In 1999 when we purchased a machine with a Fanuc 15MB control I had to sign DOD documents certifying citizenship of the owners and obligating the company to notify DOD when/if the machine was moved to another address for whatever reason and if the citizenship of the owners changed for any reason. This was to allow the importation of the control from Japan. The 15MB control was the control used on nuclear subs at one time and is a 28 axis control. I don't know if the DOD keeps up with the address of 15MB controls anymore, if ever, but the one at MPM is still there.
On Sun, Jan 3, 2021 at 12:43 PM Chris Albertson <albertson.ch...@gmail.com> wrote: > Here is a drawing of the current hydraulic technology (right side) compared > to an earlier version (left side). As I wrote before it is an "integrated > design". It is obviously very expensive but is about the only way to get a > machine this size to be able to jump off the floor and perform at this > level. > > If you have played around with Fusion 360 you might recognize the > "Generative Design" This is "The Future" even for automotive design. The > design on the right has not flat surfaces or right angles and not a gram of > wasted material. Autodesk has a video where engineers are using these > organic-looking designs for things like seat mounting brackets. See the > link after the photo. > > > > < > https://www.autodesk.com/solutions/generative-design?mktvar002=3461051%7CSEM%7C621448559%7C27870611085%7Ckwd-205949788845&ef_id=Cj0KCQiA88X_BRDUARIsACVMYD99FJ4Ab5XZnzWyfTTu7quOpeqXuxV8TTOq2HNDZ9TcGdaOtavK9_IaAt7TEALw_wcB%3AG%3As&s_kwcid=AL!11172!3!330171926107!e!!g!!autodesk%20generative%20design!621448559!27870611085&mkwid=sNqhnYviC%7Cpcrid%7C330171926107%7Cpkw%7Cautodesk%20generative%20design%7Cpmt%7Ce%7Cpdv%7Cc%7Cslid%7C%7Cpgrid%7C27870611085%7Cptaid%7Ckwd-205949788845%7Cpid%7C&utm_medium=cpc&utm_source=google&utm_campaign=GGL_DM_FOMT-Generative_AMER_US_Visits_SEM_BR_NEW_EX_ADSK_3461051&utm_term=autodesk%20generative%20design&utm_content=sNqhnYviC%7Cpcrid%7C330171926107%7Cpkw%7Cautodesk%20generative%20design%7Cpmt%7Ce%7Cpdv%7Cc%7Cslid%7C%7Cpgrid%7C27870611085%7Cptaid%7Ckwd-205949788845%7C&gclid=Cj0KCQiA88X_BRDUARIsACVMYD99FJ4Ab5XZnzWyfTTu7quOpeqXuxV8TTOq2HNDZ9TcGdaOtavK9_IaAt7TEALw_wcB&wvideo=ojai185r4j > > > > What is Generative Design | Tools & Software | Autodesk > < > https://www.autodesk.com/solutions/generative-design?mktvar002=3461051%7CSEM%7C621448559%7C27870611085%7Ckwd-205949788845&ef_id=Cj0KCQiA88X_BRDUARIsACVMYD99FJ4Ab5XZnzWyfTTu7quOpeqXuxV8TTOq2HNDZ9TcGdaOtavK9_IaAt7TEALw_wcB%3AG%3As&s_kwcid=AL!11172!3!330171926107!e!!g!!autodesk%20generative%20design!621448559!27870611085&mkwid=sNqhnYviC%7Cpcrid%7C330171926107%7Cpkw%7Cautodesk%20generative%20design%7Cpmt%7Ce%7Cpdv%7Cc%7Cslid%7C%7Cpgrid%7C27870611085%7Cptaid%7Ckwd-205949788845%7Cpid%7C&utm_medium=cpc&utm_source=google&utm_campaign=GGL_DM_FOMT-Generative_AMER_US_Visits_SEM_BR_NEW_EX_ADSK_3461051&utm_term=autodesk%20generative%20design&utm_content=sNqhnYviC%7Cpcrid%7C330171926107%7Cpkw%7Cautodesk%20generative%20design%7Cpmt%7Ce%7Cpdv%7Cc%7Cslid%7C%7Cpgrid%7C27870611085%7Cptaid%7Ckwd-205949788845%7C&gclid=Cj0KCQiA88X_BRDUARIsACVMYD99FJ4Ab5XZnzWyfTTu7quOpeqXuxV8TTOq2HNDZ9TcGdaOtavK9_IaAt7TEALw_wcB&wvideo=ojai185r4j > > > > On Sun, Jan 3, 2021 at 10:18 AM Chris Albertson <albertson.ch...