For anyone who wishes to know, those are Spiroid gear sets. A Spiroid screw's operational zone lies between that of a hypoid pinion and a worm screw.
@death_parade
2 жыл бұрын
Thanks a million.
@RyanKashikar
Жыл бұрын
Thanks! Good to know.
@PrinceFlumph
3 жыл бұрын
I never thought I’d actually be so happy to see how a robot wrist works. The things we have to do to turn organic function to metal is stupidly amazing
@michelauspimmelberger
3 жыл бұрын
It is it's own field of research by now called Biomimetics.
@PrinceFlumph
3 жыл бұрын
@@michelauspimmelberger does that translate to simply “mimicking biology?”
@michelauspimmelberger
3 жыл бұрын
@@PrinceFlumph Biomimetics is defined as taking a biological concept like a muscle movement and abstract it into a purely mechanical context, like the gripping of single fibres to one another, so that you can implement it into technical innovations.
@shewagdhanush1391
3 жыл бұрын
We need to pour oil frequently😒
@kugangles9860
3 жыл бұрын
It's cool but it shows we still have miles to go to really imitate the intricacy of human anatomy in form and function. Organic life is still the ultimate machine.
@VladPalacios
5 жыл бұрын
more of this,, its really fascinating
@SpeedingFlare
3 жыл бұрын
Ah so the wrist twister has to move when the side to side moves in order to keep the wrist steady
@RobotDoc
3 жыл бұрын
Exactly! That's what I love about it.
@dsauce8780
3 жыл бұрын
@@RobotDoc so inner ring has to be over driven or under driven relative the outer ring to rotate the wrist?
@RobotDoc
3 жыл бұрын
@@dsauce8780 well to rotate the wrist only the inner ring is driven. But when the wrist tilts up and down (not rotating) I believe the two rings are moving at the same speed because they have the same number of teeth, the teeth are just smaller. The shaft that drives the inner ring rotates slightly slower than the outer shaft though, to match ring speeds. Does that answer your question?
@dsauce8780
3 жыл бұрын
@@RobotDoc I’m just making a general statement to try to describe what I think I’m seeing. I’m not a mech or robotics person. If the outer ring is stationary the inner ring is always over driven or under driven compared to it depending on which direction it’s moving, aye? So the wrist will stay in the same position as the arm rotates as long as both rings rotate synchronously?
@shanelawson7793
3 жыл бұрын
Ambifacient lunar waneshaft side fumbling has been successfully prevented
@nikolai502
3 жыл бұрын
A Nice little Oil film between the gears
@jappiemoto
3 жыл бұрын
Would you look at those gears damn that looks so awesome
@ixanjoepark8596
3 жыл бұрын
That moving really smooth... great gear mecanism..👌🤘🤘
@rainman6272
3 жыл бұрын
Very cool!. Thanks for posting this!
@julienle2368
Жыл бұрын
What a beautiful mechaninism 😀
@AckzaTV
3 жыл бұрын
that things gonna be straggling us one day lol
@Garlic_Doggo
3 жыл бұрын
Beautiful
@FullFledged2010
3 жыл бұрын
Now i know why they're so insanely expensive 🙌
@chrishayes5755
3 жыл бұрын
laser sintering will change that. give it 5-10 years.
@DUIofPhysics
3 жыл бұрын
@@chrishayes5755 Yeah, even more expensive! fine Metal powder is hella-expensive to make compared to machining down a billet.
@DUIofPhysics
3 жыл бұрын
@@harrier331 completely different.
@DUIofPhysics
3 жыл бұрын
@@harrier331 For a start, the particle sizes don't need to be as well controlled, plus there are additives / binders added in. for SLS, your materials are not under huge pressures while being formed, so you cannot achieve anywhere near as good accuracies with SLS compared to pressed / sintering. Seriously, just look at the manufacturing abilities of the two different processes. It's not as close as you might think. Chickens lay eggs, (most)snakes lay eggs, doesn't mean chickens are snakes.
@DUIofPhysics
3 жыл бұрын
@@harrier331 Admittedly the metal powders for SLS usually are more exotic then the ones used for sintered gears (at least the ones I work with and have prices on) though the prices still far outstrip the market value of the raw billet. The main debate here, is the absurd claim that laser sintering large gears will be cheaper then machining them, which is insane.
