@bartspeet930 4 жыл бұрын
I would like to point out another advantage of the beautiful system that you designed: The torque is equal over the entire travel of the joint. This can be hugely beneficial in robotics where knowledge of the force is required.
@mbunds 2 жыл бұрын
Your comment caught my attention because I've been playing around with robotic joint actuators, 3D-printing some of the examples representing different types (planetary, wave, cycloid, etc.) I think I understand what you mean, but can you explain briefly why other types may not deliver equal torque over the range? Are you speaking specifically about cable-driven types? So far, I have built planetary and cycloid for 4 axes, and now I have been looking various types of capstan/cable drive systems, (hoping) to select the "right" one...
@Et3rnalFir3 Жыл бұрын
@@mbunds hey bro I can tell you why. It is because this is a form of mechanical power transfer. Where you transfer power from one location (motor/actuator) to another location in the system. The reason why he said torque is equal over the entire travel of the joint is because with other methods of power transfer such as the 4bar/2bar mechanism, have an inherent disadvantage due to the effect of the lever arm on the output torque of the joint. the torque changes base on the angle of the lever arm causing you to have more torque at a lower degree angle and lower torque at a higher degree angle.
@Et3rnalFir3 Жыл бұрын
@@mbunds traditional chain pulley belt system you see in automotive are big huge assembly power transfering system. You basically getting the same advantage as a belt pulley which reduces the overall size profile of the system.
@mattanimation 4 жыл бұрын
Would be cool to see it in action with a motor and some weight lifting tests. as always, great work!
@weizenyang 4 жыл бұрын
Before the video: After the video: pulleh
@maiksteijns8610 4 жыл бұрын
hahaha XD I was reading the intro some comments , but with the first "Pulleh". I paid attention to the video
@Karshilistics 4 жыл бұрын
Dude .. not cool. You had me saying polleh after every time he does!
@gendalfgray7889 4 жыл бұрын
poleh
@Gogolian 3 жыл бұрын
zeh pulleh!
@MarinusMakesStuff 4 жыл бұрын
I think James Bruton would be very interested in this joint!
@veganath 4 жыл бұрын
Joints always elicit interest...lol
@RupertBruce 4 жыл бұрын
Single servo dog leg!
@xaytana 4 жыл бұрын
Sadly I don't think he does. There was a comment on last week's video about someone suggesting this, and his reply was a typical 'I'm not doing that because I don't need it' kind of reply. I like James and his content, but he comes off extremely arrogant in his own comments, sometimes even in his own videos. Maybe he'll look into it in the future if QDD doesn't work well for his compliant dog projects, though this kind of actuator is exactly what he's looking for with his search for a compliant leg mechanism. The lab that developed LIMS2 also developed a finger joint with a single wire and some springs, where the springs return the finger to a neutral position when the wire actuator is relaxed. Something like that mechanism could be adapted to be a passive compliant foot, with an encoder on the drum for positioning purposes, spring on the foot would keep the foot securely planted no matter what the terrain type is, and a simple torsion spring on the drum itself would always keep the wire in tension. Of course, the foot would need to be redesigned to have a cam profile, that way the passive system actuates while the foot is stepping, but that's nothing more than some additional math in the programming as your foot position changes slightly as the leg steps down. I also believe this system, a passive actuator with a way to sense positioning, is _exactly_ what James is looking for with a compliant leg, and could easily be fitted to add compliance to a rigid leg like what openDog currently has.
@antonwinter630 4 жыл бұрын
@@xaytana absolutely agree, this mechanism would give him the torque he needs on opendog.
@garryclelland4481 3 жыл бұрын
@@xaytana i have to say in defense of James Bruton your accusation of arrogance is plain wrong , the phrase '' we are all on the spectrum '' comes to mind and may be applicable , James like a huge number of makers likes to forge his own path but arrogance is not one of them .
@brianstreet1185 4 жыл бұрын
the cad drawings of line 1 and line 2 were extremely useful to visualize how it works. Thanks for putting those together!
@dempa3 4 жыл бұрын
Beautiful! Would like to see it motorized and driven with a controller!
@MaxNippard 4 жыл бұрын
Nice work. The walk though in cad was great.
@Skyentific 4 жыл бұрын
Thank you!
