantijnC 5 лет назад

Thank you so much for your videos! They are so informative and you seem very sympathetic as well ;)

@Skyentific 5 лет назад

Please do not hesitate to leave the comment. Any comment will help to promote this video. Thank you! And sorry for the bad audio...

@TheTheASHER 5 лет назад

я так понял вы по русски говорите? сделайте субтитры на русском, видео интересные

@cedricpod 5 лет назад

Skyentific i found the audio adequate

@takismail 5 лет назад

have a an idea that might be good for you, how to contact you?

@ivan2vp61 5 лет назад

Sr. My respect for you, your designs are amazing

@Skyentific 5 лет назад

Ivan 2VP , thank you!

@brendonmatheson7286 5 лет назад

Very cool! Looking forward to seeing the performance of this component!

@mberoakoko24 5 лет назад

This is wonderful. I want to pursue Mechatronic engineering and this is really inspiring .

@Skyentific 5 лет назад

Very nice! Glad to hear this! This is very interesting field!

@LukeMcloud 5 лет назад

I like your awesome actuator. I am seated in your channel, wow! excellent !

@Skyentific 5 лет назад

Thank you for your kind comment!

@glennextra 5 лет назад

This is a piece of Art! Greetings from Vancouver, BC

@Skyentific 5 лет назад

Thank you!

@pappaflammyboi5799 5 лет назад

Hey Google... make me an electric motor with high torque, low backlash, 10 W/cm³, low noise, 95% efficiency, quadrature sensor w/1 arcsecond accuracy and shaft speed of 1 rev/s.

@ejrupp9555 2 года назад

I laughed as much as you went overboard with this joke ... then laughed again.

@__--JY-Moe--__ 3 года назад

very helpful ! congratulations with this demo!

@D4rkCybr4n 3 года назад

Thx for saying "Hey Google" so much. Now i have to reset all my smarthome devices.

@myetis1990 5 лет назад

excellent work! to tell the truth, it was my main goal to construct an actuator, thanks.

@Skyentific 5 лет назад

You are welcome! Thank you for your comment!

@fathallijalel8400 5 лет назад

very good job Can't wait to see it on the robotic arm

@Skyentific 5 лет назад

Thank you!

@TheNeocivic 5 лет назад

Понимаю, что Ваша аудитория в основном англоязычная, и вместе с тем многие русские молодые "инженеры" (дети) были бы Вам очень благодарны за русскоязычные версии роликов, хоть наложением голоса. У Вас очень годный контент, в России такого не хватает! Спасибо! Да и не дети тоже:)

@dmawzx 5 лет назад

Вот я поддерживаю!

@fly-high-me 5 лет назад

Есть смысл подучить английский вместе с детьми, не?

@TheNeocivic 5 лет назад

@@fly-high-me Учим :)

@morkovija 5 лет назад

Judging by the intro clapping frequency i thought this was going to be a meme review!=)

@quinnfoster4671 5 лет назад

Haha I love the voice commands! It's just like before but you don't have to type!

@Skyentific 5 лет назад

Exactly. It is very convenient, and hands-free. :)

@dmawzx 5 лет назад

Такого управления я ещё не встречал! Это круто!

@Skyentific 5 лет назад

Спасибо, за комментарий!

@drivevolt1464 4 года назад

you speak English very clearly, I do not know English well, but I understand you well

@user-mu8ni4rl3d 5 лет назад

Однозначно подписка и колокольчик. Это просто топ контент. Чётко, ясно, без воды, огонь 🔥🔥🔥

@willsanburg1003 5 лет назад

Have you ever considered doing an AMA (Ask Me Anything) on Reddit? I’d love to read about your background, your education, previous work experience and how you got started doing what you’re doing. Fascinating stuff. Keep up the good work. If you’ve already done an AMA, could someone link it so we could all enjoy it?

@dmitrytyugin6261 5 лет назад

Very cool! It will be very interesting.

@basementadmin 5 лет назад

Very exciting stuff. You are finding the way senpai.

@Skyentific 5 лет назад

Thank you for your kind comment as usual!

@adisharr 5 лет назад

Very nice motor package! It's really tough to make a low cost zero backlash gearhead. That's always the limitation of a hobby class robot.

@Skyentific 5 лет назад

Thank you. Absolutely agree! This is my goal to make zero backlash actuator, and make robotic arm with it. I think it is possible.

