【Full HD】ABENICS: Active Ball Joint Mechanism With Three-DoF Based on Spherical Gear Meshings
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- čas přidán 19. 06. 2021
- Full HD remastered supplemental video from the official, Tadakuma Lab. Yamagata Univ, Japan.
Patent pending. This article is open access → dx.doi.org/10.1109/TRO.2021.30...
There are many challenges, and so many dreams.
ABENICS: Active Ball Joint Mechanism With Three-DoF Based on Spherical Gear Meshings.
K. Abe, K. Tadakuma, R. Tadakuma.
BGM : プラネタリウムガーデン (EN : Planetarium Garden) by まんぼう二等兵（EN : Manbou-Nitouhei）
• プラネタリウムガーデン @ フリーBGM D... - Věda a technologie
Not enough people are talking about how well presented this was! My mom generally has a hard time understanding things like this, but the way it was presented made it really intuitive to grasp it!
How does your comment have more likes than mine... Ffs
@@VroomTech yours was rational. People like soap opera. Next time complain about the world and appeal to mom.
the presentation on this is a piece of art ;) taking notes for future projects
@@VroomTech Really? You're bickering over someone with a difference of 100 likes? 🤦♂️
Reddit
This is infinitely more satisfying than most of the self proclaimed "satisfying" animations on youtube.
Yes i agree 10000%
Something should be inherently satisfying. Simple machines coming together to create a complex mechanism that performs smoothly.
i worked for a couple of years in a factory that assembles linear robots, i just love this kind of stuff with all the thought going into this to cramp as much moving part into such a small space :D
Maybe without the music
Thats the difference between motion graphics and CAD modeling for robotics lol
Not many people are this willingly to show the innards of their design and the mechanical concept driving it. It is people like you that push us forward. You deserve the highest regards.
It's a useless device, the motors/manipulators take up too much space and the patterns on the ball and gears (if made with steel) would require extremely cost prohibitive machining. Some kids in college made it to flex their intellect but its actual applications in the real world are 0. Otherwise they wouldn't be showing how this unpatented device works in such great detail.
@@Fine_i_set_the_handlemaybe it has ONE use atleast because it seems like it's shoved up your arse
This is one of those things that just makes so much sense that you can't believe no one thought of it sooner. It is pure genius.
Was thought of. Just no action. Same idea as the cars wheels in “I Robot”. I would say.
Was thought of. Just no action. Same idea as the cars wheels in “I Robot”. I would say.
Imagine the math when trying to code this thing
Probably quaternions lmao
PhD level stuff going on here
@Bonny _ try inventing them for the first time ever lmao
@Bonny _ yea true
The maths is not quite bad, just inverse kinematics should be sufficient..
CZcams algorithm: Are you interested in robotics?
Me: Er, I don't know anything about it, so-
Algorithm: Ok lol anyway here's a dope video about a ball joint
Right? I watch one video about Pacific Rim and now YT decides to let me know that we're working on that sorta tech.
CZcams knows us more than we do
Here are some additional details that you may want to include in your translation:
The mechanism was developed by researchers at Yamagata University in Japan.
It is called "ABENICS," which stands for "Active Ball Joint with ENgineering of Spherical and Saddle Gears."
The mechanism has potential applications in robots, medical devices, and other machines that require precise positioning and control.
This looks incredible. I don't want to revisit quaternions to understand it but I really want to play with it.
Noob
i don't know what that means but i agree
add another motor for 4 degrees of freedom
You seam to be smarter than me, i take it quite at face value but the basic seams to be simple gear movment, am i wrong?
@@MasterCookies the movements normal but the idea of knowing how to manipulate several movements to get the final output movement is whats dogshit, its a fuckload of maths and not very visualizable in terms of mathematics
Shows Monopole gear
Me: Well, yeah, thats how gears work.
Turns monopole gear 90 degrees.
Me: OH SH** !!! THAT'S GENIUS!!!
I also reacted like that! I was like "how has no one thought about that in like 500 years??"
@red dunkey huh?
@@cirogarcia8958
Maybe they mean that it has been thought of, but kept a secret?
Or that patent trolling is to blame?
@@cirogarcia8958 czcams.com/video/XKBX0r3J-9Y/video.html
@@Sako--qx3sy ty - that was really great!
Absolutely stunning mechanism and spot on presentation. The engineering, mathematics and coding of it must be amazing.
Not only is the mechanism cool but the explanation was incredibly well done making this basically open source. Nice work.
I love seeing the demo/promo videos of things like this. What really makes this stand head and shoulders above so many others, is how instead of just showing off the example, they break down how it works. Well done!
This is the most brilliant product of intelligence i have seen in a while.
I can only agree
Indeed. But useless tho.
