Three Actuators: cheap, powerful and completely 3D printed
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- čas přidán 23. 04. 2022
- I have build three stepper actuators of different size/weight/torque. They features compound planetary gearbox with the overall reduction ratio around 100. And they have two 3D printed cross roller bearing per actuator. All these makes them very suitable for robotics applications. I am going to widely use them in the future projects.
STL and CAD files are available for my 10$ patrons ( / skyentific
).
Special thanks to my special Patrons: Shounak Bhattacharya and M. Aali!
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#DIY #Robotics #Actuator - Věda a technologie
Робототехника - классная тема!)
Я плохо учил в школе английский язык, и обычно мне очень тяжело смотреть иностранных блоггеров, так как я их не понимаю, но тут чистый английский, я понимаю и слышу каждое слово👍
Holy %#+*, that’s a ton of work! Believe me, Sky. I understand the shear amount of effort involved here. I think a lot of people would be surprised & find it simply mind-boggling if they knew how much labor is required to produce the high level of quality-content seen in all of your projects/videos. So, I just wanted to say thank you for your continuing hard work. Also, your due diligence while filming said hard-work & for generously sharing it is much appreciated. I’ve learned so much of what I know from watching skilled builders like you at work. It still amazes me that I live in an age where complex, fully functional, mechanisms like these can be conjured out of thin air (literally) in such a short amount of time. Maybe crazier is the thought that I can watch a high def video of that process on my personal smart phone mere moments after it’s created. Anyways… Brilliant display (once again) of beautiful engineering, Sky. So, I should also thank you also for teaching. I wish you continuing & well-deserved success on your channel. More proof that the old idiom is true: “Someone who is really good at what they do can make something extremely hard look easy.”
Calm down man...
It's not that crazy.
Thank you! I really appreciate your comment. I am really glad that at least some people understand the amount of work which it requires.
Hooked... Dangit.
Great great great! This is the kind of stuff I like the most on your channel. Congratulations with these designs and keep up the good work!
These videos always make me so happy. You obviously love your work, and your enthusiasm and expertise shines through as you teach and demonstrate. What a tremendous gift you are!
Fantastic, thank you! Really looking forward to this project, love the actuators.
OMG, that is a lot of time and work you put into this project, Respect. I have been using 3d printers (2 of them) for about a year now and hope to be able to do projects like yours in the future. Great work Sky.
Thank you so much for making these available! Will definitely try and make some
you are invested in your work with amazing attention to detail! always a proud Patreon supporter of this channel :)
Beautiful build, Skyentific. Thanks for sharing.
This was an amazing build. Loved it!
Absolutely AMAZING! Great job. It takes so much work to do what you did. From design to construction. I hate to ask you to give a load test because it will take so much work to replace the gear set when it fails. Love your design and thought process. You communicate that design process beautifully in all your videos.
Gorgeous Project ! Really looking Forward !!!
An amazing amount of work! Thank you
Great video! these actuators are amazing
Holy smokes Sky. That's a lot of decent precision parts.
terrific design
thank you for your contribution to the field of robotics
It always amazes me how much manual work required for such projects!
You are a master in 3D printing.
Amazing! I've always wanted to make a 3D printed robotic arm, this is so cool.
Great work!!
Wow, this is pretty amazing, you are a robot star!
Stellar project! Bravo!!
Wicked cool project!!!!
big and hard work. Thanks for you work and experience
This is excellent!
Thank you for interesting video !
those look great!!
Awesome video!
Nice work!!!! Wow!
After a long time I hear igrek again 😁
Thank for the nice video!
I have done a a fair bit of mechanical 3D printing, and that, is a damn impressive feat😆
great work, inspiring stuff
Very nice! Could you please test the torque and backlash of these actuators? I'm curious about the frictional losses and backlash in the gears.
yes backlash would determine what applications won't work with this, I'm pessimistic tho
Before and after lubrication please.
the thing is what really matter is the backlash after 100h+ of running. Performances measured on a brand new mechanical system is just a hint not the true quality mark.
Wishbone bears have relatively less backlash
Amazing!