@aravinthkumar7924 4 жыл бұрын
Hi, it is a good design. This is called tendon driven actuator or robot sometimes it is called as cable driven mechanism. One of the best example is davinci surgical robot instrument arms.
@bschena 4 жыл бұрын
daVinci engineer checking in. Aravinth is correct - the robot arms on the daVinici Standard, S, and Si were largely cable-driven. The current Xi system does NOT use cables (though there are some flat metal belts on one axis) in the robot arms. However, nearly all daVinci surgical INSTRUMENTS do still use cables. In fact, the very first CAD Skyentific shows is very similar to the system used in the instrument wrists. link to a video that shows some of how that works: kzfaq.info/get/bejne/gbR4msiq0Kq8dqs.html
@aravinthkumar7924 4 жыл бұрын
@@bschena Yes absolutely right
@cedricpod 4 жыл бұрын
bschena .... why was cable drive abandoned ?
@MM-24 4 жыл бұрын
bschena what is the advantage disadvantage of the cable/flat metal belts that caused the change? @skyentific mentions this being back-drivable, is there a way to prevent that in this system, if that is unwanted?? Thank you immensely for your input
@bschena 4 жыл бұрын
@@cedricpod They worked very well, but were not terribly stiff and required a lot of periodic maintenance to maintain performance. The fleet in the field started getting so large that having to touch every arm on every system a few times per year was a growing headache for both ISI and the hospitals.
@ivanmirandawastaken 4 жыл бұрын
Really cool mate! I LOVE IT!
@Skyentific 3 жыл бұрын
How I missed comment from Ivan Miranda itself?!! :)
@zerosugarmatcha7348 3 жыл бұрын
@Payton Lane It's a scam
@THEzTROLLlz 3 жыл бұрын
@Matias Spencer instaportal has really bad backlash and puts you at a mechanical disadvantage
@SamratDutta 4 жыл бұрын
One of the best video I watched in this lockdown situation. I wish to see some more about this in future...
@NeoIsrafil 4 жыл бұрын
Wow, with this design, if it's got the kind of mechanical advantage you calculated, you could use a fairly small stepper motor to lift a massive amount of weight! That's awesome!
@tannernewton8543 3 жыл бұрын
This guy needs to be seen by more people!
@Skyentific 3 жыл бұрын
This guy agrees! :)
@tannernewton8543 3 жыл бұрын
@@Skyentific I'll share as much as I can! Haha
@randomalleycat 4 жыл бұрын
I don't think the spool to large pulley size makes a mechanical advantage because the large pulleys aren't moving, they are just functioning as a smooth corner for the cable. So it is only the spool to small pulley that function as a block and tackle.
@cedricpod 4 жыл бұрын
Alana Catherine ..... possibly you missed the point of the design .... i am still pondering it
@randomalleycat 4 жыл бұрын
Not at all, look at how the design would compare to a system that would be used to lift something instead of rotate it. The large pulleys are only functioning as bearing to allow smooth rotation around the axis, but they aren't actually part of the "reduction" system. The function of the size of the large pulleys is only to allow the small pulleys to have a straight pull on the cable.
@randomalleycat 4 жыл бұрын
Basically, if you look at the very first drawing he did with trying to lift a weight with only one pulley, that is exactly what the large pulleys are doing. In a block and tackle, it's only the pulleys that "move" that actually create an advantage. The fixed pulleys only redirect the force to make the system take up less space. You could get the same advantage with less pulleys but it would be a much "longer" system. (Hint: compound pulley)
@abcqer555 4 жыл бұрын
@@randomalleycat Yes, precisely. The big pulleys allow it to maintain a more even pull on the cable when the arm is moving.
@dekutree64 4 жыл бұрын
@@randomalleycat But the amount of cable in contact with the large pulleys reduces as the joint closes, so I think the small pulleys on the forearm do count as "moving". The opposing cable large pulley arc increases by an equal amount, but since you could exclude the opposing cable and still be able to contract the joint in one direction, I don't think that will cancel the "moving pulley" advantage.
