6 axis robot DISASSEMBLY

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joint6 had a servo + harmonic gear attatched which is where the end of arm tool would go. my boss looted that gear before i got it, which sucks because it looks like that was the only harmonic gear in the lot

>>1230810
>takin apart

what for, anon? Is it still functional?

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this is the gear train for joint 5, not what i was expecting, but still nice, the next pic shows where the motor mounts

>>1230814
Parts, sounds like

>>1230812
>servo

Do industrial robots like that actually have "servos", or was it an awesome BDCM with encoder?

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here is the where the joint5 servo mounts. i had to take out all the motors before gettin it out of the truck so to lighten the load, so i could move the joints, and so they wouldnt get killed in the backyard
it also shit gear oil all over the bed of my dads truck

>>1230814
its not un-functional, and could still be made functional, but it came without a controller($$$$) and without the joint 6 harmonic gear ($$$$). to find a controller for a robot this old(1994ish), as well as getting the correct parameter files will be an expensive chore in its own right, especially since i spent all my efforts learning about motoman robots and not fanuc robots , so simply put not worth the time or effort. and theres no way my dad will let me keep 2 robots in his garage

>>1230820
where did you get it?
If you find out where it came from and who used it you might be able to get the desired hardware and intel

>>1230819
Servo means motor with feedback of some sort.
I know people that scratch their heads at hobby servos since all they call servo is
>an awesome BDCM with encoder
the term goes for both things.

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this is a pic from the joint 6 servo which was the cleanest so i took off the redcap to show encoder . but i still got grease all over my fucking camera .fucking old spec molywhite separates the grease and oil as you will see in more pics and now that shit is everywhere
>>1230819
they use real deal ac servos. people say fanuc uses incremential encoders and battery backup to keep the position, but these encoders look absolute, so maybe thats for the newer series servos or not true at all

>>1230821
my work, they got it from auction without a controller. the problem is servo amplifiers hold their value pretty well even if they are from 1994. it would be cheaper to buy a used robot with controller, than to find the right size controller + parameter files + harmonic gear + pendant

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definitely not as many encoder channels as my other robot, but theres a few, looks like 3 or 4 , so it might be UVW and an incremental line

>>1230822
putting encoder on stepper motor doesnt make it servo

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compare that to my other bot, that has 12 encoder lines that is true absolute

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here is the port for joint 4, again not what i was expecting, but its neat none the less looks like straight up spur gear. i was really hoping for some fancier fucking gearing on this bitch , or at least more harmonic gears but still nice
>>1230834
they call those "hybrid servos" , they run better than openloop steppers, but still arent servos proper

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joint3 is so far the most interesting joint so far. the servo for this one has a brake, aswell as 3 gears on the output shaft. this one will be fun to take apart and i will post lots of pics when i do later this week. it also has 2 bearings on one of the input gears, so im wondering if this is a ghetto harmonic or some kind of planetary gearing

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this is joint 2. it has some kind of different gear ratios that will have something to do with speed+torque. this servo also has a brake

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this is joint1. has a similar gear train to joint 2. being the base of the entire robot, im hoping this slut has some kind of bigass crossed roller bearing. because so far joint 6 (the one i dont have) is the only one that had a crossed roller bearing, and the rest appear to be deepgroove radial and regular roller bearings

>>1230810
thanks for the pics, that's pretty cool.

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and what makes it all worth it , the servos. joint6 pictured above, these are the rest of the servos. the servos alone are worth more than the actual robot would be, and if sold, would generate enough money to buy a used robot with controller. this is why im not bothering to run this robot, because the cost to get an old controllerless robot to run is more than getting a whole new robot. my other robot is better than this one anyways, and my dad will not allow a second robot in his garage.
but focus on the joint 3 motor, you can see the 3 gears on the output shaft as i referenced in the previous posts. it has 2 same gears separated by a spacer, and another smaller gear. this will be a fun axis to take apart and i will post pics as i go

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here is a diagram i made to explain the robot axis (joints) and how they move,
i will post more pics through the week/summer as it progresses, but i have to go to work now. i want to keep joint 4 and 5 to use as some kind of trunnion rig for a cnc but i will still take them apart and show you guys. joint 3,2, and 1 will be fun ones. maybe use joint 1 as a fat ass rotary table, but the motor is in a bad spot for it. eiother way, enjoy and be mad because if i did get this robot going, i would have just put a fleshlight on the end of it and have one robot fuck the other robot and then have a robot 3way robot/male/robot style

>>1230836

is your other robot operational, meaning you can operate it in your garage with a pc or whatever? I have no need for one but I am so fucking jealous right now.

>>1230851
you're six axis sex bot guy?