Posting it like this wasn't brilliant. The CCP just got handed a blueprint. They'll ignore patents. And use it militarily.
@@kentgladden4316 Yeah technology is cool and all but have you considered CHINA?
@@AutoFirePad Not true. Imagine sticking this kind of drive on a 3D printer.
Impressive, beautiful mechanism so cleverly designed, and well presented.
Thank you very much for not only showing it, but also explaining it properly. If all ads where like this, life would be much better for everyone.
japan is back at it again this time making arm and leg joints for their mechs
It's creations like these that inspire me to keep moving forward in my pursuit of robotics. It's been a while since I have done engineering for school but I know that I want to make things like this. Not only for commercial use, but to inspire others like these artists did with me
Absolutely fantastic work, the gearing is almost hypnotic to watch and the Moe Shop style music is a bubbly delight :)
Probably the one who designed it perceives things we can't even comprehend, this is so creative and beautiful.
I see that Project V is proceeding nicely.
When will the first Mobile Suits be ready?
asking the real questions, ty
funnily enough, that was the first thing i thought of. Mobile Suit Testing
Sieg Zeon!
under rated comment
next video: psychic manipulation mechanism
It's like the ball is threaded in the way a multi-directional screw would be threaded (it can engage or disengage clockwise or counter-clockwise, depending on pressure... generally impractical for screws) and then the driving ball joints are the single-direction threaded guide, but turnable so it can engage to turn the multi-directional threading on the ball. Very neat!
Exactly I had the same idea bidirectional threads
This will be a revolution in robotic artwork and installation
Art work 10/10 , Useful 2/10, Practicality in programing the servos 1/10, Price tag 0/10. Compacity vs force output 5/10. Number of components required to build the servo motion output 3/10. Something genius to make your friend jealous 9.5/10. Outsource ability of producing components 7/10. Precision of the output 4/10* because it could be better if not made of plastic. Over all video 8/10. Final score: 49.5/100
@@marc-antoinethebeautiful7714 Thank you for this beautiful analysis. I've been trying to wrap my head around it for a while and you nailed it.
That is an EXTREMELY GOOD visualization of design principal and operation - it doesn't get any better than that...
What an incredible mechanism and it's been a very long time since I've seen that level of understandability and explanation. Absolutely fantastic!
I don't know if I'm more impressed by the mechanism, or by the beautiful animation
Maybe I can live long enough to see a real mobile suit.
the main issue with a mobile suit is actually how it is powered. People have crafted power suits but they then have Massive wires coming out the back so they can't move around much.
@@rrteppo thing is in Gundam all the wires are non existent or inside of the exoskeleton, which all lead to the pilot using it and such
@@rrteppo The power is needed in order to combine inertia with versatility. Improving strength-to-weight-ratios in all the electrical and mechanical parts could sort that out. So Graphene could probably do it.
I’ll one-up you. Graphene *will* be doing it once the draconian dynasties stops lobbying their pocket-scientists and politicians to file countless fallacious studies regarding the potential toxicity of graphene, and NCT more specifically.
@@rrteppo Just invent free energy lol
This is the kind of stuff what would earn a "Leonardo Da Vinci Approved" Sticker
That is a really cool joint design, and also I appreciate the link to the original music because this is doing things to my brain
I was trying for long time to imagine a ball joint that would work like this, but with much more simplified mechanism. This could be revolutionary for robotics!
The engineering, video editing, music... wow.
"Jack of all trades, master of all"
Being a videographer, this could be GAME CHANGING on robotic camera rigs
im awestruck rn holyyyyyyyy
This is probably the most satisfying thing I've ever seen. Incredible!
Such a good concept, i hope the minds behind it get a good prize
Absolutely gorgeous mechanism! Also, great music choice! Love me some IDM
My brain enjoyed every bit of this. Thanks!!! :D
Ok this is by far the best use of youtube. My life just improved just watching and learning. I had to subscribe. Awsome.
Wow, a genuine step into smooth A.I movement
This video is quite dense in terms of information but it's so well explained through the animations, barely have to pause or slow down at all to understand it. Absolutely incredible design
More like you can catch the info...
Amazing mechanism, amazing animation, and amazing music. Wth kind of sorcery is this??!
Seriously, my toe was tapping uncontrollably through the whole video...
whatever person or team that animated this needs some type of award.
Bro this is the best mechanical animation I ever did see on CZcams! I must find out how to do this kind of stuff.
The applications for this to be used in advanced prosthetics is what makes me excited.
I was just wondering what applications it could work for and prosthetics is an amazing one.
Never in a million years could I have come up with something like this
This is super interesting, very nice! Amazing work!
Can’t wait to get an arm that spins round and round 😎
I completely agree with everyone here, the presentation and execution of the project is something to marvel at.