Can't wait for the next video!!!
this is incredible work. Looking forward for some endurance test as i guess it would be the eliminating factor for using fdm pla printing, so if it shoes good figure in this area that would be really huge.
Very satisfying
I like them, I will have to come back to view your robot builds.
Lee
Wow tienes el mejor trabajo del mundo! felicidades
beautiful
Very nice!
i created a robotic arm using 3x the gear box you made in last vid. i had trouble fitting some parts in (especially screwholders and standoffs in axis) and the grease ended up everywhere but besides that it went nicely, i can share pics it u want
Impressive!
wow, thanks for the amizing job. I think we can use good arm with cheap cost now.
Thanks!
new to the channel. i like the style. great video!
Welcome to my channel and thank you!
Very cool and it´s cheap! Congratulations!
Please include some backlash testing and overall printed gearbox strength in the upcoming assembled robot arm video, that would be super helpful!
maximum 10 to 12 kilos resists
Brilliant... love it... subbed here!
Guauuu...Genial....!!...Excelente..muy lindo proyecto..Amigo...Saludosss
I'm a huge fan of printed bearings!
it's very interesting ,, ty
Best content on this miserable platform.
keep it up.
Maybe consider using a stack of (paper?) shims between your cross roller races, this allows adjustment in the error of the printing process without needing to re-print so many parts.
Great work! I would like to see torque test for the actuators, (along with the steper motors so that you can also calculate the efficiency) I have already printed 2 of the big ones; and used a nema 23 to drive it, since I found that the nema 17 was too low power for it, it was a smaller size that yours though
One problem I think you're having it the calibration issues can't be fixed by a simple scaling factor. *Vector 3D* has a good video about calibrating 3D printers. The video title is *STOP Printing Calibration Cubes!*
Thanks for another fun and interesting video.
Amazing video. Please could you do a video explaining your thinking on designing the gears ?
great job! Many night engineering time? well done.
I would give u a big high five, amazing video
High five! :)
Ай вилл спик фром май харт: грандиозная работа! Спасибо, очень познавательно. P.s. Икс энд игрек улыбнуло)
Great 👍
Really cool. Love to see the full assebled robot arm. What payload have you in mind for your robot arm?
This is amazing! im interested in becoming a patreon for the files, but do you know how much backlash these gearboxes have?
Agreed - would be worth the money if backlash is low and failure torque is relatively high. Not very useful for accurate robotic motion without this information though
Consider making the bearing races even tighter to have preload. Will greatly improve backlash and play in the final assembly.
It is a good idea, which is almost impossible to make on 3D printer. I tried with 0.1mm layer hight: with one size it is not preloaded; and with 0.1mm less it is too tight and does not rotate properly at all. The problem also, that the surface finish from 3D printer is not really perfect for the races and rollers.
@@Skyentific Carbon Fiber filled polymers tend to have much smoother surface finishes, a lot of them are popular in the prop community for this reason.
Cool
it would be interesting to load test those actuator, maybe like to just lift up and down a mass on a lever nearing its torque limit for a week or so and see if it gets loose over time
-Is that an Oxford accent?
-No, Bauman.
Great job! i really want to help, especially in bearings!
Hi!", as always, nice work. I miss the metal bearing models for the axes. What models are they?? Thank you.
super
Great work! Ive been a long time follower and love your work! I was wondering if you could design an actuator based off of an old hoverboard motor. They are strong and you can find them second hand cheap. I have been working on designing one, but I realized that I keep coming to your channel for inspiration. So, would you be willing to make a version of your actuators using a hoverboard motor?
At this point - If he ever kicks the bucket from a 3D printed planetary gearbox related accident then I expect this guy's gravestone / urn to feature a small picture of a 3D printed planetary gearbox...
just wow! Super cool result! I was wondering, is it possible to make accurate 3d printed gearboxes with larger ratio? something like 1 to 300 ? I'm asking because it would be very cool for the astrophotography, to make a device which would compensate the rotation of the earth and make stars on the photo look sharp, without any trails
Did you thought about using PTFE tube (like we use in bowden exruders) cut in pieces of 10-15mm as a replacement for the rollers of the smallest actuator? It should be extremely slippery and has ideal round surface.