@chiavenato1 5 лет назад

Fantastic design!

@Skyentific 5 лет назад

Thank you!

@rs4race 5 лет назад

Subbed! Awesome videos!

@Skyentific 5 лет назад

Thank you!

@muggletierchen1103 5 лет назад

I love your Videos! :)

@Skyentific 5 лет назад

Thank you!

@alexandrpetrov1110 5 лет назад

Very nice!

@krishnav5567 5 лет назад

Good video

@alessandr2012 5 лет назад

good work man

@Skyentific 5 лет назад

Thank you!

@sahilyadav998 4 года назад

love your video. You might want to mute the audio when you say hey google though :P. You triggered my google home devices almost every time. I had to turn them on in order to watch your video hahaha. Subscribed btw.

@Skyentific 4 года назад

Sorry for this :))

@harryman01 5 лет назад

A way to better reduce the backslash is by using helicoidal gears You might be able to use them

@rubanika 4 года назад

Интересно смотреть и слушать) лайк)

@tculig 3 года назад

Love those birings.

@YuriyAlexandrovich 5 лет назад

Cool Job ! What a power supply you use ?

@stepanstepanov8106 2 года назад

Спасибо.

@jhijhi85 4 года назад

awesome awesome awesome :)

@user-qo4sx5xz3f 5 лет назад

Awesome work !!!! I really like your video. I am creating the same actuator (open-torque) ! And the information about radius and so on are really useful for me. But I have a question. What materials do you use for 3D printing ? Thank you !

@Skyentific 5 лет назад

Thank you! I used PETG filament from Prusament. And Prusa i3 MK3 printer.

@tracy449 4 года назад

Thanks for the videos. Very interesting. I am interested in building a robot of my own, but I would like to try force-driven actuation. As I understand it, all of the motors you are using use their full force until they arrive at the pre-programmed position and then stop. Are you aware of any variable-force motors, I mean motors that apply a given force, regardless of the position of the rotor? I am having a hard time finding one. Thanks!

@VideoStefan17 5 лет назад

awesome!

@Skyentific 5 лет назад

Thank you!

@forerunnert 5 лет назад

Nice! Is the encoder position absolute or is homing required?

@sciencefpv7330 5 лет назад

First of all, this is an awesome application of the Odrive! Great Job... Q1. With your encoder, are you running it in SPI or PWM with your Odrive? Q2. When you up-scaled your prints to make decrease the slop, did you scale up your 3 planetary gears in X and Y dimensions? 1 sun gear in X and Y?

@Skyentific 5 лет назад

Thank you for your kind comment! For the Q1: I used this encoder in ABI mode (just pulses). Because this mode is easiest to use with the standard ODrive firmware. For the Q2: I scaled up the all three gears in the both X and Y dimensions. (I made this in the Fusion360). Thank you for the great questions!

@krishnapraveen6862 4 года назад

@@Skyentific what is scaling up gears?

@gabraellevine 5 лет назад

Hi, I've updated the design here to reduce the gear backlash: github.com/G-Levine/OpenTorque-Actuator Let me know if you find any other issues. Thanks!

@Skyentific 5 лет назад

Great! Thank you very much!

@dekutree64 5 лет назад

Very cool! Actuator videos are the best. Did you ever figure out what was causing the loss of torque on the one you were testing last month with the belts and big cross roller bearing? For this one, I suspect the first limiting factor will be tooth jumping due to the case deforming toward a triangular shape from the outward pressure of the 3 planet gears. Wrapping it in carbon fiber should get closer to the 80Nm theoretical limit listed on the Hackaday page, but probably something else will break before that.

@Skyentific 5 лет назад

Thank you! Good point for the tooth jumping. I hoping to have at least 15Nm from this actuator. With the last month reducer, I don't have the answer yet. But I suspect that I loose a lot of power in the belt transmission (maybe the tension of the belts is too high). I am still working on it.

@zsoltpasztori8770 5 лет назад

Amazing project. My question is what should be the ideal voltage for driving the motor, also what kind of DC power supply can feed it with the required power? Unfortunately, the laboratory power supplies I am familiar with, are rated for around 150 W, which is not even close to what this motor needs.

@Skyentific 5 лет назад

The easiest way is to use the LiPo batteries, they can provide very high current. For this project I used 400W 24Volts power supply from stepperonline website.

