Watched video several times, but i dont see torque sensor, which must be in cobot. Anyone found it?
@lequang12612 ай бұрын
hello, can the hamonic drive be easy to backdrive ?
@ENGEL333Ай бұрын
Depend of reduction ratio. Less ratio - more easy to backdrive.
@user-bl8ty3io3f3 ай бұрын
its an awesome video with a great work, i would like to request you to do full robot dessembling video, we will be waiting for it, thank you...
@matthewmeans8713 ай бұрын
The flange that they take out near the beginning looks like it couldve been a rotary optical encoder, but there is one clearly later on as well (the see through disk with one dash that feeds through the brown underbelly component of the IC). Anybody able to clarify what the difference is for me between those two components?
@home_engineered_stupidity3 ай бұрын
Yes correct there are two encoders. The one I took out first is connected to the output of the Gearbox and the second one is connected to the input. The one connected to the input keeps track of the motor Position. The one connected to the output should be an absolute type encoder. I guess this enables the robot to know the position of the axis right after startup and eliminates the need for homing the robot.
@En1Gm4A4 ай бұрын
So there are two concentric axis in the middle ? one for holding the Rotor - the outer one. And one holdeing the output shaft (probaply for stability reasons of the output) and transmitting the outputshaft rotation to the encoder in the back? You have been able to rotate the rotor after removeing the Outputshaft
@En1Gm4A4 ай бұрын
@7:00 that is all the breaks there is to it? seems a little uderengineered - what do you think ?
@suzuiming94594 ай бұрын
Its a new ball or old one
@jcmtzros4 ай бұрын
very nice job. pls, let me know if Im on correct way. These motor is a BLDC with a torque sensor , one encoder and an harmonic drive???. obviously with its power electronics based in a DSP and mosfets to boost the motor. thank you.
@fatihmeral98635 ай бұрын
what type of motor is that?
@TorpedaVasiliu7 ай бұрын
Who know where to buy engine for meade lxd75?
@hoarp0018 ай бұрын
If the encoder is optical by way of that glass disk and the pcb mounted read head, then what is the first item you removed that has the freely rotating centre? I assumed at first that was the encoder. Unless it has two?
@victorrzhang6 ай бұрын
I think you are right, there are two encoders. The first one is the RLS encoder - magnetic, and then they also have a US Digital optical one.
@usamaarshad17928 ай бұрын
Hey thats a great video i was wondering, where was the force/torque sensor?
@adisharr7 ай бұрын
In a CB series robot, there isn't one. Torque is measured by motor current. In the e-series, the sensor is located at the end of the arm.
@bhavyawadhwa366910 ай бұрын
amazing video thanks for sharing!
@dutch664911 ай бұрын
Nice job man. Really appreciate this.
@JM_Tushe11 ай бұрын
Ah~ it's a beauty. 🥰 I think I leaked a little.
@Bartholinn11 ай бұрын
I always wondered the inside of the UR. Thank you for the video.
@andrewbednar725111 ай бұрын
Thanks for the tear down! Question 1 at minute 3:25 a rotatory sensor is removed. What type of sensor is that? Is that for tracking absolute rotation? is it a torque sensor? Question2 at minute 5:50 there is a Fence on the optical encoder and it has a linear actuator to press down a plunger. What is that for? Does it limit the orientation uncertainy at startup?
@home_engineered_stupidity11 ай бұрын
I am happy you enjoyed the video. About question 1: That ist most likely an encoder to track the position of the output side of the gearbox. Together with the second encoder which tracks the input/motor shaft rotation. It can be used to find the robots position after a restart without having to move the robot into an endstop to home its position. And about question 2: The litle pin is acting as a sort of brake. In its resting position it is blocking the star shaped piece which is connected to the motor shaft. When actiated the pin is pressed down and out of the way so the motor can spin freely. This can be used to prevent the robot from moving when it is turned of which is nessesary because the strain wave gearboxes are backdrivable. It can also be used as an emergency brake. I also want to say that I cant be sure about any of these things because I am not a professional about universal robots.