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>>1230855
>>1230865
yes yes

>>1230878

HE'S BACK

>>1230878
lmao you just did my day

is it functional?
i bet porn producers would pay you a good fortune if they could rent it from you.
although i believe safety might be an issue.

some pressure sensors and an emergency shutdown button?
a fake sperm pump for bukkake sounds like a reasonable idea

>>1230845
>and my dad will not allow a second robot in his garage.

But he allows a single robot with a phallic attachment instead?

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>>1230878

>>1230810

Where the fuck do you keep finding these? I need one in my life.

>>1230878
>>1230892
>>1230904
>>1230810
https://warosu.org/diy/thread/816746

KUKA robot 'autopsy'
https://www.youtube.com/playlist?list=PLAB6A7A580FCD2F85

>>1230827
>people say fanuc uses incremental encoders with battery backup
The newer ones do. And by newer i mean like the last ~10 years or so. I wish i was lucky enough to just inherit robot parts, oh the shit i would build.

Source: i fix/maintain these fuckers

thats cool as shit op.
has it put out yet?

>>1230884
Awww yiissss!

>>1230895
Kek! Inb4 newfags read this thread and start screaming "no sex toys!" Fuck off newfags, this thread is not for you!

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eclipse is fucking up my lighting for pics

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the inside of joint6, a servo and harmonic gear go inside here

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fuck just a roller bearing

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another pic of joint3 gearing

what are you going to do with the rest? gears, bearings, connectors...

>>1230810
Poor robutt. Those poor gears.

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>>1230878

>>1230892
Never change /diy.

Do it
Yourself.

Well...

>>1231138
Kek

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dislocated the arm today . this gearbox is interesting

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2 dowels/4 bolts mounts her to joint 2

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as i rotate the gear box, there are 2 eccentric rings that rotate off set of eachother

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now shes a greasy used up slut

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the booty. still dont know the fuck this gear is about, maybe a ghetto planetary gear or something

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last year, during my plants schedualed shutdown, i went into work to fuck around and do personal projects. poke my head into the conference room, and they are doing robot training with the technicians. since ive already done this robot training, i decide to derail the class, and give them a lesson out of the sex robot curriculum. one of my managers pulls up my blog on the over head screen (just a shit version of the old sex robot /diy/ thread with a few minor updates), and starts reading posts and playing the videos of the sex robot. this segwayed right into the safety unit of robot training nicely. the next day, my manager receives a call from the CEO, whos son was in the robot class, questioning my manager on my mental state and stability.

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>>1232444
>my manager receives a call from the CEO, whos son was in the robot class, questioning my manager on my mental state and stability.

nice

>>1232444
he has a point. you're a dead ringer for undiagnosed bipolar. anyway, is there any way you can replace the missing servo with a homemade cheaper version? or will you just fix it in place and make do with 4 or 5 axes instead?

>>1231358
Is that a copper gasket?

>>1230878
Jesus, I assumed you'd hemorrhaged out on your garage floor after attaching the chainsaw, glad to see you're still consuming resources anon.

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gotta gut deez cables

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cables gone

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just keeps shitting grease everywhere mother fuck

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now the arm

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big ol cast aluminium with some nice machioned surfaces

>>1230878
Ayy I thought you died in a tragic mechanical buttplugging accident

>>1230815
I think it's bleeding. You killed it.

>>1230810
I dont know anything about these
Is this robot better than your grey one?

This looks like its better articulated but the grey one looks more stout.
Pretty awesome though anon

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>>1234713
keen eye, spec wise,they are almost identical,the same reach, repeatability and rated payload (6kg) the yellow one can move faster, but the grey one, can use more of its work area by having a greater range of motion. the yellow one also weights 100kg more

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>>1232637
, the servos are all there, its just missing the best part, the harmonic gear w/ crossed roller bearing, which the boss looted so he could use it in his robot training class. i kept fucking with it, so i had to keep reloading the the rollers into the bearings, but now i got a system. , not having the controller is very problematic, which is why they gave it to me in the first place, main being getting the proper parameter files (such as distance between joints and range of motion). basically the cost of the controller w/ servo amps + that gearbox and bearing , i could buy the robot that i want instead

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>>1231378
i want to use the joints to make a rotary table trunion or some shit, servos and their precious cables will be used for the table and other projects. it looks like i can use my chinese servo drivers and fanuc redcap motors by taking the fanuc encoder signals through linuxcnc and turning them into hall effect signals. as for the bodyparts, maybe i will big kevin rape/cut them
>>1230892
>and an emergency shutdown button?
i got an f stop button
>a fake sperm pump
i was gonna use the pump for piss pump but it could do both i guess


>still consuming resources

>>1230820
You can pick up an old R-J2 controller (one from the 90's) for like $300 if you troll ebay for a few months.

