Super cheap 3D printed Robot Arm with Stepper Controller

Рет қаралды 114,915

Күн бұрын

$2 For 2 layers 5 PCBs & Get $54 Coupons Here : jlcpcb.com/cyt
Join Official 3D Group to Get an Extra $5 Coupon: / 3dprintinglover
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!
Please subscribe. This will help me to develop other projects like this, to bring the bright future closer!
One time donation:
www.paypal.me/Skyentific
If you want to help this channel, please support me on Patreon:
/ skyentific
Instagram: / skyentificinsta
Facebook: / skyentificface
Twitter: / skyentifictweet
#DIY #Robotics #RobotArm

Пікірлер: 165

@andrewsweet43 2 жыл бұрын

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.

@drivenba 2 жыл бұрын

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!

@STRATOS13PAO 2 жыл бұрын

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

@dc37009 2 жыл бұрын

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 !

@ivprojects8143 2 жыл бұрын

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.

@alfiolocatelli5093 2 жыл бұрын

Amazing! The electronics management I have to say is stunning. It would be awesome to see some cinematic on this, cheers.

@mikevanin1 2 жыл бұрын

Yes, you are absolutely correct; it is beautiful! Well done!

@JohnDuthie 2 жыл бұрын

Found this channel a while ago and I'm glad to see you're still making awesome robot arms!

@STRATOS13PAO 2 жыл бұрын

This project is extremely polished! I can imagine that you have put many weeks/months of work to get this great results

@BenjiNotknown 2 жыл бұрын

I like the PCB driver modular system

@gistnoesis9116 2 жыл бұрын

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.

@JeffRedington-zq7je 10 ай бұрын

Nice work! Enjoyed seeing your design. You have progressed so much over time!!!

@Otakutaru 2 жыл бұрын

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

@devers6 2 жыл бұрын

I share your joy, friend. You have so much to be proud of, and thank you for letting us celebrate with you.

@cyboticIndustries 2 жыл бұрын

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!

@AlexanderLopez-dv6yr 2 жыл бұрын

Finally erevything is comming together. Nice work!

@asocialconsciousness8535 2 жыл бұрын

AMAZING!! great work man!!

@fabstudiosp4685 2 жыл бұрын

so awesome! This is the future!

@weirdsciencetv4999 Жыл бұрын

This dude is just the man. I love these designs

@whitneydesignlabs8738 2 жыл бұрын

Nice project. Looking great!

@wouladjecabrelwen1006 2 жыл бұрын

Thank you to KZfaq for the recommendation, very nice channel and content. You got a new subscriber

@freakinccdevilleiv380 2 жыл бұрын

Very nice man, so much work wow 👀

@__--JY-Moe--__ 2 жыл бұрын

very competent! love the vid!!good luck!

@jasoncreech4486 2 жыл бұрын

Absolute beautiful work as always. I wish we were neighbors.

@basementadmin 2 жыл бұрын

You are the man. Thank you.

@samuelnewport4970 Жыл бұрын

You’re channels awesome dude… can’t wait to see more

@francoisfauck 2 жыл бұрын

Beautiful!

@mgilbert754 2 жыл бұрын

Wow awesome! You have really inspired me thanks very much!!!

@stefanguiton 2 жыл бұрын

Great videos!

@alexyurich5994 2 жыл бұрын

Шикарный акцент) бальзам на душу прямо! А проект прекрасный получился

@nikolaysavinov1891 2 жыл бұрын

Его видео надо в школах на уроках английского показывать)

@kukuikar 2 жыл бұрын

Наш человек?))

@tuwenbo 8 ай бұрын

very cool! very helpful!

@biosyntheticrobotics4583 11 ай бұрын

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!

@tom-et-jerry 4 ай бұрын

Sooooo cooollll ! I love your channel ! Keep going this way !

@Skyentific 4 ай бұрын

Thank you so much!!

@viniciusnoyoutube 2 жыл бұрын

Impressive!

@tonysparc5322 2 жыл бұрын

Cool soundtrack!

@WesSwain 2 жыл бұрын

Great video! Interesting choice of music! 😆

@mattanimation 2 жыл бұрын

nice job!

@KeksZero 2 жыл бұрын

Google and Trinamic are watching you!

@president2 Жыл бұрын

Love it keep it up ❣️

@thewatersavior 2 жыл бұрын

Awesome. Just needs a scoop and it can get to work automating litter boxes around the world

@rhuan3d Жыл бұрын

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!

@Skyentific Жыл бұрын

:)))) Than you for subscribing!

@cans456 Жыл бұрын

5:03 timestamp

@Vancha112 2 жыл бұрын

Awesome!

@Invatator 2 жыл бұрын

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?

@ironman5034 2 жыл бұрын

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!

@IIMTAII 2 жыл бұрын

Can’t wait

@mslobodskih Жыл бұрын

"ps4 джойстик" приятный англо-русский акцент такой :) Like однозначно :)

@dfn808 2 жыл бұрын

Some people are awesome!

@charliemopps4926 2 жыл бұрын

You are really good at CAD. lol

@xray718 2 жыл бұрын

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?

@vmened 2 жыл бұрын

You should install cooler fan into basement for cooling drivers!

@henrack1722 2 жыл бұрын

You are the best :)

@OnceinaSixSide 2 жыл бұрын

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.

