Mini Delta Robot with background noise to verify actual speed
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- čas přidán 26. 02. 2009
- For those who questioned the validity of the video speed from my other video post. This video includes background conversation along with the mini delta noise.
- Věda a technologie
the servos and amps are 200w Panasonic Minas. the controller is a Delta Tau Pmac (of course).
the links are wrapped carbon, the joints are 7068 aluminum. the gripper is a 2010 piab vac generator with an anver suction cup.
The limiting factor on speed is the vacuum. Observe how much it must slow down to pick up, drop off, and carry the ball. Sina wrote the motion program... it is a good one!
+Jamison Bruch
muchas gracias. thanks a lot.
eres un maestro
Actually, I think you guys are missing the big deal. Robot geometries and programming have been common for awhile. The most impressive thing to me is how well this thing is constructed and it's sheer mechanical performance. It's just a damn fine piece of work.
if you wanna impress people, you have to program for knife finger trick
I have heard it called "Five Finger Fillet"
There is one good reason for choosing balls and sockets. A "revolute joint on a cylinder joint" has the same effect, but at the same time you introduce a lot of backlash in the structure. A ball which is tightened to a socket by a spring has minimum backlash. Backlash is indeed something you need to consider.
Would love to let this play the knife game with my hand.
Very good project and amazing results
High performance Ball Fondling.
I love it. Great minds can work wonders.
You are very kind
Hudson: "Hey, Bishop. Do the thing with the knife."
This is fantastic. It would be great if you could publish plans so makers around the world could get in on the fun!
Where can I get these servos? Have you got a link? Thumb up for the video
Very good
It may be easy to build a delta robot; the hard part is to get one working.
Holy crap!
Brilliant work and great video! I'd like to build one a lot. Few questions...
1) what sort of positioning error is your system getting?
2) what kind of controller are you using?
3) are the maths and/or code that drives the system published anywhere?
Thanks!
i want to see one of these delta or quad robots play the marble jump game. There's a video of the Adept Cobra SCARA arm moving the marbles around but it's not actually playing the game to leave only one marble on the board. Another video has an Adept Quattro moving steel balls around on a plate on a conveyor.
Hello,
Sir can you provide me information about the joints used in this robot.
Thanx
I'd love to do one of these and I've run across some pretty inexpensive high resolution controllers by phidget. I haven't been able to find any affordable servos, however, with anything like the ppr ratings that you're using. Any suggestions? :-)
Could you tell me what Panasonic motors it uses? AC servo? I just want to get an idea of how to control a delta.
holy shit! that is fast
This one defenetly NOT based on stepper motor.
what type of gearbox have these servomotors ,are these ac motors?
thxs.
I want to see this print some 3d parts.
I would KILL for 1080p :D
I'm working now on a delta robot would you please let me know the dimension of the links used in this robot to know the ratio between the length of the links
I would like to know the speed of the end effector plz
yes we do ;p
just a question on the fly, I saw that the platform is staying parrallel to the base,wouldn't it be feasable to implement an angle to the platform?
@JamisonBruch Doing allright thanks. However, everyday I'm getting more and more impressed about your mini-delta, because building it must have occupied you for "seasons" - if not years. I realize that now. My own (not so mechanically ambisious) prototype is doing fine - though not on schedule. Just got all servos running coordinated at full speed for a test task. Then I added a bug to the program, and I broke one of the gear sets, so I'm waiting for a new one now. I'll be there soon..
What you have is amazing. As a novice wanting to experiment, an actual parts list (with names/model numbers, etc.) would be great and would allow me and others in the same class to focus on software rather than mechanical/electrical issues. Would you be willing to share that? Again, really impressive.
The fun is in the challenge isn't it? I wouldn't steal that fun from you :)
@MimixMotion I know, I saw the other videos, too. I meant, instead of talking, you could just put a wall clock there for reference :)) Good job :D
@edotekk This stuffs uses Java. Is Java the software?
Which hardware is used (Controller, Motors)?
Great
amazing speed and accuracy-I am looking for some conceptual design like your robot-any tips to get that speed……I am conceptualizing the ping pong player robot….
This was a proof of concept project for Omron/Delta Tau. If you look up Omron ping pong delta robot, you will see their version of a delta robot playing ping pong
I'd like to get that software,any way?