I got the floppy disks to reload its OS if you need, (use serial port transfer from a PC)

Also got the manuals but I think they are leaked online so just dl the pdf.

>>1230878
It's beautiful.

What do you do with the motors and other parts?

I'm just jealous that you have a $20k industrial robot to play with

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>>1232444
AHAHAHAHAHAHAHAAAAAAAAAA!

>>1230820
>theres no way my dad will let me keep 2 robots in his garage
what's wrong with him? One on either side of the vehicle would be a cool wash and wax op

>>1231138
Fairly new to /diy/, but as a 4chan resident that started with /b/, what fag would cry about this? This is the stuff that keeps me coming back! Bravo, robo-anon, bravo. Keep up the good work,

what job does one need to randomly acquire industrial robot arms anon?

>>1235571
Well for one,
robots.com
I actually got to tour the place. It was the coolest shit. All they do is repair old arms.

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>>1230878
You're using the wrong end effector, boss

https://learn.adafruit.com/silicone-robo-tentacle/done?view=all

>>1230878
>the fucking motor says '69'

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>>1237513
fuck tell me about it, it get it back from rebuilder and it has this on it,

>>1230878
This is in your fathers garage?

just so you know, i archived this shit just right next to that bikini thread from /soc/, OP

>>1238091
>that bikini thread from /soc/
???

>>1230878
HAHA HOLY FUCK YOURE STILL ALIVE!
Howd the sexbot work out, have you put it to use yet?

>>1235568
It only takes one, and you'd be surprised how many times you'll see "No sex toys!" or "Take it to /k/." I said something a lot like you said a couple of years ago, and as crazy as it sounds a lot of guys on here DIDN'T start on /b/; they're just regular Joes that don't really know what site they're on.

I leave town for two weeks and it turns out 6-axis guy is back with more ebic bread. Long live /diy/.

>>1238091
>i archived this shit

This isnt 2007, you dont have to go to the archive and manually vote to save threads anymore.
They automatically archive on the satellite sites

>>1235198
https://m.youtube.com/watch?v=8MXiwObTU34

>>1230851
Cut your fucking lawn

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>>1238925
I actually want to make a mini-ChokeBot using syringes and medical tubing for a cosplay of kreiger...but that might be more actuation points than I can get with the control scheme that I was thinking of...

>>1237510
looks like the FESTO trunk
https://www.youtube.com/watch?v=SKJybDb1dz0

and if he wants an end effector
https://www.youtube.com/watch?v=ZPUvA98uSj8

>>1232444
AWESOME

say, how would you like to take a segue into fetish robotics?
I'm not saying we need a Fister Roboto in the world yet.

but one thing I've wanted to make and just accepted that I'd never make with a digital control unit is a machine for beating my submissives.

pic related is the closest I've ever seen

variable swing-speeds
self-adjusting heights
variable angles
a randomizer for the above
lap-top control
possibly a small hand-held remote and a trigger button

and while I know it's still basically Sci-Fi I've wanted to make one.

as to other less specific fetishes OP, you might go check out the House of Gord website...he had machines for all kinds of weird sexual shit.

>>1235523
These things can be found in the Bay of E for ~$2000 all day.

>>1232439
Such as shame that these things always end up to be destroyed by people that don't know anything about them.

>>1239247
>house of gord
Can't believe it's been 4 years already since Jeff died.

>>1239247
im positive it could be used to beat subs, just depends how bad you want to beat them
>check out the House of Gord
good. i will throughly inspect it
>>1239038
they started just cutting around it
>>1240359
cycloidal gear ill break it just to spite you

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grease diarrhea

>>1241750
Jesus, what size set screw/plugs/whatevers are those things?
Need a 3 pound allen wrench and a hammer

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fatass hollowbore gearbox

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>>1241754
12mm, i didnt want to go get it so i left them in, they are just hardstops for the axis so i dont really need to take them off

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this is where the motor mounts, so we got a big ol spur gear reduction to a fatass cyclo gearbox with some nice lookin roller brearings

>>1241058
he died before I'd ever heard of him...

>>1241109
>just depends how bad you want to beat them
between "light enough to not leave a mark" and "hard enough to almost draw blood"

the machine in that pic has an arrangement that looks like a small starter motor and flywheel gearing arrangement on the armature, and it doesn't complete a rotation at full speed. it does a half rotation at a time at full speed and then completes the rotation to the reset position at a very slow speed.

Fanuc, lol, that means faggot https://www.youtube.com/watch?v=uPJDwWrWjFA