Prototyping the Palm Components - Biomimetic Mechatronic Hand Part 7
Vložit
- čas přidán 1. 09. 2020
- In this video I talk about my prototypes for all the components which make up the palm in my bionic hand - the CMC joints for the thumb, 4th and 5th metacarpal hinge, and the motors which control the MCP joints.
Support me on Patreon! / nilheimmechatronics
Discord Server: / discord
Contact: enquiries@willcogley.com
GitHub: github.com/ikkalebob/NM-bioni...
FLLEX Hand: • FLLEX Hand First Run! ...
Shadow Hand: • Shadow Robot Dexterous...
InMoov: inmoov.fr/product/right-hand-v1/
HBARH: • The highly Biomimetic ...
Ambidex Robot: • LIMS2-AMBIDEX mechan...
Carpal Bones Movement clip: • Wristkinematics
DLR Hand: • Super Robust Robot Hand
Hand and Wrist Anatomy and Biomechanics: A Comprehensive Guide: amzn.to/31Zv5K4 - Věda a technologie
3d printing engineer here. You can get away with a lot more than you currently think when it comes to resin printing, you have a bunch more variables to tweak: try different resins and try UV-curing them to different levels of brittleness. Also you can print 90 degree overhangs, just sayin' in case it is not intuitive after experience with FDM. Aaaaaand, if you snip off support structures before UV-curing the whole thing, it will look a lot cleaner and would need way less attention to random pointy things sticking out of the model :)
Up you go.
Definitely second the removal of supports _before_ post-cure! Hell, for the most part they peel right off when they're like that!
Didnt Even think about that, ive been out of school too long lol
Good info above! Been fdm printing since 2013 and resin printing smacked me down to the ground this year!
5:43 caught me off guard
hhaaaahha :))))))))))))))))))))))))))))))))))))
Wish you luck, I have been looking something like that for my son who was born with arthrogryposis, so he has no muscle function on both arms,may be this will give him independence, what do you think??
I love the part where it explodes! Keep it up mate. Hope you're planning to publish in IEEE or similar.
how dare you not put a timestamp into that comment :D
I love your animation at 6:00
12/10
University won’t teach me any of this cool stuff. So thank you for your amazing content!😁
That ultra-rotating thumb looks very trippy.
Thanks for finally buying that microphone. I heard the difference before you were even pointing it out!
Look for a tool named "Photon File Validator" It will analyze the output of the Photon printer and tell you if the automatic supports are doing a good job, or if there are any unsupported islands. That way you can go back to Chitubox to the specific layer that might be unsupported, and fix the issue before you give your 3D printer the file.
This is amazing work. It's fantastic to see someone putting so much heart and effort into something like this - this is definitely something that will benefit humanity one day!
a tip for curing after cleaning the part place it in a glass jar with water and cure it in that. i beleive it is similar to what the pros do. i saw it in a video where a guy fixed warping when curing in the sun by placing the part in water
I'd be super interested in seeing a hand specialist review this once it's constructed completely
Using the gearbox like that to get the 4th and 5th finger palm movements is so nice. Looks so much better than existing ideas.
Immediately noticed the better audio on this one, glad to hear it, can’t wait to see the video :D
It's very interesting translating bones into bearings. Internally powered hands are really important. A lot of people don't have the room for outboard motors. Very exciting
Got to hand it to you, interesting video!
Hehe, I see what you did there
This channel has recently been the channel I look forward to new videos the most. Love the work!
I’ve been here for every step of the way in the past and I’ll be here for every step in the future
really enjoying the videos will, great work! looking forward to seeing more.
Great progress! I'm looking forward the next update :)
It's fun to follow along with your project as it continues!
This channel is very, very underrated.
new microphone:
- audio quality +10
- lip smacking +50
Will a "Pop Filter" help or no?
👁👄👁
@@anubisai i know I am
@@ericlotze7724 It would, but speaking off-axis is probably more effective.
@@recurveninja will take note, im getting into audio/recording tech
Amazing Job!!! Impressive how you keep focus on the hand / whist , making excelent movements, most people would do average on many other anatomic parts.
Great work with the metacarpal
Looks pretty cool my dude!
