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KINEMATICS | Tripteron 3-DOF Cartesian parallel robot (This is not CGI)
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- čas přidán 17. 07. 2020
- Tripteron is a truly unique robot that combines the properties of serial and parallel mechanisms at the same time. It has three translational degrees of freedom independently controlled by three actuators which correspond to the x, y, and z axes of the Cartesian coordinate system. Thus, the robot has a straightforward kinematic model and does not require any complex equations to control it. Nevertheless, being a parallel robot, Tripteron provides the ability to reach high acceleration due to the fact that the heavy components (motors, guides, ball screws) are always fixed.
The Tripteron concept has been developed by scientists from Laval University (Canada) and patented in the early 2000s.
Instagram: / olekstepanenko
GrabCAD: grabcad.com/ol...
• Project idea
• Design
• Programming
• Filming
• Music
by Oleksandr Stepanenko
#tripteron #robot #kinematics
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Not sure if I'm more excited by this machine or by that how "clean" is video :O
Thanks 😊
This is a brilliant idea! Have been looking for a configuration to install at the end/back corner of my work bench for a 3d printer that would be out of the way when not in use, as my current 500x500x500 cube takes up SO much room.
This design would allow for a removable or hinged heatbed that could fold up out of the print area when not in use.
Reminds me of a delta printer in motion, but a much more decrete footprint. Bravo!
Not only can the print-bed be folded, but the 90 between each 'leg' could also be folding joints.
The gantry could pack up very compactly.
My biggest concern with a design like that would be that you would have to re tram the frame whenever you moved it. I guess a bltouch could help to some extent?
@@etch3130 Not by much, it depends on how rigid the joints are. The each only band about the axis they move on, so as long as they are rigid and the position along the axis is known, the head must also be perfectly in line with that position on the axis.
Now I definitely want one of these to make a small parts 3d printer.
This I must say, is one of the kind, of CNC Motion X.Y.Z. Movement..!! Exceptional Engineering Indeed..!!
When your production quality is so high that you are always accused of it being CGI, you know you have done a great job ;)
Thanks! 😊
Nice one. BUT precision and stiffness (and one or both are always heavy requirements) depend completely on your bearings and the levers.
So stiffness and precision require really good compnents or will easily be compromised or lowered a lot over time.
But still a really cool motion system with a lot of free space! Nice!
Great design. I liked the idea that all the actuators are positioned at the ground so that I presume less load act on the end effector and the motors. Also the production is high quality. Thanks for sharing.
Thanks for watching and commenting!
Your videos are always so clean I honestly ask myself if they are made through a CAD software or with a camera.
Anyway, it's always a pleasure to watch your work. It's really inspiring and beautiful.
Keep the magic ;-)
Thanks a lot! Comments like yours inspire me to do more!
P.S. It's made with a camera ;)
Wow man, your designs are all super smooth and elegant. How did you make that rotational joint.
Thank you! Nice to learn that. These are just regular bearings inserted into the 3D-printed parts.
@@OleksandrStepanenko I think pd is misunderstanding the design. Correct me if I'm wrong but there is no "rotational joint (spherical joint?). All joints are single plane pivot joints like a door hinge.
Everything about your short demonstrations is just perfect: the mechanisms, the material colors, the lighting, the sound and background music.
**chefs kiss**
Thank you, Anthony! Appreciate your good words very much!
This is good design. Efficient use of space, and the structure is easy to make rigid and accurate. Also easy to increase the parallelism for accuracy if supporting too much mass at the toolhead. Kudos!
Anything but "easy to make rigid". Levers meeting in the middle at joints are just about the most impossible thing to make rigid. These machines *look cool* but there's a reason they're not widely used.
Super simple presentation. Your song fits perfect with the video. It seems to be something from the future. Congrats ! I'm waiting for a 3d printer using this system of movement ;) P.S. I watch this video every day just to hear your music.
Thank you so much for the kind words, it's very inspiring!
i feel a robotic twerk would bring these designs into the 21st century.
Excellent lighting!
Thanks!
Very nice job... Where can anyone find/build those linear drives??
Équatorial mount for astronomy is it possible (40Kg weigth) ? how will it cost ?
Good for a twirking animatronic, with a bonus handy job.
Impressed
Thanks!
Люфты и боковая нагрузка вошли в чат. Прикольно!
looks interesting! was thinking if this structure can be used on a 3d printer to increase high speed printing quality! do you plan to share the details of this implementation?
you can't recreate this just from watching the video?
AWESOME work, you are the human perfection you represent the biggest inspiration for do the things RIGHT, thank you very much for inspirating me and sharing your work
Thanks, Cesar! I'm happy you found it inspiring! Appreciate your feedback!