The system is mechanically redundant as you have more motors (inputs) than degrees of freedom. Although this shortcoming, I think that this is a wonderful showcase of engineering, and someone will find such an actuator useful someday.
Tbf dual motor/input for single linear/rotary axis are very common in machines as it allows to counteract mechanical backlash of the axis as well as more power without having to resort to a larger motor.
Multiple small input gears into one large gear also allows for a larger than normal gearing in a single gear stage as it has more teeth engaged splitting the force (generally its problematic to have a large gear ratio as the teeth strength starts to be a limiting factor).
@@exol511 indeed you are very right thank you for pointing that out to me.
prosthetic elbows is pretty obvious is it not? 360 degree rotation would actually give amputees MORE freedom of movement than with a normal arm (although unless you're building out of titanium then it will have much less strength to weight)
Fascinating work! Good going Tadakuma labs!
The graphical explanation was amazing. Eventhough I did not major in mechanics I kinda understood the concept.
This is gorgeous and seriously brilliant
This is so nice, beautifull idea and looks manificiently in motion. I want my own ball joint at home :D
I used to think I was mechanically creative... Then I saw this. I'm awestruck. The person who thought of this is a true gift to the universe.
Whoever made this is a great individual
Very promising tech, countless uses.
Dang, this is pretty cool. I'd like to see what come of this in 10 or 20 years
Awesome Shoulder and Hip Joint
Super smart ! Congrats for a great concept and realization
I see the ball joints for Gundams are starting to become a reality
That is extremely well explained! Very nice invention!
Nice explanation, awesome concept and incredible japanese electro bossa
Wow, this is something amazing! This system will certainly be used a lot in implants and prostheses... a beautiful step for the future to become the present.
This should be installed on the ISS. Canadarm could have a new friend.
This is so beautiful. It's so intuitive and makes so much sense but coming up with something like that is crazy!
Now I'm very interested in the math behind it, are the driving rollers working on some weird core XY variant? What's the math behind roller input and output shaft position. I want to know it all :D
It probably doesn't actually know the angle each axis on the ball and calculates how much they will change depending on the speed, direction and angle of the driver gears and keeps track of that
@@cirogarcia8958 I agree with you completely. I work for a company designing and testing precision motion control systems, and while it would be possible, and not too difficult to use motors with built in rotary encoders, the lack of encoder wires coming from the motors show these are running in open-loop with no position feedback.
If you had motors with encoders and pair each set of motors on an arm in standard XY configuration(the 2 motors would be offset 90°), then you could do the trig calculations to calculation the physical travel/rotation of the ball. Then interesting part comes on how you want to handle the second set of motors on the other arm.
You could either do the pain in the ass over, complicated route, of having all 4 axis running in sync to handle each command if your software will allow it(I've done it on hexapod systems, and it is a lot of math and an absolute pain), or assign roles for specific axis. I'd probably have one arm handle the XY rotation, have one of the motors on the other arm handle the Z rotation(the X and Y will need to be set to slaves axis of Z to rotate when it does, while still following their own commands). The 4th motor on the arm with the Z axis, I would have running constant low current to always be opposing a primary axis to prevent the backlash issue seen at 4:35(the jerking at the start of the movement is the driving motor is shifting the contacting fact of the ball's gear).
While this is a cool concept, the backlash issue inherent to this design rules this out for any precision work, and the low contact area because of the possible tooth width means that with any load added, you'll see wear become a more serious issue. With wear, you will increase your already existing backlash issue, and at worse, break a tooth or one of the rollers on the motors. This will not reliably be able to handle loads, and if a tooth or roller face breaks or shears off, the load attached will come crashing down. Also the fact there is no simple way to add electrical limits to a system like this, means that any programming mistakes with this will likely result in damages.
TL;DR: Yes to you, and sadly no to the design... it is cool though.
You can try learn inverse kinematics
@@MinatoAsk "You could either do the pain in the ass over, complicated route, of having all 4 axis running in sync to handle each command if your software will allow it(I've done it on hexapod systems, and it is a lot of math and an absolute pain)," I was actually referring to IK there as it's the only way to run a hexapod system properly. But when there is only one rotational position you are controlling and all axis are at a set relative angle to each other, there's not much reason I see in trying to run IK. Plus I personally wouldn't trust IK in a situation like this for two reasons.
Reason one is that this setup looks very prone to running into gimbal lock situations if you're not careful, and in precision systems, you don't want the system you be on the fly making alternate routes to free an axis is that situation.
Reason 2 is that there is that with the arm attached, you have fairly defined physical limits that are not axis specific. On most systems with hardstops, you will have electrical or software limits that tell the stage, "stop you are about to go passed your safe limit and hit something". On this, you don't have electrical limits, and as the axis are always shifting orientation, software limits would be very difficult, and risk damaging the the system if something is missed.