@mcdonaldslover52
3 жыл бұрын
is this sort of design prone to slippage at higher torques or loads? The grooves seem quite shallow
@RobotDoc
3 жыл бұрын
Probably. But it's only a small payload robot, design wise.
@austinconn7178
3 жыл бұрын
@@RobotDoc Is this type of gearing backdrivable?
@RobotDoc
3 жыл бұрын
@@austinconn7178 not in this case (older robot) except that the feedback function needs to compensate for the mass (and center of gravity) of the tooling. If you push it too far out of position then a "collision" is detected. (Old big ABB's had a float command for each joint, like a spring you could push a joint out of position by hand. Came in handy before having to find a chuck with too tight tolerances.) I do like the new push to teach/collaborative robots. $$$🤖
@bite027_ketansharma6
3 жыл бұрын
that's just gorgeous
@awesomestuff9715
3 жыл бұрын
i honestly thought robotic arms used something like harmonic drives or cycloidal drives, but this is interesting too
@RobotDoc
3 жыл бұрын
Some do. Goes hand in hand with their method of encoding position. It's like they all have to be different. Just like each one using a different programming language, they all do the same thing. :-)
@death_parade
2 жыл бұрын
@@RobotDoc Please recommend a book or document that details the pros and cons of various robot power train mechanisms like strain wave gears, cycloidal drives, this hypoid gear system, etc.
@RobotDoc
2 жыл бұрын
@@death_parade Here is an article that shows a bunch of different gears including Hypoid. www.engineeringclicks.com/types-of-gears/ The main advantage (in this compact robot) is that the driving shafts can be offset from the center line of the other gears. However @axodal pointed out that these are more "Spiroid Screw" gears which have higher torque/less backlash than a comparable hypoid. Their output is at a right angle to the input axis, and can be driven by any length shaft. Cycloidal and strain wave gears are compact reducers. They output with the same axis as their input, so it depends on the application. (Some manufacturers use belts instead of gears. Saves $, but at a cost. Really depends on the application.)
@death_parade
2 жыл бұрын
@@RobotDoc Thanks a million.
@nigel900
3 жыл бұрын
Fascinating.
@bradfader691
3 жыл бұрын
Fanuc fun! Makes me miss programming and maintenance of these bad boys. Motoman/yaskawa were a pain in the ass though cuz im not fluent in japanese lol
@MrBirdMonkey
3 жыл бұрын
So this is spiral energy huh.... not too shabby
@mihailazar2487
3 жыл бұрын
truly SUBLIME
@unogazzy84
2 жыл бұрын
I will never understand it but I'm curious how they managed to calculate the angle of the cone like worm gear for the teeth/lanes to mesh so perfectly.
@RobotDoc
2 жыл бұрын
Using software probably.😉 Sounds like you want to be a Gear Design Engineer...
@RobotDoc
2 жыл бұрын
You might find this interesting then... "Gear Mathematics for Bevel & Hypoid Gears" www.geartechnology.com/issues/0815x/chapter2.pdf
@unogazzy84
2 жыл бұрын
@@RobotDoc I'm not interested of being a Gear Design Engineer at all. I'm just a bit curious. Thanks for the link though :)
@Razehell42
3 жыл бұрын
that meniscus!
@MrOprawca1978
3 жыл бұрын
Przekładnie hipoidalne.
@RobotDoc
3 жыл бұрын
Yes. Hypoid bevel gears.
@garniful
2 жыл бұрын
Wow
@mufasah342
3 жыл бұрын
are those bevel gears??? and is it submerged in a liquid??
@RobotDoc
3 жыл бұрын
it is called a Hypoid gear. Also known as a "spiral bevel" gear. en.wikipedia.org/wiki/Spiral_bevel_gear
@RobotDoc
3 жыл бұрын
...yes it's submerged in oil.
@Paultimate7
3 жыл бұрын
Cool but seems like its extremely prone to sheering off at those steep angles.
@RobotDoc
3 жыл бұрын
This is a small robot so it's only designed to carry about 20kg.
@driftliketokyo34ftw35
3 жыл бұрын
How is the oil not spilling?
@RobotDoc
3 жыл бұрын
I oriented the arm (joint 4) so the opening was facing directly up.
@H4rleyBoy
3 жыл бұрын
Interesting.
@xclimatexcoldxx
3 жыл бұрын
My 5 second guess why it's built this way is for torque power but I have no idea.