@Evgenkr8 ай бұрын
A1: one encoder no the shaft, two in the spring suspension, values diff = resistance force - detection endstops and touch, because it's a cobot axis.
@victorrzhang6 ай бұрын
RLS encoder - uses a magnetic ring and hall effect sensors. This encoder is used so that the wires can be fed through the center of the actuator.
@alo1236546 Жыл бұрын
Use c wrench with allen key nore advantage
@scepticIC Жыл бұрын
scrapers assembling with feeler gauge
@DevllguArd Жыл бұрын
After watch your video you give me enthusiasm to try to do maintenence to my mount but before do it want to ask you if we need take care of pieces locations, it means I saw you put the mount on aling position so to re-assembly can please give us the steps to make it in the proper way. Thank you
@bambumbambu Жыл бұрын
can you make a better resolution picture of pcb please?
@user-uk7lk9eh2w Жыл бұрын
Great job. Could you share the parameters of the motor and sensor？ Thanks
@willl324510 ай бұрын
ahahah, nice try 😂😂😂
@Techno-TRON Жыл бұрын
GOTO system? payload 8-10 kilograms?
@RiteshSuthar-rx3qu Жыл бұрын
is this UR3 or UR5?
@Schneekanone_TR8_gaming Жыл бұрын
Du hast die falsche Zeile benutzt du musst die spring Ring sanierte nutzen die nach außen zu öffnen geht
@williamhuang5329 Жыл бұрын
Hanzhen harmonic drive gear , strain wave gear , robot joint , over 30 years experience .
@williamhuang5329 Жыл бұрын
Hanzhen harmonic drive gear , strain wave gear , robot joint , over 30 years experience .
@timarien Жыл бұрын
Heey hey, Thanks for the video. Quick question, what type of grease /lube do you use? I hear very conflicting stories on using white lithium grease. Some day it is the best others say it will ruin your mount.
@home_engineered_stupidity Жыл бұрын
I'm afraid I don't have a clear and simple answer for your question. But I am happy to share my experience. For my mount I have used a muli purpose grease 1 from Würth because I had it laying around. That's not the best possible grease but it worked fine for my old LXD75 mount. Lithium grease offers very good performance but it can be aggressive to some Polymer's like Nylon for example. A lot of people seem to be happy with using Super Lube on their mounts. But I have no experience with that. Soon I want to hypertune my Celestron CGEM mount. For that I will try some grease with MoS2 which works similar to graphite. (Something like Liqui Moly LM47 grease) but I haven't tried it yet.
@ultrametric9317 Жыл бұрын
Nyogel dampening grease - 765c and 767a (the latter is stickier). They are very high quality and not cheap. Lithium grease will separate over time and is not the best for cast aluminum. It might be fine for the worms, but I use Nyogel.
@michaelpope3671 Жыл бұрын
😠 𝐩яⓞ𝓂𝓞Ş𝐦
@haraldthomas6757 Жыл бұрын
US Digital EM1, Hubdisk is customized
@jonashdjg1345 Жыл бұрын
Is it really a EM1 and not EM2? How can you tell?
@BeekersSqueakers Жыл бұрын
Blew my mind when I realized the pink lubricant was for a strain wave gear.
@vaselina111 Жыл бұрын
Why is it surprising? I honestly dont know
@dcode47202 жыл бұрын
Great job. Could you share the information of the encoders? Manufacturer or model. Both joint's side and motor's side, Thanks!
@jonashdjg1345 Жыл бұрын
Pretty shure they use U.S Digital optical encoder on the motor side, can't exactly tell what the output side is. But definitly hast to ba a magnetic one, maybe something like a RLS AksIM-2.