Plus as I stated in my previous comment, unless you sacrifice one axis to keep a slight opposing force to an axis, you will have unwanted backlash to deal with.
While this wasn't really designed with precision in mind, that is just the priorities I have when looking at something like this. Even something not requiring very high levels of precision, like a simple parts picker on a PCB assembly system, that backlash and the wear the teeth will experience over time would make this a no-go in my book.
This is just my opinion based on my experience, and the field I'm in. Others with a different background and priorities may look at this differently, but if everyone agreed on everything, the world would be a rather boring place.
@@Poptart133g very well written! Part of learning is learning the hard way first only to find there's easy way to do it, lol!
I've deal with servo motor controls before and used IK, so yeah, maybe the alternative is better for this specific project
Mesmerized by the Ingenuity! Almost Unlimited Possibilities!
Congratulations Genius!🎓
Geez that animation was world class!
It's fantastic, intelligent and innovative that I lack words to express how great this mechanism is.
これはすごい球関節が完璧に再現できてる！
構造上モーターは肩の外側でも問題はないだろうし人体の機械化がさらに近くなったで！！
czcams.com/video/nt55lHeqfEw/video.html
this is incredibly well visualized!
Absolutely stunning visual explanation!
Simply brilliant.
forget the robotics, this music is straight fire. when's the album dropping?
I want to know this as well
@@lines1645 +1
its in the description
czcams.com/video/SL5OlY0LC3s/video.html
@@MommysGoodPuppy oh i think they just updated the description, but thanks pog
I thought this was the noise the machine made when it's in operation.
Best video on CZcams EVER! I wonder what is the step resolution on the movement of extended arm. Or it is analogous movement. This is really ingenious design and presentation. Thank you for sharing.
Wow it was so clear. And what an actually good design. Real nice.
This is literally what Japan is for. Nice work!!
IF only they wouldn't of screwed up real bad with Fukushima.
Very impressive! Are there any issues with the loading capacity or is it simply a matter of using stronger materials for the sphere and mount?
Stunningly clever design. On the very edge between possible and impossible. Bravo!! Well Done!!
No idea how I ended up here, but this is amazing.
so damn cool! I watched it twice
It is probably the dream of every mechanical engineer
This is one of the greatest things I've ever seen. EVER.
機械系は理解する知識に乏しいけど、見てるだけで凄くワクワクする！
素晴らしいです。想像力、応用力、技術力、全てが上手く行った結果何でしょうね。
しかし、今の日本人の好奇心の無さなのだろうか、日本の研究者の方の動画なのに、見れる範囲で日本語のコメントの少なさといったら・・・
日本語でコメント書いていると思ったら、批判的なコメントだし・・・
マイナスな点ばかりを追求したがる日本人、プラスの点を伸ばしていけばいずれマイナスの点もプラスに転じる可能性だってあるのに何故あげ足取るのが好きなんだろうか。
Damn, this is cool
Damn!! Those are some incredible animations and renders
all that engineering for a really good joystick
12/10
Are there singularities at the gears' poles where rotation is impossible?
If both drivers sat on the same plane then I believe that would be the case, however with both drivers mounted at a 90 degree angle then that singularity ceases to exist and also gives the joint a greater range of potential motion.
@@shieldcaptain54 the video even seems to go out of its way to demonstrate this at around 95s
Amazing! Simply amazing! From one engineer to another, this is just so beautiful! And the cross-section literally made me nut! So simple and yet so modular! The usefulness of a ball joint without a ball (and the associated friction) is immense! I mean, do the teeth catch on each other? Is there a lot of shear between the individual bits (especially if they're not metal)?
I would guess that it would be in a lubricant further down the track
very beautiful! I love the aestethics of the ball ♥
A lovely presentation like this made it so easy to understand it was an amazing system and I got to lean something new today tyvm
I can't imagine designer's face when he first time saw project plan sketch
the explanation looks like something out of a science fiction movie, yet it exists in real life
This is outstanding!!! Thank you!!!
設計が綺麗だし。プレゼンも上手すぎか
This makes motions much more lifelike, I can see this being used in humanoid robots for shoulder joints and things like that.
I doubt it is too reliable for reasonable load. Viewing it perform with an arm and small load- it did seem like it skipped tooth a few times.
I cant stop watching it, it's just the perfect mixture of beatuy and genius design
huge props to whoever desined this. im both fascinated and confused at the same time.
Beautifully explained ! Kudos !
Ingenious work of engineering and nothing less to be expected to come from Japan.
Paving the road for android development.🤯
Would love to see a demonstration of rotating multiple axis around a central point using inverse kinematics!
impressive, I could imagine this to be used in a lot of fun stuff
Great invention and great demonstration of how it works