Thank you Arun Dayal Udai. I am not an engineer and I am amazed by what robotic arms can do. Demonstrating the workings of internal mechanisms is a real eye opener.

Fascinating! I had no idea these used three motors linked like this for these movements.

They're programmed to move together depending on which motor you try to move. If you remove the motors and turn the drive shafts from the rear, by hand, only the axis you pick turns. Just finished KUKA training at KUKA by Detroit and took one apart and put it back together.

@tjsuda2010

5 жыл бұрын

I'm just finishing up a course on Fanuc robots. Just took one apart and put it back together. Another month of PLC training before I'm done. Any advice on job hunting in the Detroit area?

@johnsjohnson

5 жыл бұрын

how do you get the training? I live in Detroit

Thank you for sharing this. Interesting way of motion.

Świetna robota!

Thank you very much Arun.

WOOW EXECELENTE SALUDOS DESDE COLOMBIA ESTE ERA EL CANAL QUE BUSCABA

Já tive o prazer de desmontar e montar esses eixos 4, 5, e 6 sistema top.

Very educational. Thank you!

@user-sv7wk4hn1w

3 жыл бұрын

See how a cyborg builds a tractor in Belarus: ))))) kzread.info/dash/bejne/ooh8lJRmd9i7ldY.html

Thanks for record and upload the video!!

@user-sv7wk4hn1w

3 жыл бұрын

See how a cyborg builds a tractor in Belarus: ))))) kzread.info/dash/bejne/ooh8lJRmd9i7ldY.html

HOW COOL, I WAS CURIOUS TO KNOW HOW MECHANICS WERE. THANKS

Harmonic drives are wonderful

Can you please make video showing inside wrist (between joint 5 & 6) ? I wonder if they use right-angle gear or another belt system like this.

@ArunUdai

10 жыл бұрын

There is no belt. They use right-angle gears for 5 and 6, as per the assembly drawings and physically as I have seen.

Jazaakallah Khoiron..Akhi

Классная работа) 👍👍👍💪

Thank you very much Doctor, for sharing that, very nice machine, this must be replicated in Lego.

Dear sir, in a kuka robot what is the differential torque?

Cool stuff!

Hi Arun! I am working on my master's work now and my main task is to find how 6 axis welding robot is constructed inside. Maybe you know where I can find this information?

Fantastic machine...!!...ji ji j i ji... Saludossss

Thank u for sharing.. becouse this i know what the inside of robot mechanism

Hmm

@1two299

6 жыл бұрын

шо?

@forloop7713

4 жыл бұрын

Boop

@nastykamaleon472

4 жыл бұрын

😂

@chiboreache

4 жыл бұрын

индусы реверсят))) крассафчеги хуле)

@user-sv7wk4hn1w

3 жыл бұрын

See how a cyborg builds a tractor in Belarus: ))))) kzread.info/dash/bejne/ooh8lJRmd9i7ldY.html

Ooo simple mechanical advantage, I expect something more complicated! Well done to designers and those people who created those amazing belts!! What are belts made of ???

@Jeversonapilz

2 жыл бұрын

Steel wires and polyuretane

Very interesting, thanks

Please share this kind of knowledges, Thats really great to see the inside

@ArunUdai

4 жыл бұрын

I am regularly post videos of my research. To be updated, subscribe to my channel. Thanks for the appreciation.

@dhimanbobby1

4 жыл бұрын

@@ArunUdai Your WHatsapp number please i want to discuss about Robot arms. Thanks

@ArunUdai

4 жыл бұрын

@@dhimanbobby1 Just Google my name, you can see that in my profile page of IIT ISM Dhanbad

@user-sv7wk4hn1w

3 жыл бұрын

See how a cyborg builds a tractor in Belarus: ))))) kzread.info/dash/bejne/ooh8lJRmd9i7ldY.html

How can I change the belt ? Should I take off the main pulley and after that I can for exemple check the bearings in the guidng rollers ? Where can I find service and maintenance manual. I think it's important for exemple the tightening torque for the main pulley. Thank you.

