Inside a Universal Robots Axis

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Home Engineered Stupidity

2 жыл бұрын

Disassembly of a lower axis from a Universal Robots Cobot.

Пікірлер: 37

@Bartholinn 9 ай бұрын

I always wondered the inside of the UR. Thank you for the video.

@BeekersSqueakers Жыл бұрын

Blew my mind when I realized the pink lubricant was for a strain wave gear.

@vaselina111 Жыл бұрын

Why is it surprising? I honestly dont know

@dutch6649 9 ай бұрын

Nice job man. Really appreciate this.

@bhavyawadhwa3669 9 ай бұрын

amazing video thanks for sharing!

@user-bl8ty3io3f Ай бұрын

its an awesome video with a great work, i would like to request you to do full robot dessembling video, we will be waiting for it, thank you...

@myargi 2 жыл бұрын

Thank you. Clear job.

@andrewbednar7251 9 ай бұрын

Thanks for the tear down! Question 1 at minute 3:25 a rotatory sensor is removed. What type of sensor is that? Is that for tracking absolute rotation? is it a torque sensor? Question2 at minute 5:50 there is a Fence on the optical encoder and it has a linear actuator to press down a plunger. What is that for? Does it limit the orientation uncertainy at startup?

@home_engineered_stupidity 9 ай бұрын

I am happy you enjoyed the video. About question 1: That ist most likely an encoder to track the position of the output side of the gearbox. Together with the second encoder which tracks the input/motor shaft rotation. It can be used to find the robots position after a restart without having to move the robot into an endstop to home its position. And about question 2: The litle pin is acting as a sort of brake. In its resting position it is blocking the star shaped piece which is connected to the motor shaft. When actiated the pin is pressed down and out of the way so the motor can spin freely. This can be used to prevent the robot from moving when it is turned of which is nessesary because the strain wave gearboxes are backdrivable. It can also be used as an emergency brake. I also want to say that I cant be sure about any of these things because I am not a professional about universal robots.

@Evgenkr 6 ай бұрын

A1: one encoder no the shaft, two in the spring suspension, values diff = resistance force - detection endstops and touch, because it's a cobot axis.

@victorrzhang 4 ай бұрын

RLS encoder - uses a magnetic ring and hall effect sensors. This encoder is used so that the wires can be fed through the center of the actuator.

@En1Gm4A 2 ай бұрын

So there are two concentric axis in the middle ? one for holding the Rotor - the outer one. And one holdeing the output shaft (probaply for stability reasons of the output) and transmitting the outputshaft rotation to the encoder in the back? You have been able to rotate the rotor after removeing the Outputshaft

@lequang1261 15 күн бұрын

hello, can the hamonic drive be easy to backdrive ?

@jcmtzros 3 ай бұрын

very nice job. pls, let me know if Im on correct way. These motor is a BLDC with a torque sensor , one encoder and an harmonic drive???. obviously with its power electronics based in a DSP and mosfets to boost the motor. thank you.

@hoarp001 6 ай бұрын

If the encoder is optical by way of that glass disk and the pcb mounted read head, then what is the first item you removed that has the freely rotating centre? I assumed at first that was the encoder. Unless it has two?

@victorrzhang 4 ай бұрын

I think you are right, there are two encoders. The first one is the RLS encoder - magnetic, and then they also have a US Digital optical one.

@RiteshSuthar-rx3qu Жыл бұрын

is this UR3 or UR5?

@user-uk7lk9eh2w Жыл бұрын

Great job. Could you share the parameters of the motor and sensor？ Thanks

@willl3245 8 ай бұрын

ahahah, nice try 😂😂😂

@dcode4720 Жыл бұрын

Great job. Could you share the information of the encoders? Manufacturer or model. Both joint's side and motor's side, Thanks!

@jonashdjg1345 Жыл бұрын

Pretty shure they use U.S Digital optical encoder on the motor side, can't exactly tell what the output side is. But definitly hast to ba a magnetic one, maybe something like a RLS AksIM-2.

@hoarp001 6 ай бұрын

@@jonashdjg1345 Do you mean that the lower optical encoder is on the motor rotor and the shaft encoder which is removed first in the video is a second encoder that is connected to the motor output via a shaft in the centre? I was wondering what that was. I am currently designing something with an RLS AksIM-2 and they supply the read head and the codewheel separately, whereas the unit seen here looks like an all in one type encoder product. It also looks like it senses in the radial direction around the outside of the shaft rather than reading a codewheel in the axial direction. Mysterious. either way, fascinating video.

@jonashdjg1345 6 ай бұрын

@@hoarp001Its also possible that they use one frome a different manufacturer but for me it looks like they have just designed a case and a small shaft for the Aksim. But the Blue pcb irritates me, maybe it could also just be a completly costum encoder they build. They use a incremental encoder on the Motor and an absolute on the output shaft (after harmonic drive). Im pretty shure that they do that for one the absolute Encoder only rotates 360° and directly measures output shaft angle and second, with two encoderes they can quickly discover torque spikes for their collision detection with humans.

@user-wt2uo3sm8i Жыл бұрын

Can you make a high resolution photos of the board? Thanks!

@willl3245 8 ай бұрын

ahaha, another nice try😂

@En1Gm4A 2 ай бұрын

@7:00 that is all the breaks there is to it? seems a little uderengineered - what do you think ?

@matthewmeans871 Ай бұрын

The flange that they take out near the beginning looks like it couldve been a rotary optical encoder, but there is one clearly later on as well (the see through disk with one dash that feeds through the brown underbelly component of the IC). Anybody able to clarify what the difference is for me between those two components?

@home_engineered_stupidity Ай бұрын

Yes correct there are two encoders. The one I took out first is connected to the output of the Gearbox and the second one is connected to the input. The one connected to the input keeps track of the motor Position. The one connected to the output should be an absolute type encoder. I guess this enables the robot to know the position of the axis right after startup and eliminates the need for homing the robot.