Super cheap 3D printed Robot Arm with Stepper Controller
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- čas přidán 6. 08. 2024
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Using mostly 3D printed super cheap actuators (around 32 $ per actuator), I have build a robot arm based on stepper motors. This robotic arm uses widely available parts. Also I have build a modular stepper motor controller, which allow to control up to 8 motors using the TMC5160 drivers. I plan to use this controller and such 3D printed actuators in my future robots.
STL and CAD files are available for my 10$ patrons ( / skyentific
).
Special thanks to my special Patrons: M. Aali and Jose Carlos Negrete!
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#DIY #Robotics #RobotArm - Věda a technologie
![I Made a Robot Arm to Hold My Camera [$500]](http://i.ytimg.com/vi/e3TNaIyTAnY/mqdefault.jpg)
For the thermal switches, you can easily put an LED with a resistor in parallel with each thermal switch. If a switch trips, the appropriate led is going to illuminate, so you can find which thermal switch tripped.
Incredible project! Great work! Thanks for your contribution on the 3d printing and diy Robotics community! I hope that you get the recognition and exposure that your content deserved
Thank you for the backlash segment of the video and upcoming joint testing! Great job putting this together, I will definitely be watching the upcoming videos on the further testing/design iterations! One idea that hasn't been addressed with 3D printed gears on youtube (yet) is applying a wear coating to the gears (something like a low-friction paint) - to allow tighter tolerances for less backlash without significantly increased wear rates. I think this, combined with grease, would be a really interesting long-term test after the upcoming individual joint/force/wear tests!
Nice clean looking build. I've become quite partial to timing belt actuators to avoid the high backlash from 3D printed gear actuators. When properly tensioned, timing belt actuators have essentially no backlash, and only a little deflection under load from belt stretch. With some gravity compensation on the shoulder joint, you could also get away with a lower gear reduction.
Amazing! The electronics management I have to say is stunning. It would be awesome to see some cinematic on this, cheers.
Yes, you are absolutely correct; it is beautiful! Well done!
Found this channel a while ago and I'm glad to see you're still making awesome robot arms!
TIP for Everyone, if you print hollow shells; you can pack them with glass-resin, to save time and increase strength !
Amazing build, love the custom driver stacks too !
This project is extremely polished! I can imagine that you have put many weeks/months of work to get this great results
Nice work! Enjoyed seeing your design. You have progressed so much over time!!!
super-cool! So glad to see you doing affordable projects ... the videos with expensive drives have unmotivated me recently- but I think I'll be joining your patreon now! great work! thanks!
Nice project. Looking great!
I share your joy, friend. You have so much to be proud of, and thank you for letting us celebrate with you.
It looks very nice. The PCB tower looks cool but, I am afraid that the motor drivers are going to get hot, maybe heat-sinks should be added and a fan for the enclosed space. Backlash seems quite high, but I'm waiting for the next video with more advanced movements to see how much it oscillate when it moves.
Thank you to CZcams for the recommendation, very nice channel and content. You got a new subscriber
Finally erevything is comming together. Nice work!
I think you're doing a good thing by pushing forward 3d printed actuators. Backlash could be too much for precise applications, but that's to be expected
This dude is just the man. I love these designs
AMAZING!! great work man!!
so awesome! This is the future!
Шикарный акцент) бальзам на душу прямо!
А проект прекрасный получился
Его видео надо в школах на уроках английского показывать)
Наш человек?))
Very nice man, so much work wow 👀
very competent! love the vid!!good luck!
I like the PCB driver modular system
Wow awesome! You have really inspired me thanks very much!!!
You’re channels awesome dude… can’t wait to see more
You are the man. Thank you.
Beautiful!
Absolute beautiful work as always. I wish we were neighbors.
Great videos!
It's the first video of yours that I watch. You got a subscriber the moment you pushed the joystick with your foot. Nice job!
:)))) Than you for subscribing!
5:03 timestamp
very cool! very helpful!
nice job!
Sooooo cooollll ! I love your channel ! Keep going this way !
Thank you so much!!
Great video! Interesting choice of music! 😆
Impressive!
I would have really loved to watch you solder those motor drivers and the Teensy. Those boards were pristine! I would definitely watch a soldering tutorial from you!