@MrEngineer_ 3 года назад

It looks great!! Is it useful to use such gear assembly with stepper motors like Nema 23 etc. ?? Please reply.

@mvognev 5 лет назад

Вентилэйтор уже можно сменить на fan))

@Skyentific 5 лет назад

I'll try!

@VideoStefan17 5 лет назад

the tone of your wireless kit. check if the transiver offers you -dB (6 or 9 oder something). try it, that should sound more plesant. greetings

@Skyentific 5 лет назад

I will check this. Thank you for advice!

@JimmeeAnimAll 5 лет назад

I dint finish the video, but let me ask You this: do You have some table for shrink measurements for printing dimmensions ? If You do, are the values are the same for small parts as for big ones ? Could You please expand the subject of correct values so printed parts (FMD(regular pinter) I suppose) have tight fit ? Best regards

@eddyv524 5 лет назад

Hey. Good work. I am building the same actuator. I have a hard time getting the odrive to make the motor spin. Which settings did you use for the number of pole pairs and the cpr of the encoder. Did you make other chnages to the odrive settings?

@Skyentific 5 лет назад

I changed only number of pole pairs (20) and the CPR (4000). It is on time 10:30 of this video. This is enough. I've heard that some magnetic encoders have different CPR...

@user-pn6lb1xu3g 5 лет назад

Очень круто!

@dkryptonut 4 года назад

I wonder if you could use something like one of those scooter / skateboard hub motors to build something similar.

@ianchan2624 4 года назад

cool!!!!

@divgill6062 5 лет назад

are the 3D print files available ? Would love to make one of these.

@alfiolocatelli5093 4 года назад

Very nice video, you have a new follower👍. What about PID regolation with Odrive? Is It possibile?

@Skyentific 4 года назад

Thank you! Yes. It is possible to adjust PID values.

@ejrupp9555 2 года назад

Wonder if i can use it to set a stop block on my miter saw table ... that would be wicked. Worm gear maybe?

@YamShargil 5 лет назад

So awesome! What power supply do you use (you have the link?)? Does it support enough amps to check the limit of the system?

@Skyentific 5 лет назад

Great question! I used here 24V 400W (from stepper online). It has enough current, but not enough voltage as I found out recently.

@YamShargil 5 лет назад

Skyentific Yaa I saw your new video with the 48V Odrive. What power supply did you use for that one?

@Richard-vj3vs 5 лет назад

Awsome video!! How did you set up google assistant on rasoberry pi?

@Skyentific 5 лет назад

Thank you! Great question. Check the last week video from my channel. I explain how to do this.

@Propeler3D 5 лет назад

What do you think about integrating cycloidal gear for actuator?

@muggzzzzz 4 года назад

Imagine the cnc machine with voice control :) "hey, google, set the position to x 100, y 100"

@BR. 4 года назад

Awesome! What was the cost of doing this in parts?

@skmetal7 5 лет назад

Why does the motor hunt for its final position when it stops? Is there any way for it to be an exact stop like a stepper motor does?

@cedricpod 5 лет назад

can you 3D print a ring to make bearing fit properly ? do you recycle your plastic as filament ?

@hlavaatch 4 года назад

For some reason ODrive takes almost two seconds to settle on correct position - is the I PID constant too low by default?

@stewieyan 5 лет назад

Thank you. I have a question: is the motor used here a dc motor or an ac motor? It seems that ac motor is a better choice for actuator due to less jittered torque output. but it seems that all hobby actuator builds are using "brushless" motors, I'm wondering if they are brushless dc motors?

@saadhssaini4205 4 года назад

Hello, what power supply do you use ? Did you use different amperage (A)? It recommended 48V ? Thanks you

@bouhamzaabdelkader8112 3 года назад

Do you have an idea about the amount of play in a joint of the measuring arm used in metrology? thank you

@user-iw6tf9gb3j 5 лет назад

Отличная реализация. А каким образом реализовано управление голосом?

@cedricpod 5 лет назад

do you specifically discuss encoders in any of your videos ?

@Skyentific 5 лет назад

Not yet. But may be I will do this in the future. I think this is very interesting topic, and there are many different inexpensive encoders now.