@jareknowak8712
3 жыл бұрын
👍
@misterchertovsky
3 жыл бұрын
not a bad drive ))
@thegrate1521
3 жыл бұрын
bumblebee?
@bobert4522
2 жыл бұрын
How much holding force can a system like that sustain?
@RobotDoc
2 жыл бұрын
It's a balancing act. This is a small robot so it has to move around 15kg (payload and tooling) about a foot further than these gears. The trick is making it rigid, but also being able to detect a "collision" due to excess force...
@bobert4522
2 жыл бұрын
@@RobotDoc gotcha, that makes sense. I’m no professional and I’m just lookin into the window of robotics. I just imagine they have to be very precise in their movement and hold in that position repeatably, so using this gearing is interesting.
@AttilaAsztalos
3 жыл бұрын
I do accept that those improbable gears work perfectly fine, but they are fucking up my brain...
@Moi_Gospodiin
3 жыл бұрын
Пузырик задал жару
@edersonsimples6782
3 жыл бұрын
Gasta
@carleynorthcoast1915
3 жыл бұрын
Really quiet!
@RobotDoc
3 жыл бұрын
Earplugs. 😉
@grendelum
3 жыл бұрын
what are the ratios on those gears?
@RobotDoc
3 жыл бұрын
Not sure. Only Fanuc knows. 😉
@alekskho
3 жыл бұрын
Kuka's wrist looks much simpler
@RobotDoc
3 жыл бұрын
I agree. 👍 Here's an article that shows a few different kinds. roboticsbook.com/gears-inside-the-wrist-of-industrial-robot/?unapproved=1919&moderation-hash=39a83baab4bbc2ea48b4bc7837405163
@K-Effect
3 жыл бұрын
It must be destroyed
@dmbworks8094
3 жыл бұрын
has no one seen a ring and pinion gear set like in about ever car around the world?
@Kalvinjj
3 жыл бұрын
Nothing wrong in finding it really cool to see how they implemented the wrist mechanics. Also cool to see the two concentric ones in action.
@dmbworks8094
3 жыл бұрын
@@Kalvinjj if you want to be so literal you should look up the word facetious.
@fdpbrakes7568
3 жыл бұрын
Not your average ring and pinion, cars use a hypoid. This here looks like a Spiroid, similar to Helicon. A much more capable combination, worth looking at if you know what you're looking at.
@dmbworks8094
3 жыл бұрын
@@fdpbrakes7568 this is worth looking at if youre easily amused... you going to learn a lot from this 20 second clip haha. its about as entertaining as a child's mobile if you know what youre looking at lmao.
@Kalvinjj
3 жыл бұрын
@@dmbworks8094 goddamn you're trying WAY too hard to try to look cool making the video (and liking it) seem stupid.
@FMTF-makemoneyonline
3 жыл бұрын
How many people actually searched for this video? 😂
@katchou1337
3 жыл бұрын
the bubble at the end made my day xD
@gustavgnoettgen
3 жыл бұрын
@Michael Thornton What?
@enveloreal
3 жыл бұрын
@@gustavgnoettgen Que?
@gustavgnoettgen
3 жыл бұрын
@@enveloreal was?
@Your_username_
3 жыл бұрын
@@gustavgnoettgen Mitä?
@yyabay
3 жыл бұрын
Robo Fart
@impactodelsurenterprise2440
4 жыл бұрын
woah did not expect fanuc to employ this type of gearing in their 5 & 6. Kuka uses a pulley reducer to drive a strain wave reducer on their 5th axis. More of this please
@TonyRios
6 жыл бұрын
submerged in oil? really cool!
@gustavgnoettgen
3 жыл бұрын
And glass clear oil too 😍🤤
@TheNamesArif
3 жыл бұрын
Would be really cool if they add transparent cover
@bradfader691
3 жыл бұрын
Would be a bad day if it wasnt clear oil lol
@CookieCraftMedia
3 жыл бұрын
@@TheNamesArif At first I thought it was a transparent cover, then I noticed
@setoman1
3 жыл бұрын
Clearly, the oil has just been changed. You can see streaking from a small amount of leftover old oil.
@SNKGM
4 жыл бұрын
So you can say this robot can bleed
@rodstartube
4 жыл бұрын
that looks crazy expensive, it would be great to test those gears' backlash
@CORZER0
3 жыл бұрын
0.1 micron.