Are these servos using a reductor or are the arms coupled direct to the servo shaft? thank you. and see my channel i have a videos of my prototype.
Hello!
The robot has a camera? Or how do you control the robot?
as did the robot. what is the control. using servomotors , what kind ? .. you give me any information pleas. i will be grateful.. I 'm from peru I am learning the design of machines
Delta Tau controls always :) The new Power PMAC is incredible and while it has a steep learning curve, you will never find a dead end. All other high end controllers have limitations, and the controllers that don't have limitations are not as highly developed.
Hanzhen harmonic drive gear ,
robot joint ,
strain wave reducer,
over 30 years experience
Can you explain more about your trajectory generation? I don't understand so much. Thank you!
In this case, the motion is simple Pick and Place. The controller handles the trajectory generation. The coordinate system(s) are defined in 3D space, and the rotating table coordinate system is rotated in real time so that the table positions are static XYZ positions in a rotating coordinate system. Pick and place trajectory is really quite simple compared to PVT or continuous path motion. The P&P consists of minimally a pick XYZ location, a Z offset location for pick, a Z offset for place, and an XYZ place location. Minimally, a P&P trajectory path are those four points, connected by three lines, that are traversed in some specified velocity profile... trapezoidal, or S-curve etc. The three motor angles are defined by Inverse Kinematic equations that calculate the required angle for the three cranks. The three cranks must be at specific angles for the tool/ball to be in the programmed location in space. Really not a difficult exercise... as the kinematic equations are simple geometric calculations with single solutions within the crank angle constraints.
wow...
whoooo, pneumatic parallel robots rule.
Beautiful! What's the speed on these arms?
I'm not sure. Each crank is direct driven with 200W Panasonic Minas Servo motor.
I assume you were using some sort of servo. What kind?
where are you from? this delta is so nice!
I'm a System Architect in Southern California.
ha ha, it is nice. yeah, we have maken a detal robot on my office. but it looks slower than your
Does anyone know where to get a suction system like this?
If I remember correctly, they are PIAB.
@@JamisonBruch Thank you very much.
@@darnellbaird206 BTW- The vacuum system is the speed limiter. It must be local to tool tip for optimal performance. Trust me, I know of what I speak. ;)
@MimixMotion oh cool.
Not that I don't believe the speed, but it's incredibly easy to add audio after the fact. :) If I had some time, I could probably speed up the video 10 times, and add audio to it :)
@johnnyk427
Great minds think alike.
Whats the gearbox ratio which you have used??
no gearbox Hitesh... direct drive. These are Panasonic Minas Servos.... 200W only. Light, light light, actuators. it is good to see you. How is business?
Wow)
... impressive ... i think i shat myself.
fastest delta :O
Now program it to make a meal.
@blacklotus808 I was just about to say that.
Can you give me one?
Well I believe it, but if you really want to be super-pedantic you could always put a clock in the middle-center of the background, so that the arms occasionally cover the face.
But still, I love the 'I'd like to say software [problem]] because I'm not a software guy' bit.
still,simplicity is sometime way too wonderfull ;p
0:07
what is the robot type?
Delta Robot
Parallel Kinematic Mechanism
I mean the type and brand. Like Fanuc M-2iA or so.
Why didn't you just put a clock there :))
I don't know for you but for me,a robot design pattented in 1987 or from the initial idea of Willard L. Pollard in 1942,this all don't seem still quite new. Secondly,my college is developping those robots for business application.And finally,the only reason why I asked for the code is that I got some spare time and I love to understand and reproduce stuff using some microcontrollers(check my videos). And also, reverse engineer the delta robot wouldn't be too hard.
is this robot on sale???
Sorry, I design and build custom mechanisms and machines. It is not currently a product for sale.
its ok, i want to doit to, i work in a automation company and we need to install a delta robot in a customer company, but we want to make it by ourselfes, maybe can you give us some tips? we are from Chile
You will learn what I learned. It is a fun process.
what is the use of this
***** I have no idea who used my account to comment that on this video. I just watched it and that looks like a good feat of fun programming
Im J-Man production lines arrangements, specially food industry :)
I don't believe it :P
sorry .......... i was impressed ...
c dla marde
FUCKKKKKKKKKKKKKKKKKKKKKKKKK !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
Program one of these suckers to play five finger filet.