@ahmedyasser3684 4 жыл бұрын
I love your style of talking simply, which makes me really understand from you while I am still a student in mechanical engineering thanks alot
@abhishekprasad2935 4 жыл бұрын
i love the way he says pulley , just love it hahahah
@ahmedyasser3684 4 жыл бұрын
@@abhishekprasad2935 lol
@GuyNamedSean 4 жыл бұрын
I'm not even a student. I'm just someone who finds this stuff neat. He explains it so well that it all just seems simple and intuitive. Like, I feel like I could have come up with it and built it based on how simple he makes everything sound.
@pontifier 4 жыл бұрын
This is very interesting... I've been looking for an actuator like this for a long time, but hadn't seen one before. I had planned most of the other parts of the system that I wanted to build, but was missing this piece. The basis of the robot I want to build is a central rotating shaft, and a system of clutch units that engage the shaft. These clutch units would be variable, and could either apply a controllable sliding torque, or lock to the shaft to produce a burst of force on the cable. The main advantage of this is that you only need one massive motor centrally located, and then every limb has access to the full power available from the motor. When not being moved by the motor, the clutch for each joint could lock in place and provide zero power holding torque. Multiple joints can be actuated at the same time, and pulsing the clutches quickly between engaged and immobile (with a small amount of spring based backlash) could allow relatively precise multi joint simultaneous control.
@jpgarcia90 4 жыл бұрын
I like how the axial movement of the rolled cable in the driver shaft could be used to activate toggle switches on each end and keep these very close to a motor without an encoder
@samheasmanwhite 4 жыл бұрын
Nice and smooth! You could get a much higher reduction ratio with less pulleys in the joint if you use differential pulleys, would need both ends of each cable to be anchored into the winding drum but that's easier than trying to fit more pulleys into the joint. I think there is a good chance this is one of the lightest joints for the strength that can be achieved!
@per.kallberg 4 жыл бұрын
First of all fantastic build! There is a reducer based on cables that could be awesome in you set up. The elbow should have a single wheel and two single cables terminated in blocks. Just like your first set up but terminate in the “bicep” with the fixed side of blocks. The motor shaft should have two small and two slightly bigger cylinders. A cable should be wound on the small via the block to the big. This system gives reduction based on the circumference of the cylinders. Equal cylinders gives infinite reduction.
@JShel14 4 жыл бұрын
Sarcos and Raytheon do a joint very similar to this in their exoskeleton system. Very cool to see it more fleshed out! Very well thought out and designed!
@supergiantbubbles 2 жыл бұрын
That's a really cool mechanism. It really leverages the advantages of 3d printing. Props for designing it yourself. Very impressive.
@Jynxx_13 3 жыл бұрын
The very end is hilarious!! Nice piece of engineering
@Skyentific 3 жыл бұрын
Thank you!
@hallahgray3190 5 ай бұрын
After recently studying some of Leonardo da Vinci‘s inventions, I noticed that his automaton used pulleys and it seems that he had the right idea.
@slowgold20 4 жыл бұрын
Very cool! We use that exact same concept only with much larger hardware, to automate scenery movement in theaters. Wires are redirected from hanging or rolling scenery, (and through double purchase snatch blocks in some cases) and run around both sides of a cable drum and kept in tight tension to enable very fine movement. We're talking pieces that weigh hundreds of pounds being able to fly consistently and safely to within a mm of the mark, night after night.
@sylvainmartin4215 4 жыл бұрын
Awesome job. Since I met you at maker's fair in Paris you amaze me by your simple ways to make great things work smoothly! You definately deserve more attention!
@Skyentific 4 жыл бұрын
Thank you a lot! I really appreciate this. I really liked Paris Maker Faire. Very friendly place!
@andrewpusey6339 4 жыл бұрын
Hi. I have been working on a cable driven system for a while now that uses this principle. I have worked out how to do it without having the cable travel sideways on the drive pulley and also incorporate a high reduction system at the same time say 10:1 but can be configured from 2 to about 30 to 1. It has no backlash. This allows for a smaller higher speed motor to drive it.
@laiquocbao2565 4 жыл бұрын
Awesome, can you share any information of documents about this kind of mechanism? I'm a student in major of Mechatronics engineering, and I'm really interested in these kind of knowledge, especially in these days when the situation is damn hard, lol. Anw, take care and keep up the good works.