Awesome!
Cool soundtrack!
Hohoho i like your laugh! Also i just finished printing an arm that uses servos, next time I'll try with steppers, great video as always, I'll check your cad and code, also can you give us a tutorial on how you do inverse and forward kinematics, looking forward to it!
Love it keep it up ❣️
Can’t wait
With the metal acting as a thermal mass, it might still melt if the melt temp is reached on the motor. If you set threshold lower, then it will take a long time to turn back on.
It seems like eventually you'd use the thermal switch as a failsafe only and calculate the safe duty cycle which would always be in effect?
Awesome. Just needs a scoop and it can get to work automating litter boxes around the world
Awesome build! I really dig the giggles and the happiness! :D
Thanks for sharing it, and I will definitely look to build it soon.
Do you happen to have a bill of materials used, and approximate prices?
Two ladders or a few 2x4's of wood, with rails on the sides of them to create a x and y axis, with a spray painter on it. You can place it against a wall like a ladder normally would, and hit PRINT, and it either coats the entire wall in controlled even passes, or draws a photo painting from a file you send the gcode.
Cost? could only be just a few dollars if anything, if you already have the basic materials.
Use it to become a tireless exterior interior wall painting employee that you only pay with buckets of fresh paint.
"ps4 джойстик" приятный англо-русский акцент такой :) Like однозначно :)
You are really good at CAD. lol
Some people are awesome!
I'm trying to print a robot arm, there a couples design around, i wonder this is better or the moveo that everyone seem to be printing the moveo cost around $600 -700 buck to build. This seem look to be much cheaper at $150. There also some harmonics drive that is gaining traction's, very exciting.
This is an awesome build. Great work!
So do you think for your next project you can get this arm to be a 3D printer that prints non planar?
Holy crap that's glorious! Would 5 axis be good for getting cool shots with a camera? My brain sucks at figuring out the potential movement paths lol. If it is then a cool idea might be the ability to add keyframes for setting up a movement path. Maybe a rotary encoder to first dial in how many keyframes you want, then a button to set a keyframe, and a little display to show you how many keyframes are left to set as you enter them.
You are the best :)
very cool, maybe i will build htis one. i really like it. but i think i just use a 25€ SKR Mini 3D printer board with all the drivers on it
You should install cooler fan into basement for cooling drivers!
Google and Trinamic are watching you!
yess
Найс ворк!
I always print the elements that come in contact with NEMA with ASA (ABS is too hard to print)
this was interesting to see. im building a robot myself too and a friend recommended me this video. I love the idea of testing the axis using a joystick.
I have one issue tho. my motor is not skipping steps, but after trying to go to the same directions for a few times its getting more and more inaccurate, like if it would drift or something. any ideas?
Hello mr. @skyentific, do you plan to do a tutorial on inverse kinematics and trajectory planning on this robot? There is not a step by step tutorial on youtube about these topics, especially on 5 dofs robotic arms, you could be the first one
Awesome video as always. Aldo you print the parts at home or do you send them to a tied party printer company?
Thank you! I print all at home. I have 3 printers. Two with 0.4mm nozzle for prints where I need quality and one with 0.8mm nozzle for big parts.
Awesome.
How do you keep the aluminum links fixed on the table? Drilled? Suction cup mounts?
Hello, super video! Where can I find the elecronics and everything needed to build it?? Sorry, not familiar with this. Thenk you!
Awesome, watched all the way through. You go through some PLA, sir! Guessing you're not buying it 1kg at a time, maybe those 5kg texas spools?
Now if you can just flip the arm upside down and make it self-balancing, and put your eyeball on top of it! :)
This is a great and fun idea!!! :)
Wow, great work!
A M A Z I N G work! are you going to publish the pcb gerber files to your patreon?
This is just awesome! This summer I would like to make a project like this with your STL files, but the electronic parts seems rather big for a beginner. Would you suggest a small project to start with?
Check out Michael Klements DIY camera slider, I'm currently working on one for my first project and it's got a lot of the same DNA as a build like this robot arm.
Who would have thought that Tom Selleck is into 3d printing and robotics.
Would be interesting to see how you would interface this with ROS after all the software is done.