@ArunUdai

3 жыл бұрын

Maintenance manual is included in the KUKA CDs set that they give along with the robot.

thank you

This is how pretty much every robot manufacturer runs jt 4 5 and 6. Depending on the payload though it might not have belts. Usually only lower payloads have belts. The way they move together is also why they suggest referencing all 3 of them together when one needs reference.

I've been an applications engineer for 23 years worked @ Okuma Mazak Bost now @ WFL prg 100s of Robots over the years Fanuc KUKA ABB etc etc first time I've ever seen one with the inspection covers off.Don't know what I was inspecting but I always thought it would be like looking inside a Terminator ?.Lol

@mohseni979

7 жыл бұрын

Are you serious :-)

@Andrey264

6 жыл бұрын

wow

What holds the joints in a particular position once they have reached their desired position - are the motors braked - are the gearboxes braked?

@xXYannuschXx

7 жыл бұрын

The motors constantly check and correct their position, so the actively push against the load.

@brandonrecknagel998

6 жыл бұрын

The resolver position is monitored and if it varies the motor corrects itself. (If the robot is active). If the robot isn't active, servo brakes are applied.

Great vid! Do you know if these robots have Harmonic Drive gearboxes?, if not, how they deal with backslash?

@ArunUdai

9 жыл бұрын

Victor Jaramillo They use Nabtesco precision gear boxes. It is not documented anywhere. You may find discussions in different forums.

@viorelpopescu4990

4 жыл бұрын

In general nu folosesc cutii de viteze ci variatoare electronice de turatie ( RPM) controlate de senzori da pozitie miscare etc

Thank you very much, Arun. I got something from you..

@ArunUdai

3 жыл бұрын

Glad to hear that

I see gear reduction in the fist axis, is it harmonic, planetary, or other????

@ArunUdai

4 жыл бұрын

Cycloidal gears.

不错，很直观

Is jemand da der weiss ob KUKA wirklich den Chinesen verkauft wurde? Danke!

Ok that surprised me

Its a cicloidal reduction?

nice video. what things u were doing there?

@ArunUdai

4 жыл бұрын

Its our Lab. at IIT Delhi.

hi Arun,i am very surprised for this video,i thought that mule drive is not possible with toothed belt; you know how select these belts!? thanks ^^

@ArunUdai

8 жыл бұрын

+Umberto di pietro Length depends on your transmission design. The strength may vary, depending on the load it intends to carry.

@user-sv7wk4hn1w

3 жыл бұрын

See how a cyborg builds a tractor in Belarus: ))))) kzread.info/dash/bejne/ooh8lJRmd9i7ldY.html

good job

COOL!! most interesting part is that the arm is all metal

@user-vi3pi9rf7w

3 жыл бұрын

Bruh It's for industrial purpose, gotta do some heavy lifting

I have requrid annual sevices parts oh kuka machine and also send booklet of spare parts.

post more videos about robot arms

Bhae ya qua dikh nehi koshi ki ?

Не боги горшки обжигают, я думал там редуктор адский в сочленении, а там ремешки :-)

@user-fd1di8vq1d

3 жыл бұрын

ремень хорошо передает, подозреваю, что в шарнирах есть планетарные передачи

That’s a huge servo

thanks for share

Epic belt rotation

Great inside look at a robotic arm ! @2:38 working in a shop with heavy machinery like a robot arm wearing open-toe sandals instead of proper steel toe reinforced work shoes: bad idea.

@ArunUdai

4 жыл бұрын

That's not a shop, it's a lab meant for academic purposes only. Nicely pointed out though.

@rogerwalsberg

3 жыл бұрын

Really mom? Let grownups do what they want.

@AlainHubert

3 жыл бұрын

@@rogerwalsberg Yeah, you're right, let them lose some toes, or cut their feet if they feel like it.

@user-sv7wk4hn1w

3 жыл бұрын

See how a cyborg builds a tractor in Belarus: ))))) kzread.info/dash/bejne/ooh8lJRmd9i7ldY.html

@Fleurlean4

3 жыл бұрын

I’ve been in an “academic environment” with industrial robot arms and no protective equipment…almost saw a kuka drive a pipe down a coworker’s skull

Planetary gearbox?

Cyclodial drve please!

Muito bom gostei

mind = blown.

simple and clever

Great to watch....is there any robots more then 6 axis?