@tbdcreations5370
3 жыл бұрын
@@CORZER0 Seems a bit unlikely 😂
@bradfader691
3 жыл бұрын
Ive always found the backlash to be so minimal. The arms and axis are always solid as a friggin rock!
@RobotDoc
3 жыл бұрын
Ya the last joint got pretty wiggly, but these gears were perfect. Had to replace the motor (and top up the oil).
@bradfader691
3 жыл бұрын
@@RobotDoc just the motor or the whole motor an encoder? We wouldnt even chance it where I worked an we would yank the whole unit an send em out for rebuild
@Calthecool
3 жыл бұрын
Those conical screw gears are really cool.
@darkfrei2
3 жыл бұрын
Hyperboloidal gears are really cool!
@ferrumignis
3 жыл бұрын
@@darkfrei2 The gears in the arm are hypoid bevel gears, somewhat like the ones you can find in the rear axle of a RWD car but with much finer pitch in this case. Hyperboloidal gear are very different, strange looking things used for connecting two drive shafts at an acute angle.
@ParadigmUnkn0wn
3 жыл бұрын
The reverse kinematic equations that go into making this thing perform coordinated movements must be absolutely beautiful!
@энтони1
3 жыл бұрын
Самые обыденные и привычные для нас движения совсем не просты для робота.
@KOTYAR1
3 жыл бұрын
Действительно. Интересно, как там робот Федор на орбите живет
@КапитанНемо-ы8з
2 жыл бұрын
@@KOTYAR1 он у Чубайса на посылках....😆😄
@Peppins
3 жыл бұрын
One shaft rotate the head, another shaft rotate the arm. But why when the second shaft rotate the arm, also the other shaft is rotating BUT the head is stuck?
@RobotDoc
3 жыл бұрын
That's the way Fanuc designed it. If you only rotate the outer ring then the wrist tilts and rotates. So they must be geared together on the other side of these rings.
@quazar912
3 жыл бұрын
now compare this to human wrist and try to calculate how perfect human body actually is , not strong or sturdy , just perfect in design and creation
@cptgarlic4955
3 жыл бұрын
Fanuc really is impressive, unluckly I have only level 2 training certificate so i can't look inside of the robots on the gears, but still it is epic fun time programming it it's very user friendly
@theoriginaltoadnz
3 жыл бұрын
nachi mz07s good too. they take a hell of a beating and keep on goin fr yonks!
@SetKat-Alex
Жыл бұрын
Personnaly, I prefer to program ABB robots. Programming fanuc feels like programming robots in the 90's.
@angrydragonslayer
3 жыл бұрын
and people wonder why robots cost so much :)
@Kezooxinua
2 жыл бұрын
каким образом компенсируются люфты в шестернях?
@RobotDoc
2 жыл бұрын
гипоидные шестерни имеют низкий люфт и они имеют понижающий коэффициент, который повышает точность с дополнительными шестернями робот имеет повторяемость около 1 миллиметра hypoid gears have low backlash and they have a reduction factor that increases accuracy with the extra gears the robot has repeatability of about 1 millimeter
@alextatkin1026
3 жыл бұрын
hypoid gears are my fetish.
@JOELwindows7
3 жыл бұрын
Robot joint anatomy ft. Joint oil Hello everyone this is your daily dose of Recommendation
@MichaelMantion
3 жыл бұрын
That's insane...... cool but insane.
@renedescartes4112
3 жыл бұрын
That is the knee of Chuck Norris!
@СергейСергей-ю3г2х
2 жыл бұрын
Это способно вызвать приступ технологического экстаза...
@igovicheliasgabriel6164
3 жыл бұрын
Makes me happy to see gears drowning in oil , ain't no metal scratching on my watch
@ryzenryne8747
3 жыл бұрын
New oil in the robot arm so clear than my future.
@deltoid77-nick
Жыл бұрын
0:19 an air bubble that was trapped inside is released.
@chrismofer
3 жыл бұрын
wow gorgeous engineering, concentric hypoid gears, must be a differential of some kind below.
@killerdinamo08
3 жыл бұрын
That dipped in oil must be very hot 😌.
@TheGreenTeabagger
3 жыл бұрын
sure he pretty looks cool right up until he steals your job
@RobotDoc
3 жыл бұрын
I've seen a majority of the line workers move from demanding repetitive injury type jobs, over to quality assurance inspection roles because of a robot/automation. Some were very grateful, but others obviously were not.