The backlash mde me think of the Adam Backstrom (murdered his name there) video about super accurate servos "How to make your servos awesome" happy to provide a link if you need it
Recently found this. Im thinking mounting it to my ceiling and using it to grab nuts/bolts kind of thing for me. Would be cool to us AI voice actuated to initiate the part pull.
did you try first before going to change the motor just jank up the current? or did you just stick to a recommended value (will make the driver and motor hotter ofc and need active cooling for driver possibly and all of that..)
damn... mine sux next to this one. also i wanted to use xbox joystick but i decided to create one from the arduino joysticks
действительно молодец, интересный проект, теперь пора переходить к стоящему, ну хотя бы для манипулятора-сварки....многие спасибо скажут
this looks cool. where did you get the tmc5160_bob_1.2?
The problems I have found with lever switches is that they are too flexible. Maybe imprecise? Reed switch, may be better, but a photo switch can be rather precise. Many outdated automotive switches available.
looks awesome!! the only thing I can see going wrong is that there is no thermal management for all the drivers...
In worst case I will add fan to the base. But I already used similar drivers in my Igus robot video with Nema23 motors, and the drivers stayed cool. So I don’t expect them to heat up a lot.
Вы используете или использовали ROS (MoveIt) для роботов?
Hello great job!!!Can we get the project to do at home?
Hello, just a question about those big drivers, can u list them pls? ty!
А какой софт можно использовать для работы такого манипулятора скажем в покраске или положить переместить деталь? вопрос не изучал, просто поразила проделанная работа на вашем канале.
What are those green wire connectors called guys. I have some but when I search I just get the normal ones. I'm building it and donating it to the local non-profit makerspace I volunteer at. I've paid for all of it and it's not expensive if you take your time and order the parts a few at a time. I'm going to paint the grey pla. I've done it before and it looks like metal
Спасибо за видео! Как всегда интересное !!!
where can we get more info on the stepper controller?
let me speak from my heart
Is there a video on using the robot with python and pi?
you know... I may have to sub to your patreon to get those files... im curious how well they'd do in ABS (i don't print PLA, ONLY abs and petg) or if I mill them with the cnc in aluminum... might be nice to have a robot arm in the workshop to hold things for me while I weld. lol
It would be super complicated to mill the gears. But PETG should work.
what software do you use and is there a video about it ?
Can you suggest me an encoder for my clg project where do a arm exoskeleton
I have selected a higher torque dc motor
From automobile wipers . Now I like to control its position very precise and accurate but I need encoder which will be flat and small as I don't have enough space to mount normal rotary incremental encoder which are in shape of small motor
Range of motion 180
Speed- 30 rpm max
In the past you had done lift test with actuators. Have you done that with these or plan to?
Oof I cut off too early. I see that's to come. I'll be interested in how well these work out as I have a arm I need a new gearbox for.
Also, please make a back massage table robot
Where can I get the JLCPCB Files. I want to build this exact tower!! I am happy to pay, please point me to the files!!
Инженер дорвался до игрушек!
На ремнях или тросах можете повторить?
Добра!
Good afternoon is the kit for this robot still available. Can someone send me a link to get it
Wow! What printer did you use for that?
Regular Prusa i3 mk3s. But I think something like Ender 3 would work too.
Напишите пожалуйста какая себестоимость получилась по компонентам?
Is there a reason you stepped back from using BLDC and stepped towards stepper motors?
I am not stepped back. I still plan to use BLDC. But BLDC controllers way more expensive than stepper controller (around 100$ for BLDC vs around 12-20$ for stepper). So with BLDC, 5 axis arm would cost 500$ only for electronics. So to keep everything cheap (as many of my viewer require) I used steppers.
But I have several BLDC projects on which I am working now.
@@Skyentific Glad to hear that, but I also noticed the price of the controllers, and I even bought a very "cheap" Odrive clone on aliexpress...
Great projects, thanks for your work!
Dude, if you're going to say they are powerful then specify that in WATTS. Volts x Amps. Now You have me wondering what they can actually do. NEMA23 is simply a mounting size specification.
consecutive shaft powered robot arm joints, one motor in the non-moving base
a crane can be hand operated, electrically, just with levers
make sure you put worm gear stoppers on the joints
dc emf motors, thanks
not even stepper, nothing to do with ac motors
brushless dc emf motors