segway time...

"Close up shop guys, we are laying everything out from the ground up again"

ja, and camera dude, please stand still, you make the Blair Witch project jealous, and me dizzy.

@@DavidtheSwarfer PLEASE stand more still. The motion is excessive.

Our vacuum gasket has a foam core and fully compresses so the part sits on the highlighted area.

I found these on McMaster-Carr. www.mcmaster.com/#standard-rounded-head-screws/=9e23926152174799bc201ce5b715eac6jx272gqu

Voxer - Works on Apple, Android and desktop.

Nope. It was very intentional to omit the dowel hole. You'll see why in a future episode.

McMaster Carr

The ur 10 will have a 10kg limit at it's full travel I would expect more the closer in to the base up to the limit of the servos

Thats probably a fair statement

I was wondering the same thing. I'm curious if there's a load meter or something on the UR control that gives you an idea of what is reasonable and what isn't.

@@ltborg it would have current sensing they use it for overload and dingleberry interuptions (some operator gets in the way of the robots machine domination) lol

14.95 is absolute maximum holding power one can get... at sea level... on Earth.

Google the venturi principle!

@@bmonty65 I know the venturi principle very well. I went to an aviation high school. And I guess everybody knows how a paint spray gun works with the air compressor. But I am interested in a more technical insight of how this amount of machining vacuum is produced. Pierson said a few intriguing things I never knew before about vacuum. It got me super curious.

@@danl.4743 The vacuum source is simply a small venturi device using shop compressed air passing through a venturi to draw air out of the vacuum system. It is a standard device used in many systems needing only a low level of vacuum, such as medical suction, pick and place machines, etc. Some use multiple stages of venturis, each a little larger than the previous as the compressed air expands, to work rapidly, so the later stages move air faster, and as vacuum increases they seal off, until only the high vacuum low volume first stage is operating. For a high vacuum such as a vacuum tube etc, it takes other types of pumps or machines to remove the last tiny bits of air, but you don't gain much when you are just wanting to create a mechanical force. Pierson has their own product, and it is a little more efficient than many, but uses the same principle as a paint sprayer or carburetor. The amount of vacuum holding power is calculated by looking at the surface area that the vacuum acts on, and the PSI of the vacuum source, and multiplying the psi by the number of square inches. Same math as calculating the force in a hydraulic cylinder, psi of input pressure times the square inches of the piston. In this case, the part is the piston, and hydraulic fluid is the atmospheric pressure, with the vacuum source creating a pressure differential. At sea level mean atmospheric pressure is 14.7 psi, decreasing with elevation, but the actual vacuum created by a venturi source will be less than the perfect vacuum, so 13-14 psi max, depending on the unit. And any air leaks in the gasket or system will decrease it further by reducing the pressure differential. , so a good gasket is needed. And remember that at higher elevation your holding force will decrease,.

@@ke6gwf Thank you VERY much for this detailed and thorough explanation. You nicely put the mosaic pieces of information together in a logical way. I enjoyed reading it, and I hope others will find it and have a chance to read it too. Thanks man. Well done! :)

@@ke6gwf this is an awesome explanation. Thank you! Do I understand correctly that the amount of air in the pipes and the "pocket" of the gripper should be minimal, to improve the actuation speed? Would there be any benefit of having this pocket larger in some special cases?

No, he meant that they can go all the way 90 degrees. ;)

Jay, great job on your videos. Just a heads up, when calculating safety factors, you need to look at in a dynamic situation. Your worst case senario should be when the robot is rotating toward gravity and an e-stop condition occurs. I don't mean to be mean spirited, just passing knowledge along. Keep up the great work and I love your though process.

@@nickristoski since life safety isn't a factor, just a sore toe, the safety margin is not as critical. And the real test is to see if it will come off if bumped by an operator, which is a higher load condition than just an E Stop of the slow speed arm

Did you catch "Episode 3" in the title? It's all about the UR10e.