@hoarp0018 ай бұрын
@@jonashdjg1345 Do you mean that the lower optical encoder is on the motor rotor and the shaft encoder which is removed first in the video is a second encoder that is connected to the motor output via a shaft in the centre? I was wondering what that was. I am currently designing something with an RLS AksIM-2 and they supply the read head and the codewheel separately, whereas the unit seen here looks like an all in one type encoder product. It also looks like it senses in the radial direction around the outside of the shaft rather than reading a codewheel in the axial direction. Mysterious. either way, fascinating video.
@jonashdjg13458 ай бұрын
@@hoarp001Its also possible that they use one frome a different manufacturer but for me it looks like they have just designed a case and a small shaft for the Aksim. But the Blue pcb irritates me, maybe it could also just be a completly costum encoder they build. They use a incremental encoder on the Motor and an absolute on the output shaft (after harmonic drive). Im pretty shure that they do that for one the absolute Encoder only rotates 360° and directly measures output shaft angle and second, with two encoderes they can quickly discover torque spikes for their collision detection with humans.
@user-wt2uo3sm8i2 жыл бұрын
Can you make a high resolution photos of the board? Thanks!
Пікірлер
crazy you can find videos like this on youtube
Watched video several times, but i dont see torque sensor, which must be in cobot. Anyone found it?
hello, can the hamonic drive be easy to backdrive ?
Depend of reduction ratio. Less ratio - more easy to backdrive.
its an awesome video with a great work, i would like to request you to do full robot dessembling video, we will be waiting for it, thank you...
The flange that they take out near the beginning looks like it couldve been a rotary optical encoder, but there is one clearly later on as well (the see through disk with one dash that feeds through the brown underbelly component of the IC). Anybody able to clarify what the difference is for me between those two components?
Yes correct there are two encoders. The one I took out first is connected to the output of the Gearbox and the second one is connected to the input. The one connected to the input keeps track of the motor Position. The one connected to the output should be an absolute type encoder. I guess this enables the robot to know the position of the axis right after startup and eliminates the need for homing the robot.
So there are two concentric axis in the middle ? one for holding the Rotor - the outer one. And one holdeing the output shaft (probaply for stability reasons of the output) and transmitting the outputshaft rotation to the encoder in the back? You have been able to rotate the rotor after removeing the Outputshaft
@7:00 that is all the breaks there is to it? seems a little uderengineered - what do you think ?
Its a new ball or old one
very nice job. pls, let me know if Im on correct way. These motor is a BLDC with a torque sensor , one encoder and an harmonic drive???. obviously with its power electronics based in a DSP and mosfets to boost the motor. thank you.
what type of motor is that?
Who know where to buy engine for meade lxd75?
If the encoder is optical by way of that glass disk and the pcb mounted read head, then what is the first item you removed that has the freely rotating centre? I assumed at first that was the encoder. Unless it has two?
I think you are right, there are two encoders. The first one is the RLS encoder - magnetic, and then they also have a US Digital optical one.
Hey thats a great video i was wondering, where was the force/torque sensor?
In a CB series robot, there isn't one. Torque is measured by motor current. In the e-series, the sensor is located at the end of the arm.
amazing video thanks for sharing!
Nice job man. Really appreciate this.
Ah~ it's a beauty. 🥰 I think I leaked a little.
I always wondered the inside of the UR. Thank you for the video.
Thanks for the tear down! Question 1 at minute 3:25 a rotatory sensor is removed. What type of sensor is that? Is that for tracking absolute rotation? is it a torque sensor? Question2 at minute 5:50 there is a Fence on the optical encoder and it has a linear actuator to press down a plunger. What is that for? Does it limit the orientation uncertainy at startup?
I am happy you enjoyed the video. About question 1: That ist most likely an encoder to track the position of the output side of the gearbox. Together with the second encoder which tracks the input/motor shaft rotation. It can be used to find the robots position after a restart without having to move the robot into an endstop to home its position. And about question 2: The litle pin is acting as a sort of brake. In its resting position it is blocking the star shaped piece which is connected to the motor shaft. When actiated the pin is pressed down and out of the way so the motor can spin freely. This can be used to prevent the robot from moving when it is turned of which is nessesary because the strain wave gearboxes are backdrivable. It can also be used as an emergency brake. I also want to say that I cant be sure about any of these things because I am not a professional about universal robots.