@ArunUdai

3 жыл бұрын

A quick answer would be KUKA LWR iiwa

@industrialsathi6629

2 жыл бұрын

Yes there is additional arrangement for another 2 axis in kuka robo

And what's the max capacity of that model?? in Kg

@ArunUdai

9 жыл бұрын

Florin Mindrila 5 Kgs for KUKA KR5 Arc robot.

GRT

Can you give details on the bearings used?

@ArunUdai

4 жыл бұрын

These are Nabtesco cycloidal gears.

What kind of gear is this? Planetary or some kind of cycloidal?

@ArunUdai

6 жыл бұрын

elektrinis Not planetary. It is belt drive and concentric transmission.

@circuitdotlt

6 жыл бұрын

What kind of reduction does it have inside the pulley? Pulley clearly spins much faster than the joint. Did not count it, but looks like 20:1 or so.

@ArunUdai

6 жыл бұрын

These are Nabtesco gearboxes, which are planetary gears I suppose.

@circuitdotlt

6 жыл бұрын

20:1 would be bit too much for planetary, also high backlash... Looks like Cycloidal, if this is correct: kzread.info/dash/bejne/nXiex5txcdiWcco.html Nice drive.

@ArunUdai

6 жыл бұрын

Yeah. Quite true. I never opened it up. And Kuka never documents these too.

Interesting

ok, ya tengo sueño, al finalizar el video me voy a dormir...

nice

Теперь мне всё ясно

@user-sv7wk4hn1w

3 жыл бұрын

See how a cyborg builds a tractor in Belarus: ))))) kzread.info/dash/bejne/ooh8lJRmd9i7ldY.html

It is amazing how motors 4, 5 and 6 together moves joint 4. But I am not able to understand the reason for that nor the mechanism involved. +ArunUdai could you please help.

@ArunUdai

8 жыл бұрын

+akhilsubin Axis 4, 5, and 6 are coupled. Please see our paper (link is given) on the subject.

@loivan1568

6 жыл бұрын

akhilsubin has

can you tell me the type of motors you have used there ,sir !!

@ArunUdai

10 жыл бұрын

These are standard servo motors included with KUKA-KR5 Arc robot. IFK7 series Siemens permanent magnet excited synchronous motors - commonly referred as AC servo motors.

@junang3

6 жыл бұрын

with position feedback

@suharsh96

6 жыл бұрын

Arun Dayal Udai are they single or three phase ? and what kind of position feedback is used ?

@brandonrecknagel998

6 жыл бұрын

Their speed and position are controlled by frequencies of single phase coming off of the KUKA POWER SUPPLY (KPS). They use resolvers to read the position that is converted from Analog to digital by the robot and sent to the controller.

Нет предела совершенству !! Вот ЭТО человеческий мозг .....??

@farbmixus

4 жыл бұрын

В чем тут инновация? Тут все механика и все равно немецкое говно

Know how- export nach Asien

Is that 6 axis robots needs 6 motors..?

@ArunUdai

4 жыл бұрын

Yes. To make it truly 6 Axis for 6-DoF

2:37 "safety socks" missing..

@farbmixus

4 жыл бұрын

Scheiß egal

Same functioning system for CNC machines,stepper type motor,controller etc.

@Penguin_of_Death

3 жыл бұрын

CNCs aren't usually stepper motors - not accurate enough. They typically use axis motors with built in encoders, or the encoders may be mounted separately on the ballscrews. These link through the servo drives to report back to the control where each axis is

what if the belt snaps

@Andrew-yl7lm

3 жыл бұрын

'Do no harm' protocols are overridden

This is one of the robots that use drive shafts for 4, 5 and 6 axis. Them little timing belts are a built in weak point. I saw a big K5 robot drop a X5 car body because the belt broke. We had all the other similar robots checked for it and found several more belts going bad. This can kill somebody. Those driveshafts couplings have set screws that come out sometimes too. Glue them! Aligning 3 splines shafts at the same time is a bitch. I like ABB robots better for that reason.

@ArunUdai

3 жыл бұрын

Nice input. Hope KUKA is working on that.