SOMEBODY MAKE A 3D PRINTER WITH THIS 🖨️🖨️🖨️
It's been done many times. Just type "tripteron 3d printer".
Fierce!
على كل الاتجاهات وفي كل الاصعدة....والمبدأ ثابت.
♥.♥
Nice Share...Thanks.
Wow its smooth as CGI
WOW, NICE!
cuserroro Thanks!
very nice
Woww
로보트 팔인가요? 아주 부드럽게 작동되네요
Drawing a 3 Dimensional arc would showcase it amazingly dude please try it
Genius
Thanks!
This reminds me of that big robot from the Robocop movie!
This be my new thing
Imagine making like an elevator using this technology
Hi ! Nice work ! May I ask you where did you buy the different spare parts?
Thanks! Most of the parts are machined, the rest is 3D printing.
wow
It's mechanisms like these with precise movement that impress me.
A very interesting concept but I wonder how rigid the joints would remain under actual load, like a CNC cpindle milling steel.
Good question. Rigidity is not the strong point of this type of robot. It's mostly about moving lightweight payloads very fast with very high accelerations.
Could you give information about the payload capacity and motor specs ? Great material quality !
do you need one more motor based control joint on this?
Wow, triaxial pole-dancing!
Hello sir good concept
I m also graduate mechanical engr
Going to make a 3d printer out of this!
Great! Let me know the results!
Amazing work. Based on your design, how do you go about calculating the required length of the arm segments, and/or how do they relate to the expected working area/volume?
Amazing, are u using ball screw to move the parts there? But what's the usage
Thanks! It's a lead screw.
@@OleksandrStepanenko I'm by no means an expert in mechanics but I love see thing moving perfectly. Again nice work and for me, enjoyable to watch
@@setarehsiralek6924 Thank you very much, appreciate that!
This is not CGI (This is CGI)
💩
I want to see you *try to make something look like cgi, before ruining the illusion
Best i can think of is hiding wires behind a thick part of the mechanism and letting it run before moving it slightly and tilting the camera to show the corner of the table, framing it as an accident
And the title will be Can you guess CGI or not CGI?
How precise is that thing? Can be used as 3d printer base?
Of course, it can be used as a 3D printer if designed well.
lets make a FDM 3d printer with this!
I think your shadow map has low resolution.
Congratulations! a nice video and a very clean solution! is the cad model available? what is the right tool to simulate the workspace of this kind of robot?
Thanks a lot! You can find the CAD models here: grabcad.com/oleksandr.stepanenko-1/models
This particular robot is not uploaded yet, but you can easily assemble it using the CAD of linear modules available. SolidWorks is the right tool to estimate the workspace.
КРАСИВО
На какой прошивке можно завести эту кинематику? Это дельта или core xyz?)
Can you give details of drawings or model numbers of parts, we want to build and test
You can download some models here: grabcad.com/oleksandr.stepanenko-1/models
saying just something to grind up the algorythm.. .this needs to be better known...
Hello there, any idea how you chose your bearings? and why?
In 25 years every house will have a room with one of these only ten time bigger, manipulating an exoskeleton. You pop into that thing, put your VR glasses on, and you can walk, run, jump, feel pushed, thrown, shot, driving a car on bumpy roads, you name it.
I like 👍♥
i wanna ask how many links and joints in this tripteron?
Hi, your work is very excellent. (what is name of the music? thank)
Thanks a lot! 😊 That's my music.
@@OleksandrStepanenko Good job ! It's very good song.
manuel re Thanks!
hi
How much weight does this mechanism carry?
As much as necessary, if properly designed. This particular mechanism is just a 3D printed prototype.
So awesome! Do you have a project page or something so we can build this too?
Thanks a lot!
I have some CAD models available here: grabcad.com/oleksandr.stepanenko-1/models
Also my Instagram: instagram.com/olekstepanenko/
@@OleksandrStepanenko thanks a lot. Unfortunately this particular one is not on grabcad, am I right?
This is not CGI -2021 :D
now make a robot that spits bars cause this music fits
İ think û can use Only for 3d printer İts not good for plasma or lazer cutter machines Because İts so big According to it
Considering the University that initially developed the design, you're likely to be able to do the other two. Which is fine. There's some, however, that're in pursuit of *insane* speeds and accelerations for 3D printing systems...this is a promising one in this regard. Especially HIS rendition thereof.
🔥what to say 🥺🥺
can you explain where are the motors that move the arms?