@spugintrntl
3 жыл бұрын
My first factory job was taken by a robot. Honestly it was one of the best things that could have happened, that job was awful.
@SimpIeC
3 жыл бұрын
awesome
@ArchangelExile
3 жыл бұрын
There's something satisfying about seeing how a robot wrist works.
@saple3688
3 жыл бұрын
took me a while to realize that the whole thing is sunk in oil
@パリパリロボロボ
11 ай бұрын
かっけー
@adisharr
3 жыл бұрын
The inverse kinematics on this are pretty interesting! I would not have expected to see that type of gear setup in that arm. Thanks for sharing :)
@rrtsduf
3 жыл бұрын
Its beautiful
@shahriartahmeed9507
3 жыл бұрын
your speaker okay
@krypton1886
2 жыл бұрын
Какой же шайтан это все придумывает
@RobotDoc
2 жыл бұрын
What?
@andrewviel6651
3 жыл бұрын
I wonder if they used a setup like that for a crown and pinion in a truck what kind of torque you can make Like obviously it would only have to use the one set of gears and not all four as there are two crowns into pinions but that still looks like a very high torque situation let's build a rock crawler Every robot engineer ever is cringing at my comment if there reading it LOL
@tinkmarshino
3 жыл бұрын
Very interesting.. you need to do more about the mechanical workings of robots.. I think a lot of us are interested in it.. I knowq I am.. Carry on... good luck
@andyli6641
3 жыл бұрын
This is simply amazing!
@ParsMaker
3 жыл бұрын
wow,
@satanicdude
3 жыл бұрын
i wonder how many micron of leeway they have, when making these gears.
@the20thDoctor
3 жыл бұрын
Ya probably have to pay more for tighter tolerances, shop around.
@kexcz8276
3 жыл бұрын
WOW. Thats a very clever design.... Now normal gears seems "ez" XD....
@roguedrones
3 жыл бұрын
how to get a robot to work : MORE OIL!
@Jeanbond2990
4 ай бұрын
Pourquoi une vie sans fin conique ? une vis sans fin classique ne convient pas ?
@genericuser9653
3 жыл бұрын
Is it lubricated enough? lol
@SerBallister
3 жыл бұрын
It's designed to run 24/7, so we get this
@liliwinnt6
3 жыл бұрын
what kind of gearbox fluid does it use? 75w-90 or maybe better?
@RobotDoc
3 жыл бұрын
Fanuc says to use "Bonnoc AX68"
@liliwinnt6
3 жыл бұрын
@@RobotDoc okay thx
@vast634
3 жыл бұрын
Looks like the Terminator can pack a punch.
@trstquint7114
3 жыл бұрын
my own wrists are so much better..
@Ixaglet
3 жыл бұрын
Fabulous engineering
@DOLGgenerals
3 жыл бұрын
Wow. Nice. B-Machine :D
@MECANERDGAMING
3 жыл бұрын
thx for this vid
@martinlucero9594
2 жыл бұрын
EXCELENT!!!!!! BRAVO BRAVO!!!! ❤💙😍🤩
@carbonfibercreationswashin7213
3 жыл бұрын
Pretty cool one set of gears for fine movements
@sunoj
3 жыл бұрын
now i got the idea of mechanism nice
@cheechyba
3 жыл бұрын
thats why they move so cool!
@j.jarvis7460
3 жыл бұрын
absolutely awesome video.
@Insertsmth
3 жыл бұрын
how did i get here?
@burakokumus6587
3 жыл бұрын
Amazing
@jahsehrecardo8394
3 жыл бұрын
Is this like a no backlash what so ever type of gear?
@RobotDoc
3 жыл бұрын
It's close to 0. I don't think you can fully eliminate backlash though. Just a matter of tolerance/accuracy, which is easier to achieve with smaller light payload robots.
@____-gy5mq
3 жыл бұрын
Are those gear grooves really big enough?
@RobotDoc
3 жыл бұрын
Your name is pretty big....
@LongPigg
3 жыл бұрын
Ooooowwww
@joelsfallon
3 жыл бұрын
What's the backlash like on these types of gears?
@RobotDoc
3 жыл бұрын
Very little. It allows for a position repeatability of less than 0.01mm, a small robot that can't lift a lot but is very accurate.
@joelsfallon
3 жыл бұрын
@@RobotDoc that’s incredible really. I thought this tolerance was only doable with direct drive motors.
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