@uthvfyrekbnm6008 4 жыл бұрын
I want to know more about this kind of joints Please
@cedricpod 4 жыл бұрын
me too i am interested
@santiagocabascango6514 4 жыл бұрын
Me too
@andrewpusey6339 4 жыл бұрын
@@laiquocbao2565 Hi. There's an article about this type of arm here... www.cs.cmu.edu/~cga/c/0749.pdf I plan on doing a video on my adaption of this shortly
@hyqhyp 4 жыл бұрын
And that is why us animals have tendons. Nice work!
@Skyentific 4 жыл бұрын
Thank you!
@akoguzufuk 4 жыл бұрын
I was looking for something about cable driven mechanisms, but this work expands my thoughts, thank you
@user-bl7vj8ni8s 19 сағат бұрын
О, наконец-то я нашёл русскоязычного англоязычного ютубера с отличным инженерным контентом.
@brokebloke9846 4 жыл бұрын
Sometimes the simple things work the best, you have nailed it. Thanks
@jonathanwong4047 4 жыл бұрын
Not sure if you mentioned this but you could produce variable levels of torque from the arm by treating the fixed point of both ropes nearest the joint as a wheel with a brake on it and both ends of the rope are joined together. Putting the brake on different wheels will allow many different amount of torque. Downside is that you would have probably have to place the brake at different wheels to achieve the same torque in both directions. Also, after some maths on the back of an envelope, there will probably be no slack the rope as long as only one brake is activated at any one time. Soz for the lack of technical terms
@GbTm1 3 ай бұрын
Or several comments! 😂 Like your work. You encourage me to want to design and print my own robotic arm.
@YA-gp7fw 2 жыл бұрын
This is exactly what I've been looking for (even the reduction ratio). Thank you Skyentifc !
@GalLevinsky 4 жыл бұрын
Great idea . Amazing the way you take existing concept and leverage it.
@Skyentific 4 жыл бұрын
Thank you a lot!
@matthieufauvinet4466 4 жыл бұрын
Hi, to answer your question, I think the name of your reduction system is a 'Hauling System', exactly the same as for boat sails. Normally this system is rectilinear, but with your system of large intermediate pulleys you allow to work curved. It's a very good tip and a great idea, I probably won't use this principle but it's always good to know it. Thanks a lot for your investigations. Enjoy to see your next video. Bye Matthieu
@cedricpod 4 жыл бұрын
Matthieu FAUVINET .... “ probably won’t use it “ ..... why not ?
@matthieufauvinet4466 4 жыл бұрын
@@cedricpod I have no application for that... But i like to see mecanical systems.
@ElGroggy 4 жыл бұрын
I studied wire driven robots' arms. Using Snatch blocks principe is interesting. I didn't remembered seeing that but yours is quite compact. Well done
@joannot6706 4 жыл бұрын
It's crazy how smooth it is. You did such a great job designing this! Edit: why not use this technique in the robot arm? pretty sure it's possible to improve your already impressive design to make it thinner and increase the angle.
@GiftedBalla 4 жыл бұрын
Joannot this probably introduces a lot of friction due to the increased contact between the cable and the pulleys. Not sure how that will play out in actual applications but I'm assuming it will hinder the torque tracking ability.
@KeithLanguet 4 жыл бұрын
Bump this (follow-up) question! Why did you decide not to use this style of mechanism for your ongoing project? Was it because of the friction like @Kenny Kim suggests? Does using a mechanism like this complicate the placement of motors and resulting weight distribution?
@DMonZ1988 4 жыл бұрын
i'm super impressed and enamoured by this beautifully smooth design too, but one issue i can imagine are the loads applied to some of the small bearings and axles that hold them, further into the reduction.
@MathewBoorman 4 жыл бұрын
@@DMonZ1988 The force is the same at every pulley. The cable tension is the same everywhere, so each small pulley gets 2x the cable tension shear load on the axle.
@tpobrienjr 4 жыл бұрын
zero backlash gears are used in the Canadarm and Canadarm2, if that's what you are asking.
@tator4209 Жыл бұрын
You can also gain a torque advantage by shrinking the diameter of the winch spool. Your way adds strength to the joint as well. By splitting the forces over multiple cable lines. The winch won't add strength. But It will add mechanical advantage.
@artbyrobot1 3 ай бұрын
using a PE fishing line you only need like 4x the diamter of the fishing line as the diameter of the winch shaft I heard. Whereas with metal you need like 20x or something since a overly small diameter would stress the metal cable. PE fishing line is more willing to make the tighter turns without stressing it to failure and stress fracturing internally.