There are no motors in the arms. This system has 3 motors (look at what the cables are connected to). These motors turn ballscrews that move the slides on the rails.
отличная работа. Так держать!
Спасибо!
Oleksandr Stepanenko я производил примерно тоже самое... несколько лет назад. У меня называлось конструктор роботов и станков с чпу . ) железок часть есть на канале .... но увы было и прошло) тебе успехов и открытого доброго сердца!
@@paponchik Спасибо, Сергей. Очень понравилось, как реализован механизм редукции через винт в роботе, никогда такого не видел! Станок так же впечатляет!
Oleksandr Stepanenko спасибо таких решений десятки. Если будут задачи и вопросы пиши. Я всегда чем смогу тем помогу.
How did you make that 2DOF ball join in your parallel robot. It isnt clear in grabcad. Can you please let me know
I found them on Amazon, just type "3D printer magnetic ball joints" or something like this. 3DOF.
@@OleksandrStepanenko great.. thanks
I know its not CGI because i watched many videos of yours. but why are the shadows "lagging"?
why is that? im really currious because i know of no way shadows could "lag"
the only way i could think of is because of compression or something
Thanks, I was waiting for this question. It happens simply because the shutter speed of my camera was close to the light flicker.
@@OleksandrStepanenko ah. Yeah also tought of this but did not know it would actually cause that haha :D
Thanks for Letting me know ^^
@@GamingClubGermany My pleasure! Thanks for noticing this! 🙂
qual a utility mesmo ?????
The question is, can it 3D print stuff??
Yes.
@@OleksandrStepanenko Very interesting design
Thanks!
People talking about using this in 3D printer
While I'm thinking of robotic strippers
Embrace the epic and AWESOME power of, "AND!!"
How are are these motors? Can you share some scale?
Motors Nema11x45mm
3D Printing?
Yes. There's been several iterations of variations on a theme. Our erstwhile host has made what is absolutely the simplest of those. They provide the promise of extreme accelerations, repeatability, and "speed" for FDM systems, amongst other things.
What do you use to program/coordinate the servos?
Solidworks motion analysis
@@OleksandrStepanenko so this is a simulation then? Or did you mean that you used motion analysis for the mechanical design? If so what are you actually using to program and control the real world servos?
@@zanecook4402 No, everything is real. I only used motion analysis to create trajectories for the motors (generate trajectories for the real robot from animation).
It is quite good! What did you use to program the robot?
@@zanecook4402 Solidworks motion analysis
Преимущества у данной кинематики есть?
You makin a 3d printer?
I need a banana for scale
But what can it be used for?
High performance 3D printing.
This is what happens when you have a lot of free time!
2x playback speed = swiggity swooty bot
Kinda looks like a camera stabilizer
Hi, Are you doing with a ball screw?
No, it's a lead screw.
@@OleksandrStepanenko what weight of one cuprum alloy nut? Why i can not find video where this axis moves at 120mm/s speed?
It’s a robot that… moves? I’m sorry what are we looking at?
This is not CGI - it is tho..
Wax on wax off
Почему Олександр Степаненко?
Hello sir, I am interested in this robot, may I ask you how to purchase this robot? than you.
Hi Kelvin, I don't sell it, but you can download the CAD models and build something similar: grabcad.com/oleksandr.stepanenko-1/models
how do you program the gcode for these types of systems
Same as standard x,y,z type 3D printer. The movements are all linear. Don't let the illusion of the links moving fool you.
@@jamescrud wow that's not what I expected thank you
will the two arms collide when it is close to the center?
Yes, they can collide at some point if outside of the workspace.
Это что, можно одним мотором подвигать, и не надо будет компенсировать напряжения в конструкции другими моторами? И напряжения не возникнут ни при каких условиях?
Конечно! Латунные каретки очень легкие! Можно печатать с титанической скоростью! (с - сарказм)
Те же три оси, зачем усложнять...
how are the bearings attached to the 3D printed parts?
Glued.
Plot twist, these were all CGI
This is not CGI:
czcams.com/video/Y3xtbu5sWXU/video.html
instagram.com/olekstepanenko/
Что бы эта хрень более менее точно отрабатывала, люфты в сочленениях должны отсутствовать, от слова вообще!
Music ruins it, can you make another video with out the music, just robot sounds? ;)
3D Print Now
are you SURE this isnt CGI?
Sure.
czcams.com/video/Y3xtbu5sWXU/video.html
instagram.com/olekstepanenko/
@@OleksandrStepanenko id already found your Instagram after commenting. Very impressive - it's not often real things get mistaken for cgi.
@@PetesShredder Thanks!
I think it will be more often in the future.