@user-my5xk7df2h 4 года назад

good time of day. please tell me what program do you use on the Raspberry Pi

@giovanimilanezi 5 лет назад

Great job!! What´s the bearing code?

@chrisdepalma6844 4 года назад

How did those planetary PETG gears hold up? How much torque did they handle?

@PicoGirl 3 года назад

Hi Skyentific, maybe you should make a harmonic drive for it.

@26mridul 4 года назад

Can you comment on holding torque and stalling?

@BrianKCatlin 5 лет назад

Are the design files with your changes available?

@Ahmed-ic9ft 3 года назад

could this handle something more than a robot arm like a legged robot?

@joshyoung9375 5 лет назад

What print resolution and nozzle size did you use? Default speed?

@Skyentific 5 лет назад

Yes default speeds, standard nozzle (0.4mm) and resolution of 0.15mm.

@joshyoung9375 5 лет назад

@@Skyentific Thank you, this is really great work! I am thinking of integrating of integrating the shoulder into the shoulder of our humanoid robot.

@Ceobjorn007 5 лет назад

What's the reduction ration of the gearbox?

@Norcomos 5 лет назад

Hey, i like your Videos very much. You have good explanations and inspiring projects. Would be nice if you have a little better Lighting and a better Microphone for your Videos. That will help make your Videos more interesting for more viewers ;)

@Skyentific 5 лет назад

Thank you! Yes, I totally agree. I don't want to spend much money for the filming equipment, I prefer to spend for motors and drivers. But I think, I have to improve at least the audio. Thank you for feedback.

@TheRainHarvester 3 года назад

5:44 maybe just put tape around to increase diameter. Or some wrap of thread.

@maniradhakrishnan7526 4 года назад

Sir, I'm having problem with installing odrivetool in rasberripi.. How should I solve it??? I installed it but my odrive is not showing up in the odrivetool?

@gadgetmaamaa2564 2 года назад

Can we use it to robot arm

@DigitalWorldBG 5 лет назад

Чакаме следващото видео!

@h2o11h2o 5 лет назад

Excuse me, which 3D printer are you using?

@Skyentific 5 лет назад

The name is: Prusa i3 MK3, very good 3D printer, but not the cheapest one. For the filament I mostly use PETG from the Prusament.

@tanhoyzer 4 года назад

Can you give us information about your 3D printer?

@Shiva4D 4 года назад

А вы пробовали сделать актуатор на основе Harmonic Drive? Мне кажется это интересная идея.

@rushdHBTS 4 года назад

How long these Plastic made Gears will last?

@3str4ng3d 5 лет назад

that's a monster motor

@Skyentific 5 лет назад

Yes! :)

@Via.Dolorosa 5 лет назад

could you tell us the name of your 3D printer, !

@Skyentific 5 лет назад

The name is: Prusa i3 MK3, very good 3D printer, but not the cheapest one. For the filament I mostly use PETG from the Prusament.

@ceironbio 5 лет назад

Which bearings do you use?

@trapper1211 2 года назад

de paziszyn 👍

@Anoyzify 3 года назад

Sorry the ignorance, but if you can set the position of the motor, isn’t it called a Servo instead of Actuator?

@candygirl333 3 года назад

where do you get that bearing?

@Skyentific 3 года назад

AliExpress or Alibaba. If I am not mistaken, this is RA8008 bearing.

@candygirl333 3 года назад

@@Skyentific thank you! Love the vids!

@cgrigg1 5 лет назад

What printer do you use?

@Skyentific 5 лет назад

In this video, everything is printed on Prusa i3 MK3. But I also have a Tevo Little Monster with 0.8mm nozzle for the fast printing.

@AkashSingh-mc1wv 4 года назад

which 3D printer do you use?

@AltMarc 5 лет назад

Bigger air gap ???, did you mean a bigger diameter for bigger torque, or is there any thought about the "clogging" with low air gap and strong magnetisation? Having almost no air gap is more efficient...

@Skyentific 5 лет назад

Air gap is the gap between rotor and stator. I talk about it in my video "Theory of affordable robot arm". But basically you are right: a bigger diameter for higher torque.

@AltMarc 5 лет назад

@@Skyentific Building a motor with no air gap: crossbreed a (radial) solenoid motor with a cycloidal gear... (would be a massive multi-pole motor, where each coil would pull the centre gear in the outer "gear", no excenter needed, low inertial mass...)