@MadHatter123456 4 жыл бұрын
This is a very interesting approach, especially for compliancy since this is so easily back-drivable. This would be a nice joint for a quadruped.
@cashel1111 4 жыл бұрын
very clever, and i like your honest style and clear delivery method
@free_spirit1 4 жыл бұрын
Hi sky. This reminds me a lot of differential a pulley system. I built something very similar to this for a gearbox of a parasol, with a similar level of reduction (but substantially simpler). If you make the driver pulleys of different diameters but on the same axle you can make use of the difference in length in winding-unwinding them. The smaller the diameter difference, the bigger the reduction rate. Then you only need two idler pulleys. This makes the design super compact. Check out the wikipedia article on differential pulleys. What I'm talking about is basically a mix between your pulley system (where the idler pulleys are the ones that transmit the force to the other member) and a differential pulley system. Good job, this prototype looks really well built!
@JoeTress 4 жыл бұрын
free spirit 1 Do you have any pictures of the gearbox you built?
@free_spirit1 4 жыл бұрын
Nothing I'd want to show to anyone. i made it while I was still in college and it contained several mechanical mistakes. If I find some time this week I'll whip up one in cad to demo the concept.
@BenJoTwo 4 жыл бұрын
Dont understand it from the description. Is it something like the WAM Arm drive? Have found a patent from Bill Townsend US5,207,114
@alexyoung6418 4 жыл бұрын
With precision CNC metal parts and thinner dyneema wires, there's actually significant room to miniturize this joint to less than 1/10 of its original size. I'm not sure about the zero backlash, if the wire isn't tensioned enough you might easily introduce backlash. And to keep the cable preloaded the wire needs certain degree of elasticity. But then rigidity may suffer from elasticity. Still a very impressive design. A huge advantage with cable driven joints is that the motor and reduction may be relocated closer to the chassis, this significantly reduces moment of inertia on the moving parts.
@theodoreburns1330 4 жыл бұрын
I have been wondering about cables for awhile! This is a very cool system, thank you for sharing!
@Skyentific 4 жыл бұрын
Thank you for your comment! :)
@XypherOrion Жыл бұрын
I'm sure @SmarterEveryDay appreciates the shoutout! Great to see science youtube sharing knowledge.
@arcmchair_roboticist 4 жыл бұрын
going to replace the gearboxes on my brushless robot dog design with these. Awesome idea skyentific!
@kefetDtcom 3 ай бұрын
Thank you brother I learn something today. This is really good video!
@glutenfreegam3r177 3 жыл бұрын
I will definitely be using this type mechanism for my canoe loading system on my roof rack. Cheers mate, thanks for sharing!
@SamuelPenning 4 жыл бұрын
Your enthusiasm and amazingly thorough explanations make all of your videos a delight to watch. As much as I don't need another project right now, I feel like I should begin printing parts for my own robotic arm. Thank you for another amazing installment.
@yorgle Жыл бұрын
Such an elegant (and quiet) design! Love it!
@dman8776 4 жыл бұрын
Excellent concept, well engineered! Love your videos, please keep them coming!
@KennnethKnight 4 жыл бұрын
i was playing around with a capstan actuator like this for a spider robot over a decade ago, but this is a good idea for mechanical advantage, at the time i was thinking offset horns :-( and reduction gearing as a stop gap. one BIG advantage of cable systems is you can remove the motor from the "limb" and bury it inside the body (think bonnet release on a car or bike brake cables) that lets you move the wight to the static components and patently lower the center of gravity with a smaller and thinner limb. oooh there is an idea , if you add some overrun clutches you use more than one system per limb, 1st fast low load and a 2nd high torque system for power.
@Skyentific 4 жыл бұрын
This is really an excellent idea!!!
@mustafasengor3762 4 жыл бұрын
Are you sure about the bike brake cables? Radius of the pulleys are so small can develope more bending stress result in fatigue? Can you offer another alternative to those cables?
@mythilicharan2615 3 жыл бұрын
this was the first ever video i had seen in your channel subbed to your channel :)
@Skyentific 3 жыл бұрын
Thank you! :)
@MrDoItNice 4 жыл бұрын
I really think this could work well for a mobile robot instead of a robot arm. The MIT cheetah used a belt drive for the "knee" joints, perhaps a light-weight miniaturised version of this has potential?