@truetech4158 2 жыл бұрын

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.

@justswedish 2 жыл бұрын

yess

@7503777 2 жыл бұрын

Найс ворк!

@decryptmars 9 ай бұрын

Who would have thought that Tom Selleck is into 3d printing and robotics.

@TheRainHarvester 2 жыл бұрын

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?

@gavrilapaul 2 жыл бұрын

I always print the elements that come in contact with NEMA with ASA (ABS is too hard to print)

@markos3803 2 жыл бұрын

A M A Z I N G work! are you going to publish the pcb gerber files to your patreon?

@andresroc1567 2 жыл бұрын

Awesome video as always. Aldo you print the parts at home or do you send them to a tied party printer company?

@Skyentific 2 жыл бұрын

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.

@c.a.m431 2 жыл бұрын

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

@umerhuzaifa4927 2 жыл бұрын

Awesome. How do you keep the aluminum links fixed on the table? Drilled? Suction cup mounts?

@HelgeKeck 2 жыл бұрын

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

@dansam1395 2 жыл бұрын

this looks cool. where did you get the tmc5160_bob_1.2?

@terryphan7451 2 жыл бұрын

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.

@synapticaxon9303 2 жыл бұрын

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! :)

@Skyentific 2 жыл бұрын

This is a great and fun idea!!! :)

@lukaslammens9318 2 жыл бұрын

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?

@OnceinaSixSide 2 жыл бұрын

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.

@avibank 2 жыл бұрын

Would be interesting to see how you would interface this with ROS after all the software is done.

@marcellomelis Жыл бұрын

Hello, super video! Where can I find the elecronics and everything needed to build it?? Sorry, not familiar with this. Thenk you!

@FurlessApe22 Жыл бұрын

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.

@twobob 2 жыл бұрын

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

@lasskinn474 2 жыл бұрын

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..)

@nigelhungerford-symes5059 2 жыл бұрын

Wow, great work!

@archierri 2 жыл бұрын

let me speak from my heart

@shydevil Жыл бұрын

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?

@kurtnelle 4 ай бұрын

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.

@Olex1390 2 жыл бұрын

Вы используете или использовали ROS (MoveIt) для роботов?

@NeoIsrafil 2 жыл бұрын

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

@Skyentific 2 жыл бұрын

It would be super complicated to mill the gears. But PETG should work.

@ruialmeida799 Жыл бұрын

Hello great job!!!Can we get the project to do at home?

@davidelang Жыл бұрын

where can we get more info on the stepper controller?

@thebullshitmaster Жыл бұрын

Hello, just a question about those big drivers, can u list them pls? ty!

@bryanst.martin7134 2 жыл бұрын

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.

@zajlord2930 2 жыл бұрын

damn... mine sux next to this one. also i wanted to use xbox joystick but i decided to create one from the arduino joysticks

@golanramati11 2 жыл бұрын

looks awesome!! the only thing I can see going wrong is that there is no thermal management for all the drivers...

@Skyentific 2 жыл бұрын

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.

@weirdsciencetv4999 Жыл бұрын

Also, please make a back massage table robot

@povilasvaiciulis7931 Жыл бұрын

what software do you use and is there a video about it ?

@Alexandr22ru 2 жыл бұрын

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.

@kokotmkokot4926 2 жыл бұрын

действительно молодец, интересный проект, теперь пора переходить к стоящему, ну хотя бы для манипулятора-сварки....многие спасибо скажут

@jstro-hobbytech Жыл бұрын

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

@patracy 2 жыл бұрын

In the past you had done lift test with actuators. Have you done that with these or plan to?

@patracy 2 жыл бұрын

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.

@MartinoDesign99 Жыл бұрын

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!!

@KHANIDRUS Жыл бұрын

Инженер дорвался до игрушек! На ремнях или тросах можете повторить? Добра!

@ayomideabubakar-pg5ll 9 ай бұрын

Good afternoon is the kit for this robot still available. Can someone send me a link to get it

@user-xx3lj2ul3c 2 жыл бұрын

Спасибо за видео! Как всегда интересное !!!

@maheshsrocks Жыл бұрын

Is there a video on using the robot with python and pi?

@YOUnoobGER 2 жыл бұрын

Is there a reason you stepped back from using BLDC and stepped towards stepper motors?

@Skyentific 2 жыл бұрын

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.

@YOUnoobGER 2 жыл бұрын

@@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!

@jackattack8044 2 жыл бұрын

Wow! What printer did you use for that?

@Skyentific 2 жыл бұрын

Regular Prusa i3 mk3s. But I think something like Ender 3 would work too.

@chitrarasancasca4504 Жыл бұрын

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

@andreyv3432 8 ай бұрын

Напишите пожалуйста какая себестоимость получилась по компонентам?

@Tuckobi 2 жыл бұрын

How much does it cost all together? Even a rough estimate would be nice.

@Skyentific 2 жыл бұрын

Without screw and nuts it cost around 150$ (if you use cheaper drivers from 3d printer). Each motor is less than 10$, all the bearings is less than 40$. And you can get stepper driver for less than 10$ per driver (I use here more expensive drivers 20$ per driver).

@Tuckobi 2 жыл бұрын

@@Skyentific very impressive.