It's cool (and refreshing) to see someone using resin printing for something other than figurines! I'll be getting my first resin printer in a few weeks time, I'll have to give it a go with some robotics parts.
God I love your videos. Keep up the great work my guy
Nice work, when i was a teen i wanted to study robotics just to work on Bionics, 2 bad war and shit left me brain dead, well made my first robotic arm at the age of 16 but back then we had no micro controllers and other type of stuff what you have now, hope to see a finished project, all the best.
Love your content mate real inspiring me to pursue engineering
Thanks for the new mic, it's much better
well this was good timing
Good timing? You just so happen to be in the market for a new hand? Lol
If you are then my apologies
Do you need a hand?
@@Pallium_Industries no its nothing like that, I hadn't watched him for a while and when I went on his channel it said "uploaded 4 seconds ago" but if I'm ever at McDonald's and Jaws escapes from the fryer and bites off my hand ill know where to go for a new one........ Chick fil'a
@@true1158 Perha(nd)ps
This is super cool
Great job 👍👍👍
The first-degree of freedom in the thumb merely draws it toward the ring finger. And there's a much lower point of attachment on the wrist. The second degree of freedom is actually a 45° angle so just turn the direction of the thumb at the joint and you'll have it. There's no need to break the thumb.
Cool. I'd like to see more
Look at this joints man its beautiful me as a mecatronic i love this advices mecanism goodjob pal one day i want to be able to do things like that
i love this channel
For a more compact gear reduction, you could look into
- planetary gears
- worm gears
- cycloidial gears
- strain wave gears
These might just reduce the size quite significantly if you can find a way to utilize it
So frikkin' cool.
Tip for any ball bearing used in the design is that they really work best when used in pairs.
amazing
love it
You could always build up a fence around the thin walled areas. As an example, look at an AR-15 lower receiver, its made of aluminum and it can be pretty thin in areas. There is a threaded ring on the rear of the lower reciever for the buffer tube (basically the stock in Lamen's terms) and it has buult up areas around it so it doesnt crack in that thin area. Good luck on the wrist btw, please dont give up and take the easy way out lol.
Great video. Where have you bought the gears? Sorry if I missed it in the video.
I have been looking at the Anycubic printer for a while are you happy with it so far? I use a filament printer now but need more accurate detailed prints. Your modeling looks great and the video is perfect in every aspect.
3D printing hobbyist/prosumer here. If you need a hand setting up supports drop me a message, there is a whole process to setting them up which will help with failed prints and layer shifts.
Up
How does the Patreon thing work? I'm too young to have one but I still want to support as part of his work can save me some research time and effort. NGL @Will Cogey you are very talented and if I could, I would support your research and development. Keep it up :)
+10 Style Points for the parts explosion at 6:51
Nice
You want to have a little space in the guide tubes and the cable lines or else it would create too much friction which would be bad for both the line and the tube, also a bit of space allows you to put a drop of silicone lubrication on the cable line which allows the servo to work at peak proficiency.
That thumb video edit was creepy :) I think you can get it pretty accurate with two servos. The first bone of the thumb seems to trace out a cone shape. One axis to rotate around the cone, and one to move in the cone's radial direction, controlling how flat/pointy the cone is. Then the other two thumb bones have a single hinge joint that also rotates in the cone radial direction.
What are those super flat potentiometers you're using? Those might save me some suffering.
Hey Will, look for Z axis upgrade for your Anycubic! Maybe ur getting some z-wobble issues on your print!
I havent watched all of the video yet but i had an idea that you can keep in the back of you pockets in case you need for for space saving in the forearm. What if you use the sleeving for cabling as the cable themselves for simple broad movement? Although at the rate that your designs and prototyping are improving, my idea is simple childs play.
Super
I think you should make the fifth metacarpal have more torque, when you grip with your hand your pinky does most of the force.
Somehow I'm only just getting around to asking this now, but what uses do you see for your design? I personally hope for integration with prosthetics, as none of those out there now really manage to stack up against flesh and bone.
How do you plan to fix the noise that will surely come from the potentiometers, unless you are using some high quality potentiometers?
Another great video.
I wonder if you could just mount the thumb with a torsion spring on a small axel? This could give you a sort of passive degree of movement.