@Dionis3 26 күн бұрын
Летс ми Спик фром май Харт )😊 Отличная задумка!
@29C1C 4 жыл бұрын
*Mentions smarter everyday* Me: instant subscription
@jerodernst6706 4 жыл бұрын
This is a very good design, most of mine only ever came out as a 1:1 redirect type system for loads or at most 2:1. Would love to see a test of this vs say a system with half as many pulleys. Maybe measuring how much force or loads each can move
@R.Daneel 2 жыл бұрын
Nice. Scale that down and you have a knuckle with a potentially strong grip and a drive outside the joint... just like a finger. The motor(s) could be in the shoulder or even the base... nice.
@DigitalGus75 2 ай бұрын
I like a joint as much as the next guy. …. And that is an awesome one.
@RaidenHeaven 4 жыл бұрын
That was really really cool! Never thought to use leverage like that!
@Skyentific 4 жыл бұрын
Thank you!
@dilankadeegala6306 4 жыл бұрын
Beautiful, simple , elegant and nicely explained. Keep up the good work.
@KentAnderson31337 4 жыл бұрын
Very nice. Thank you for sharing! Would be interested to see how this type of reducer would perform under load when powered with a motor.
@ScottSavageTechnoScavenger 4 жыл бұрын
BEST video so far! AWEsome concept!
@Skyentific 4 жыл бұрын
Thank you a lot!
@ScottSavageTechnoScavenger 4 жыл бұрын
@@Skyentific You are welcome. But really... that is an AWESOME idea! By the way... I am the guy who made the MegaMotor6. Google it. Maybe we can do some joint collaboration on something.
@henrylj2660 3 жыл бұрын
this with sprockets and chain and steel would make a solid robot arm
@UltimatePwnageNL 4 жыл бұрын
Don't forget that the elasticity of the cable helps dampen mechanical shocks. It's a great design. Maybe with cast metal parts, a spring loaded wire tensioning system, some oil and a dust proof cover this design could last for years without maintenance.
@CharlesHuse 4 жыл бұрын
That is a great universal design for both robotic elbow and knee joints....as well as a few other uses.
@ralfsobe5529 Жыл бұрын
Perhaps a very smooth rope can be produced, suitable to touch a roller chain for direct rope bearing. That allows a very compact construction of a pulley.
@vengion1379 2 жыл бұрын
That really look interesting, great study.
@KrazyKaiser 4 ай бұрын
That's a VERY impressive mechanism.
@nikhilmaharaj6688 2 жыл бұрын
this is a really good design
@ff-ti7nj 2 жыл бұрын
you live in my dream country, Switzerland by the way, amazing channel and amazing content and explanation for a layman like me
@sirretsnom3329 4 жыл бұрын
I think it would be interesting to make a second cable system to avoiding a single cable failure under stress and over time as steel cable will tend to keep "memory" of being wrapped around a curve.
@weirdsciencetv4999 3 жыл бұрын
I love this guys channel. Totally wanna use this technique for my life sized Johnny-5 robot one day. If i can ever muster the effort!
@michaelcampbell1471 8 ай бұрын
Really awesome video, mechanical design, build execution, explanation, and I enjoy your speaking voice. New subscriber!
@Skyentific 8 ай бұрын
Thank you a lot!
@bigbadaboom8076 4 жыл бұрын
Wonderful example... Thanks!
@Skyentific 4 жыл бұрын
Thank you!
@i3looi2 4 жыл бұрын
Gentleman, we can make Skynet a body. We finally have the technology.
@dmitrytyugin6261 4 жыл бұрын
Wow, never seen something like this! Cool!
@kendalllladnek9779 4 жыл бұрын
I like this idea. I have had the thought of using string pulley systems for robotics before, but the addition of pulleys to add mechanical advantage is very novel and beneficial, well done! I hope you don't mind if I someday build one of these :D
@Skyentific 4 жыл бұрын
I don’t mind at all! This is for benefit of everyone. :)
@kendalllladnek9779 4 жыл бұрын
@@Skyentific it seems like you are the sort of person that might add a volume to the "Gingery Home Workshop" book series about robot arms, if you haven't heard of this I highly encourage you to look into it, it's kind of how post-ww2 industry might have attempted to invent something like the RepRap, done as a book series in the 70's.