@gmail.com > > > wrote: > > > They obviously get BOTH. They have high precision positioning and > enough > > power to enable the 80 kG machine to jump off the ground. I read an > > interview where they said the hardest part of the design in the > > computer-controlled valve. It was perfected over a 12 year period. > They > > started with aerospace hydraulics, the kind used for airplane control > > surfaces then made their own. But Atlas is older, from 2016. Their > newer > > robots ("Spot" the yellow dog in the dance video) are using BLDC motors > and > > reduction drives. > > > > Atlas really is Hydraulic. In fact in the dance video, you can see oil > > under the feet that is trampled into the floor. Atlas is known to > "bleed" > > red fluid. Atlas has 28 hydraulic actuators and a battery-powered > > pump. Here is a definitive answer: > > > > > https://spectrum.ieee.org/robotics/humanoids/how-boston-dynamics-is-redefining-robot-agility > > > > In both cases however you don't see the typical motor bolted to frame > > construction. They are an integrated designed where the frame is the > motor > > housing and also the frame is drilled out for plumbing or to make a valve > > body. Every bit of metal has multiple functions > > > > Here is another short video with a little bit of text to explain how they > > do the control part. It's the software that is the hard part here. > > https://youtu.be/_sBBaNYex3E > > > > > > > > On Sun, Jan 3, 2021 at 1:48 AM Nicklas SB Karlsson <nk@nksb.online> > wrote: > > > >> If controlled by hydraulic valves efficiency will be really bad but > >> maybe dynamic response could be really fast. > >> > >> If not controlled by hydraulic valves efficiency could however be good > >> then correctly designed but there might be problem to get high precision > >> control. > >> > >> > >> Den 2020-12-30 kl. 20:22, skrev Chris Albertson: > >> > Altas is hydraulic. It has 28 hydraulic actuators and one > >> battery-powered > >> > pump. The battery is 3.7 KWH size They say it runs for about an > >> hour. > >> > So he is burning 3.7 Kw The robot would heat a good size room. > >> > > >> > The yellow dog "Spot" is 100% electric with custom BLDC motors, 3 in > >> each > >> > leg. > >> > > >> > > >> > On Wed, Dec 30, 2020 at 5:19 AM Les Newell <les.new...@fastmail.co.uk > > > >> > wrote: > >> > > >> >> I saw this shortly after it came out. At the time I wondered if they > >> >> were using hydraulics on Atlas. At one point you can see what looks > >> >> suspiciously like some liquid was spilled on the floor. Looks like > one > >> >> of the robots sprung a leak during testing. > >> >> > >> >> Incredible motion control. They've come a long way since Big Dog. > >> >> > >> >> Les > >> >> > >> >> On 30/12/2020 02:20, Chris Albertson wrote: > >> >>> Just when I think I am beginning to understand the basics of > >> controlling > >> >>> motors, PID and MPC controllers, someone has to prove I don't know > >> >> nothing. > >> >>> This is the best demo of 28-axis machine programming I'm ever seen. > >> >> (yes, > >> >>> 28) "Atlas has one large battery-powered motor and 28 hydraulic > >> motors > >> >>> with encoders. The movement is controlled by a kind of g-code > >> giving > >> >>> the target locations then Atlas does his best to get there. > >> >>> > >> >>> This is I think to date the best display of machine motion > programming > >> >> ever > >> >>> https://youtu.be/fn3KWM1kuAw > >> >>> > >> >> > >> >> > >> >> _______________________________________________ > >> >> Emc-users mailing list > >> >> Emc-users@lists.sourceforge.net > >> >> https://lists.sourceforge.net/lists/listinfo/emc-users > >> >> > >> > > >> > > > > > > -- > > > > Chris Albertson > > Redondo Beach, California > > > > > -- > > Chris Albertson > Redondo Beach, California > > _______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users > -- Addressee is the intended audience. 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