A1: one encoder no the shaft, two in the spring suspension, values diff = resistance force - detection endstops and touch, because it's a cobot axis.
RLS encoder - uses a magnetic ring and hall effect sensors. This encoder is used so that the wires can be fed through the center of the actuator.
Use c wrench with allen key nore advantage
scrapers assembling with feeler gauge
After watch your video you give me enthusiasm to try to do maintenence to my mount but before do it want to ask you if we need take care of pieces locations, it means I saw you put the mount on aling position so to re-assembly can please give us the steps to make it in the proper way. Thank you
can you make a better resolution picture of pcb please?
Great job. Could you share the parameters of the motor and sensor？ Thanks
ahahah, nice try 😂😂😂
GOTO system? payload 8-10 kilograms?
is this UR3 or UR5?
Du hast die falsche Zeile benutzt du musst die spring Ring sanierte nutzen die nach außen zu öffnen geht
Hanzhen harmonic drive gear , strain wave gear , robot joint , over 30 years experience .
Hanzhen harmonic drive gear , strain wave gear , robot joint , over 30 years experience .
Heey hey, Thanks for the video. Quick question, what type of grease /lube do you use? I hear very conflicting stories on using white lithium grease. Some day it is the best others say it will ruin your mount.
I'm afraid I don't have a clear and simple answer for your question. But I am happy to share my experience. For my mount I have used a muli purpose grease 1 from Würth because I had it laying around. That's not the best possible grease but it worked fine for my old LXD75 mount. Lithium grease offers very good performance but it can be aggressive to some Polymer's like Nylon for example. A lot of people seem to be happy with using Super Lube on their mounts. But I have no experience with that. Soon I want to hypertune my Celestron CGEM mount. For that I will try some grease with MoS2 which works similar to graphite. (Something like Liqui Moly LM47 grease) but I haven't tried it yet.
Nyogel dampening grease - 765c and 767a (the latter is stickier). They are very high quality and not cheap. Lithium grease will separate over time and is not the best for cast aluminum. It might be fine for the worms, but I use Nyogel.
😠 𝐩яⓞ𝓂𝓞Ş𝐦
US Digital EM1, Hubdisk is customized
Is it really a EM1 and not EM2? How can you tell?
Blew my mind when I realized the pink lubricant was for a strain wave gear.
Why is it surprising? I honestly dont know
Great job. Could you share the information of the encoders? Manufacturer or model. Both joint's side and motor's side, Thanks!
Pretty shure they use U.S Digital optical encoder on the motor side, can't exactly tell what the output side is. But definitly hast to ba a magnetic one, maybe something like a RLS AksIM-2.
@@jonashdjg1345 Do you mean that the lower optical encoder is on the motor rotor and the shaft encoder which is removed first in the video is a second encoder that is connected to the motor output via a shaft in the centre? I was wondering what that was. I am currently designing something with an RLS AksIM-2 and they supply the read head and the codewheel separately, whereas the unit seen here looks like an all in one type encoder product. It also looks like it senses in the radial direction around the outside of the shaft rather than reading a codewheel in the axial direction. Mysterious. either way, fascinating video.
@@hoarp001Its also possible that they use one frome a different manufacturer but for me it looks like they have just designed a case and a small shaft for the Aksim. But the Blue pcb irritates me, maybe it could also just be a completly costum encoder they build. They use a incremental encoder on the Motor and an absolute on the output shaft (after harmonic drive). Im pretty shure that they do that for one the absolute Encoder only rotates 360° and directly measures output shaft angle and second, with two encoderes they can quickly discover torque spikes for their collision detection with humans.
Can you make a high resolution photos of the board? Thanks!
ahaha, another nice try😂
Thank you. Clear job.