@toroddlnning6806 Жыл бұрын
Is it possible to find this 3d model for 3d printing and list of parts used for the cable guides and bearings, bolts?_@@Skyentific
@Ankushdas2001 4 жыл бұрын
Great job mate
@nagarajahshankar8249 Жыл бұрын
Thanks for teaching this kind of technology. Greetings from Sri Lanka
@HassanOmariprofile 4 жыл бұрын
it looks really cool, amazing! the cables in your design they don't overlap when they wind up on the drive shaft, beautiful
@earielflare2203 Жыл бұрын
Автор, ты гений! У меня в голове тоже была мысль про нечто подобное, но я почему-то не додумался до блоков. Ну и задача была получить механизм раздвижной, а не поворотный. Я все думал, как уменьшить сопротивление, чтобы актуатор мог воспринимать обратное воздействие, и как раз додумался до тросового механизма с двумя плечами (как у вас на валу привода). Вот блоков то мне и не хватало! спасибо)
@DarwinsChihuahua 4 жыл бұрын
I misread the title. I thought this was going to be a robot rolling a joint. Still, very interesting...
@amarjargal1585 4 жыл бұрын
Absolutely amazing. Super underrated channel!!
@shyleshsrinivasan5092 4 жыл бұрын
Very well designed ! Thanks a lot for sharing this build !
@roykepoyke 4 жыл бұрын
you are one of those channels that i feel like subscribing is not enough
@VideoStefan17 4 жыл бұрын
11:00 hahhahahaahha !!! xD
@baarg8672 4 жыл бұрын
oh.. i get it!! its a joke from star lord
@niniliumify 3 жыл бұрын
That was a Thumb, right?
@tmpace9 4 жыл бұрын
I don't know how you will ever get anything else done. I would play with that thing all day.
@nvanarchy Жыл бұрын
Love the result - would really enjoy watching a testing video
@RandomAmbles 4 жыл бұрын
Archimedes was way ahead of the curve on this one. Much more than 1000 years ago he studied nearly these principles exactly and invented mechanical uses for them. There are even historical accounts of his making large mechanical arms. Though these accounts likely exaggerated what he was able to do with them, I would not be surprised if he had developed quite similar designs.
@hankb7725 4 ай бұрын
very cool design
@sezeryal 4 жыл бұрын
Very good alternative design! Maybe no backlash but I think there will be some cable stretching.
@pisoiorfan 4 жыл бұрын
Very nice. Two points: 1. Dyneema. 2. for fatigue reasons aim towards a 40:1 ratio between pulley and cable diameter. Or better.
@ahmedwaly9073 2 жыл бұрын
Great Job
@yoashuain1 10 ай бұрын
Finally! Thank you for this.🤔😁😎
@ericgolub8589 3 жыл бұрын
Awesome design
@lennartmureau9305 4 жыл бұрын
This is an amazing design! I think it could be a bit smaller by rotating the small pulleys nearly 90 degrees, this would allow the big pulleys to be placed closer together. Hope you continue developing this system further!
@watchedsmile 11 ай бұрын
ive had this design in my head since i was 5. i hope i can turn my ideas into actual robotics some day
@lewismiles4155 2 жыл бұрын
Very interesting joint. Thanks for sharing.
@xaytana 4 жыл бұрын
Personally I like to call these tendon actuators, as the wire/cable is doing the job of a tendon in a muscular-skeletal system. These can also be driven by any form of actuator, both linear and rotational. Personally, I'm more interested in the 2dof wrist actuator used on the LIMS2 arms. I know there's a video on the mechanical design of it, and it shows the internal joint in decent detail, but sadly it doesn't show it's pulley system in as much detail; I just know there's various hinges and wire guides, but I'm clueless on how the cables are routed through the wrist pulley system, the pulley system at the base of the wrist, or how the cables are routed through the arm in general.
@stephencampbell9886 4 жыл бұрын
I like this idea. I was thinking about the idea of using a cable (steel, or carbon thread/braid, or heavy duty fishing line) with a block and tackle for a 3d printer.
@leonidvalentinovich5215 4 жыл бұрын
Wow! You are genius!
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