Also, check out 3dprintingpro here on CZcams! The videos are really short and packed with resin printing advice. One quick tip is that you want to minimize printing area per layer, so angling parts can be detrimental sometimes.
Holy molly. You did not check the tolerances between the gears. You checked the clearances. The words have completely different meaning.
Other than that, I love your videos. You do amazing work.
Re this website: www.epi-eng.com/mechanical_engineering_basics/clearance_and_tolerance.htm
“Stated simply, CLEARANCE is the distance between the adjacent surfaces of mating parts (how much the mating parts CLEAR each other), while TOLERANCE is the allowable variation of a dimension from its nominal (desired) value ( the amount of error one will TOLERATE ).”
How you test the virtual hand with emg singnals?
I believe you just need to change resin. Not sure what you are using but you need something that is very dimensional accurate with very little melting on the support area. You are probably already aware of all of this but feel free to ping me if you need more info. (great work btw! I'm following you since the beginning)
Theoretically the 4th and 5th gearbox in the palm is not needed as that type of movement is highly determined by the movement of the cables going to the 4th and 5th fingers and limited by elastic bands or springs that could connect and bind the metacarpals together, at least that is how the human hand functions, also that type of movement is different according to muscle structure and possibly ligament structure between different people, especially between men and women, if you follow the movement of only your hand of those metacarpals then you won't be able to accurately approximate the movement of the female hand in case it is ever needed in the future. It would be good to ask several people male and female so that you can observe them doing several tasks with their hands such as grasping, holding, and picking up things with only the index finger and the thumb, record video of the movements and it will reveal a lot about the movements of the 4th and 5th metacarpals.
Your audio sounds great, but maybe a pop filter or something would help reduce transients and plosives that are coming through.
0:30 - Some real fuuuuuuuuucused effort.
its 5am so my brain is still off but very cool
sir please help me to learn this from the basics through you sir
Hey I just wanted to chime in here and say that instead of having to 'skeletonize' things to see inside, change the opacity of the shell.
Didn't watched all your videos, but I want to listen to your opinion, do you think the motor centralization possible? Or making replicant would much more efficient? please leave comment!
when is it finished?😅
this guy is too intelligent
I think you should start looking into a setup for cutting brass gears in the near future, at the very least by the point where you'll have a version 2.0 of the fully assembled hand, so you can implement miniaturization and optimization once the major setup is complete. Relying on existing componentry is a mistake, in this kind of application. For something as small as this, you'll have no problems if you make your own cutting machine. You need a rotational axis, an in and out for the cutting motor and the motor itself, which again, at this scale, you could probably get away with a small proxxon mini drill.
If gear cutting seems daunting, i recommend you go watch a few primer videos from Clickspring (the guy building the antikythera machine replica), Tom Lipton (an all round walking encyclopedia of machine operations), and Keith Rucker, of Vintage Machinery (dot) org fame. These three have all the required information, in understanding gears and gear cutting on the go.
yes, V2 with a cnc mill - please :D
Btw, try siraya tech clear tough resin:
www.amazon.com/Blu-Strong-Precise-Resolution-Printing/dp/B07X84C2FW
It's supposed to be tougher and more impact resistant, plus it's clear so you don't have to make skeleton parts to see inside :)
Use oil gearbox make it so fast
i wonder if an exo hand would be similar to this?
Just wait until he makes Alita a real thing
5:47 AAAAAGHH JESUS warn me before you do that next time
Ground breaking
the metric apple
I love this channel it inspired me to build my own two-legged full size walking robot on my channel. Check it out and let me know what you think thanks 😊
Calcium ceramics.
The viewers that down-voted this video probably NEED mechanical thumbs!
we should get elon musk in to the party for a neuralink application here
I would like it if it wasn’t like a weird asmr
Сколько лет он это уже делает и каков результат? Может пора уже отказаться от моторов в кисти? Я считаю эта конструкция не имеет будущего.
You may be able to get the range of movement of the human hand in a small enough package. But I think you are basing your design around the wrong technology... Servo motors will never get small enough while having comparable strength and speed to human muscle. It just not going to happen. Go with pneumatic or hydraulics, those two are your only bet to get anywhere close to the performance of a human hand.
that new microphone picks up a lot of those disgusting sounds your tongue makes, it's terrible