Dual Arm SCARA Robot Prototype
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- čas přidán 11. 01. 2019
- Here are links to some of the equipment used on my SCARA:
Dynamixel MX-12W Servos: amzn.to/2M6xLgK
Carbon Fiber Tubes - amzn.to/2J5xVqz
Mag Base Indicator Holder: amzn.to/2FpB95V
Crab Clamp: amzn.to/2VQXdev
Thrust Bearings: amzn.to/2FtDP1u
5x10x4mm Bearings: amzn.to/2CiXCxD
OpenCM Controller: amzn.to/2FugJI3
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Those are great working servos for the price ! Thank you for posting the info.
Love your workshop!
You follow my fav channels love it. And as for your project i like it step it up and finish it man. I loveee you little lab setup its like candy land in there lol love it!
At first I was scratching my head but as the video progressed it all made sense lol, good stuff im definitely going to order a few to play around with. Butter churning robot ;)
You have a beautiful lab!
I don't know what I would use that for but it's fun to watch. Very clever mechanism
Thanks!
Very cool! Already building one... just curious about the joints. It looks like you have the 5x10x4mm bearings press fit into your 3d printed tube adapter and a thrust bearing in between two arm joints but I'm having trouble seeing if that's a nut on the bottom and if its a bolt thru the top... Looks like a headless bolt?
Very HD and cool. Thank you for posting this 🤖
I'm a big fan of your products, thank you!
This video is great! I’m looking to make something just like this as a draw bot. I was looking into using grbl to convert cad to gcode but I couldn’t find any files or examples of anyone doing that. Got any tips or how did you plan on doing that?
Could you show how you attached the clamp to the magnetic arm in the "helping hand"? Did you make the connecting piece on a lathe? Is it aluminum?
That's great - quite impressed with the speed.
Thanks Jeremy!
Pretty impressive, but what's the maximum load it can take before the positional accuracy becomes unusable?
Clever!
GREAT DESIGN I like it, can it be use it for a 3D printer?
how is the sag at full length? im trying to design a scara type 3d printer and am looking for options.
Hey are you just using Shoulder Bolts through those bearings, and housing those bearings in oversized laser cut housings held with retaining compound adhesive?
Very neat! Another interesting project. - Just signed up as a Patron to support this project!
I built a simpler robotic arm using Dynamixel AX-12 servos that I use to sort cartridge cases, which I show on my channel. But, that arm is a bit slow and wobbly.
This SCARA approach might work better for my sorting machine.
I'm looking forward to the details of the joints and how you assembled the bearings into the connectors.
Thank you! Your machine is pretty cool! Maybe you could substitute the heavier dynamixel you have at the very end with the lever and replace it with a lightweight micro servo to reduce the inertia at the end. You could then repurpose that servo and use it in parallel with your main anchor servo. The two servos at the anchor point could mirror each others movement and make the movements much more smooth. I've seen other people butt two dynamixel servos back to back and use them for a single joint and it seems to work pretty well.
@@ProtoG42 Good suggestions. I was going to use a tiny XL-320 for the gripper, but I had trouble with the protocol when using the USB interface. I will try it again with the OpenCV that I got recently.
Where did you get these nice clamps that you use at the end of the "helping hand"? I have never seen those before.
They're awesome, I use them to hold everything from motors to oscilloscope probes.
Here are the clamps I use: amzn.to/2VQXdev
I mount the clamps to these: amzn.to/2FpB95V
I already have the magnetic arm but just use something like an alligator clip attached to it. The clamps that you use are absolutely awesome compared to that. Must research where to get them in Europe.
Ok, found them. "Stativklemme" is the word in German in case someone cares. This was an excellent inspiration, thank you!
Proto G Engineering looks like as if these might be nicely 3D printable as well... superb inspiration! Just discovered your channel today and I like your projects A LOT.
How are you doing the inverse kinematics to calculate the correct servo positions to move it to a particular XY coordinate?
The parallel SCARA kinematics seem so different from a regular robotic arm.
I'm not yet, but I have been using this geometric java app to do some testing and will use it when I finalize my inverse kinematics together: ggbm.at/hgzdeghs
Amazing.
Thanks Thiago!
Good stuff, how well do you think they would work as x/y-axis motors for a small CNC? (non-cutting)
Good, as long as you can deal with the overshoot. For a task like pressing a button at position (x,y), they're perfect! They are safe to use close to people because they will stop if a hand makes contact with the arms and will continue moving to the position after the hand is removed.
Here are links to some of the parts used on my SCARA:
Dynamixel MX-12W Servos: amzn.to/2M6xLgK
Carbon Fiber Tubes - amzn.to/2J5xVqz
Mag Base Indicator Holder: amzn.to/2FpB95V
Crab Clamp: amzn.to/2VQXdev
Thrust Bearings: amzn.to/2FtDP1u
5x10x4mm Bearings: amzn.to/2CiXCxD
OpenCM Controller: amzn.to/2FugJI3
You really need to tune the pid loops. You should be able to get much better settling time and reduce overshoot. those are extremely underdamped.
I know the PID loops can be tuned on the Dynamixels, I just haven't dug that deep into the servos yet. I just got them and slapped this together. They overshoot without a load at that speed so I would probably need to slow down if I wanted to avoid over shoot. The MX-12Ws were designed to be used as wheels so they are high speed/low torque servos. For what I might use them for, the overshoot is acceptable. The accuracy after settling is pretty impressive. Do you have experience tuning Dynamixels?
Why you not use stepper motor instead of the servo?
Servos are much smaller, lighter, and have closed loop positional control. A stepper motor can lose steps if not used with an encoder or higher end driver that detects lost steps like some trinamic drivers.
There seems to be a lot of overshoot ?? Do you have a contengency plan for that ?
That depends on what I will end up using it for. A lot of modern collaborative robots have overshoot and settle. It's safer and will automatically stop if I put my arm in there. If you watch at the beginning, the motors have overshoot even without a load. If I need absolutely zero overshoot, I would need to either slow down, gear the motors, or get motors with higher torque. I bought these for the speed knowing that there would be overshoot. If the task was to push a button at position (x, y), then this set up would work significantly faster than a robot of similar size that had zero overshoot.
Proto G Engineering PID control?
If it's a servo it should use an encoder and only overshoot but to return to a position. That's why we use servos, they are a closed loop system. If it is open loop then it isn't a servo
@@fataxe1 It is a servo and it uses a non contact magnetic encoder. The extent of the overshoot is controlled by a PID control loop. Tuning that loop will change the amount of time before the motor has settled to its final position. For optimal results, the PID control loop should be tuned while attached to the mass of the final application.
@@fataxe1 Clearpath Stepper/servo motors NO OVERSHOOT, power, tork, repeatability 100%
czcams.com/video/P6BGzL0lRVg/video.html
Hey I've heard before you can config CZcams vids for mono audio, if you can figure out how, do that. As you move it makes your voice transition around in space, which is rather annoying.
Hanzhen harmonic gear , robot arm gear , over 30 years experience , joint gear
플라스틱기어에 알모터 싼거라 그런가...?백레쉬 오짐...
Stm32f103c8 ???
how can you afford such a lab? :O
I'm an engineer so I bought a lot of my equipment doing contract jobs that needed those tools. Some of the equipment I've bought just for the channel. It has just gradually expanded over the years. Lab equipment is an investment that improves your skills and worth to a company or potential client if you have a good understanding of how to properly use it. I'm also very fortunate to have access to large variety of tools at my job.
Ha, some people play golf and other social pursits, others collect tools and engineering tidbits... Not that I'd know anything about that, lol.