@notyou1877

3 жыл бұрын

@@ArunUdai I doubt that. When KUKA was training the first batch of maintenance , their official line was that those robots were capable of "ABSOLUTE" positioning at top speed of 2 m/s at the tip of the tool. We found that statement to be bullshit because the tip of the weld gun can wiggle an inch or better under inertia of th he robot arm. The bigger the robot, the worse it wiggles (6400 type was the largest we had). All the slack in the drive train fit adds up. ABB used direct drive motors in the axis joints. No slack to speak of except the belt in some applications. Only thing to worry was wiring harness chafing internally. That happens sometimes after years of flawless operation.

All that sharpie use should concern you.

There must be planetaries in each joint as well.

@uyenmit1235

4 жыл бұрын

no planetary gears, those are harmonic gears

@argentknight7557

3 жыл бұрын

Maybe harmonic drive

do looking Техника молдежи год не помню

Hmm, ahaa 😃

Hanzhen harmonic drive gear , industrial robot arm gear head

Thanks for your video clip. We know that, germany is high tech mechanic manufacturer. In robotic field, Germany is best technical positon include electric, mechanic àn electromatich

@R30iA

9 жыл бұрын

Anh Tuấn Hồ but they are using the Japanese harmonic gears ;-)

@user-sv7wk4hn1w

3 жыл бұрын

See how a cyborg builds a tractor in Belarus: ))))) kzread.info/dash/bejne/ooh8lJRmd9i7ldY.html

I m mechanical engineer and so I know KUKA but sincerely the system with the belt it's a big mistake when she is broken and you should exchange nobody is here

@96Kaafarani

6 жыл бұрын

why is it a mistake?

@fredericmichel6287

6 жыл бұрын

try when the belt is broken you will understand

@96Kaafarani

6 жыл бұрын

how often does it break?

@stevenevers3316

6 жыл бұрын

I've never seen one break, Can't imagine why it would unless you kit something very hard. The tensile members are steel

@fredericmichel6287

6 жыл бұрын

we had 24 robots 8 in one years belt broken

Them: My stepper motors are so powerful they can lift full die pressed sheet metal parts to be welded by industrial equipment. Me: My stepper motor can spin a piece of tape.

@pd.dataframe2833

4 жыл бұрын

they are not stepper motors they are industrial servos

I had no clue that had drive belts in them..... Hmmm.

@ArunUdai

4 жыл бұрын

Even I didn't had any idea before opening this gear box.

hlo sir

those stepper motors are Jynormous

@ArunUdai

8 жыл бұрын

These are permanent magnet synchronous motors.

No doubt being reverse engineered so they can be cloned.

Ha, I thought it was big one.

Yes yes - reverse ingeneering ...

Hmm😁

китай не парится с технологиями покупают разбирают и делают свое

Hi

@khanbashabasha7331

4 жыл бұрын

Can u tell me 6 axis robo arm price I want to buy for work station

Hmm.. ...

The joint is the most complicated part to be repaired in my opinion.

@MrAirbleed

3 жыл бұрын

More money for the creator lol

прикольно я не думал что внутри механизмы сложней чем первые наработки которые я лет 100 назад видел

Было бы у меня столько денег, я тоже такой хуйней занимался))

Думал будет круче

Chinese engineering Now, congrats !

@jalil16

4 жыл бұрын

KUKA is a German manufacturer

@Mr30friends

4 жыл бұрын

@@jalil16 owned by a chinese company.

Hello I own 5 new KUKA engines, can anyone be interested?

hmm -- like a minecraft villager

it needs more gears.

Tintaga.. Hmmmm. Ha... Foor

Pedro Uno11st Bearer Engineer May 14th 1962 Aged Four Years Young of Faster Than The Speed of Lights Electrical Orbital Solar Lunar Cosmic Galaxay Universal Satellites Op Shortwaves Freq Coded Reverse Mechanical Sounding Electro Magnetic RadioCyclewaves Transmissions Magnetic Vacuum Diffusion. To use for Solar System Sistamatic Satellites Op Shortwaves Freq Coded Reverse Mechanical Radio Cnc Auto Robotic Mechanical Nuclear None Nuclear Diffusion Disarmaments Kind. Syria Flowers Fruits Thorns.