Hello friend, congratulations on your fascinating projects and great work.
Asking you a question, what material do you use for your 3D prints, since I think they must be a resistant material.
Since always, total successes
Almost done printing all of the parts for the largest one, probably by tomorrow I'll be at the assembly phase. Waiting for a couple of bearings and need to pick up some of that grease.
Does it make sense to have the driver and motor together as a package (i.e. driver fixed to the actuator itself like the motor is currently) so it is one abstracted component that you just feed power and signals and minimize cable length from driver to motor? You still run wires to it but it's just signal wires and power, 8p8c POE comes to mind as a turnkey interconnect for data+power. Or what are you thinking for the robot arm project around this?
Great as always! What will be estimated payload of this robot arm?
cool
Can you do a video on tiny stepper motor actuators like 6mm stepper motors that use lead screws
Is there anything planetary gears can't do?
Excellent work, by the way. All that printing must have taken weeks if not more.
So Great I watched the whole vid and I never do that ....
pretty neat, do you think its possible to do linear actuators with all 3d printing? rotary are useful, but linear are moreso for me.
It should be possible, I don't see any fundamental problem. I will try to design one.
Do you plan on doing tests on these in the future? Was wondering what the torque was of the medium build
We want a destructive test!
Хотелось бы уже наконец увидеть значения максимального момента редукторов.
Хотя, печатать лучше волновые редукторы. Из PA12 отлично выходит гибкий элемент.
When are you going to open your store about this robotics parts?. Just don go to big and expensive 😉. You are a genius, thanks for sharing your knowledge.
Very cool. What program do you use to draw?
linear actuator next please, more useful for me :D
I want to know what would be the repeatability precition for the final robotic arm
Can you use the brushless motors for that gearbox to make it faster to move.
Wat a lot of work! I am curious if there is a way to measure upfront if parts are the right size. Or if it's possible to tweak something if a part was shrinked too much. Every 3D printer is different so results will vary for most people who try to make this. You use 100.45% scaling and I bet it took a lot of prints to get to this value. These are really precision parts so very difficult to make right. But if you have a sizing overview with tolerances this will become easier.
nice music!
How do you calculate all parameters for the gear boxes?
perfect for building exosuits
Good to know your slicer scaling factors. I printed big the gearbox from your previous gearbox vid and had to modify a lot of dimensions for it to work with my Ender 3.
Also good to know it can take a while for the grease to distribute, mine got 2x harder to turn after putting lithium grease in. I also used too much, so removing some should help.
I'll try to use it as a 4th axis for my hobby CNC machine, who knows when I'll do that though.
Amazing work, now a stepper motor and a bunch of filament I can afford! The MIT Cheetah actuator, not so much. :)
I can't wait to see the arm that utilizes these. I'm thinking ahead to really slow walker robots and maybe even a solar tracker application.
Alright, you won my patronage... :)
Walker robot would be really interesting!!! ;)
Hello, there is no way to buy your complete projects (prints of gears, motors, plates, etc)?
Как говорил Мутко: Фром май харт! Супер!
Nice job, For these three actuators. What are the reduction ratios between each stepper motor and output ?
Thank you. Great question. I need to look in my notes. But I remember, that it is something between 80 and 100, depending on model.
Did you find the exact numbers for these 3 actuators? I'd like to translate my number of steps stepped to actual angle measures and be super precise in the process. If I were to replace these with the RMD actuators in my arm, which RMD actuators are equal or better than all three. Probably the RMD X10 for the large and medium actuator?@@Skyentific
Ingenious. But how to make those gears from aluminum?
Printing it all in PLA, do you anticipate problems with material creep? I'm afraid the PLA will flow out from under the bolts and ruin your tight tolerances. I think ABS is better for these mechanical applications. But I don't know, im just thinking this might be a problem after a bit.
Does printing gears vertically with smaller layer height increases the print quality? I mean, the xy-resolution stays the same due to the same nozzle diameter, and z-resolution is irrelevant in this case because the gears are printed along the axis.