Solar Rover #3 - 3D Printed Brushless Gearbox

thanks to simplisafe for sponsoring this video right now they're having their best sale of the year more info on that later so this is video number three of my autonomous solar powered rover project the first iteration used little brushless gear motors that were clearly not robust enough the second iteration was an experiment with 3d printed cycloidal gearboxes that worked fairly well but they were built around brushed barbie jeep motors which were pretty inefficient for the latest version my goal was to improve efficiency and maneuverability for this i decided to go with 5010 brushless motors and bl heli esc's set up for bi-directional control the control fidelity with this combo is just about as good as you can get with hobby parts i also wanted to design a new 3d printed gearbox because while it might not be the most practical option it's definitely a fun challenge and it's really cool to see how 3d printed drivetrain components hold up after months of use when designing these parts i was definitely prioritizing speed over quality i wouldn't say it's a design i'm super proud of but it seems to work out really well in the end with a few tweaks the final gear ratio i ended up with was 359 to 1. this gearbox can actually accommodate an 866 to 1 ratio but that ended up being too slow so i decreased it by increasing the size of the gear on the motor all the gears use this herringbone v-shaped tooth design which helps keep them aligned and it's supposed to reduce noise but this thing is incredibly noisy so i'm not sure if that's actually true everything was printed on my cr-10 with a 0.8 millimeter nozzle and sunlu pla plus the design uses a ring gear on the inside of the wheel hub for the final reduction stage the benefit to this is that you don't have to transfer power through a shaft there's more leverage if you turn the wheel from the outside this eliminates components that experience high torsional stress which can be really significant when this thing is skid steering the downside to this design is that the final stage is difficult to enclose so it's susceptible to getting jammed by debris this would be a much bigger problem if the rover was driving on rocks and dirt but it's only going to be used in grass so i decided to give it a shot thankfully i was able to reuse the wheels for my cycloidal version so i didn't have to print new ones it's definitely over tuned with these new motor drives they respond so much faster than the old brushed motor drives that i need to turn the steering games down a lot at first the tuning was really bad and it took me a long time to get it driving half decently [Laughter] this thing might even be noisier than the 3d printed tank i'm now seeing what is probably the biggest design flaw with this new gear drive design and that's that the gears um both this external one and the the internal gears are already getting caked in grass that's probably going to cause it to self-destruct after a while so it's about three hours later and it's still moving i am definitely starting to be able to see the outline of the waypoint mission in the in the grass let's see how the gears look in there oh wow they are very just caked in organic matter that doesn't look too great got some slugs on the wheels yeah look at that that's not great looking i don't know why i assumed this would work yeah it's just mashing all the grass in there into like a pulp despite being caked with grass there's hardly any rolling resistance in the gears which is really surprising so uh this seems like a big problem but it doesn't really seem like it's panning out to be a big problem stuff is spinning really easily it's a new day last night i attuned to the steering control loop a bit more so i'm just gonna let it go all day again i'm very impressed with how the artie rover code handles being in hold mode whenever it doesn't have enough voltage from the sun my arduino that's in there puts the autopilot in hold mode basically just meaning it does nothing it stops driving and even after being in hold mode all night long right as the voltage raises in the morning it just starts driving again right where it left off it doesn't even lose the current waypoint that it's at just keeps going so it's probably been out here with these new gearboxes for about a week at this point i changed some of the compass offset settings and now it's driving much straighter it's kind of partly cloudy today and it seems to be getting enough energy from the sun for about a 50 percent duty cycle of on time versus off time charging so not bad it seems as though these uh gearboxes pull about one amp less than the cycloidal versions but it drives faster so it's both faster and more efficient so definitely an improvement they're still kicked full of grass but that doesn't seem to affect it at all so i installed some little led current displays um one in between the battery and the esc's and another in between the solar cells and the battery so we can actually see how much power the solar panels are giving the battery solar panels are giving 1.5 amps on a cloudy day and the motor is drawing what looks like to be an average of probably 2 amps so on a cloudy day at noon we're just shy of being able to get all the power we need to run continuously from the sun for whatever reason it seems that slugs are attracted to the wheels which is really unfortunate because they just turn into lubrication when the rover starts driving at this point the rover was still tuned very poorly and i thought it might be because of the gps offset or compass interference so here i was experimenting with different positions none of that worked so i'm kind of bummed because they started mowing part of the field and i think they're gonna mow all this part too and i was really looking forward to after a few months of the rover driving around it'll just have like a big indentation figure eight packed down in the grass and everywhere else will be super tall but hopefully it grows back after they cut it you can't really see the figure eight from here right now but it's definitely much more packed down where the rover's been driving than everywhere else it sounds much better these days probably because there's so much grass and slugs in the gears i really can't believe that this drivetrain has lasted as long as it has it's also still having some navigation issues obviously it sounds like there's finally been a failure what's happening oh it just dug itself a hole but that wheel isn't spinning and it should be so let's see if i lift it out of its hole why why isn't this wheel spinning it's just bound up it's seized wow that one's been scooping some dirt that's a nice big hole that motor is just seized up it's hot so there's current going through it okay well i'll take it home and see what happened this thing smells like livestock i guess that's just because it's got so much smashed grass all over it okay i'm about to take this cover off for the first time whoa it definitely has like the same type of residue that's on the inside of lawn mowers oh it's crusty i wonder how many slugs are mushed into this mixture so this is the gear that's bound up and i want to know why wow oh that does not look healthy these teeth are just i mean this is kind of what i expected but i just i guess i expected the grass to smush down more but these gears are just kind of rolling on each other not really meshing together no they're they're meshing together just not as much as they should i'm actually surprised the teeth aren't gunked up even more than they are it still looks like it it's operatable which makes sense because it was operating earlier today the size of these teeth is pretty coarse uh they can you know chew through quite a bit wow and then inside here it's just caked oh that's disgusting there's probably so many slug guts in that look at this oh yeah oh gross this is like compost wow whoa wow there's mycelium growing on it i'm growing mushrooms in my rover that's awesome it's just dirt it's this grass is just composted into dirt there's so much chunks the gears definitely don't look straight that could very well be why they pound up this i think i just made cow poop it's this stuff literally just smells like cow poop it's the exact same compound like it's just chewed up grass like literally that's all it is okay i think i just hit some slug guts because this stuff on my fingers smells really really bad it smells like really poopy so i figured out why it seized up this yellow gear right here welded itself or fused itself to the red surface behind it and you can see here on the back side of the gearbox you can just see the gear through that layer of pla so it just got hot i think it just filled up with grass and then they started rubbing and fused and also that gear in there that smaller diameter gear looks pretty torn up i think what i'll do is i'll reprint all these gears and then clean everything up put it all back together and then just design better covers that really kind of enclose the gearbox more so that this doesn't happen again just gonna let all this stuff soak and hopefully a lot of the organic matter will kind of dissolve so i just opened up the second gear box and it's not nearly as bad for some reason the gear teeth aren't as packed with grass there was a full-blown stick wedged in this one right through that gear crazy that these things still worked i also started having problems with the center parts of the gear hubs breaking at first i tried gluing them back together and reinforcing the area with starbond ca but ultimately i ended up redesigning this part to be more beefy i printed some new gears that were looking pretty fresh and installed them in all four gearboxes i also made some adjustments to the housings so that they are now fully enclosed except of course for the big ring gear and the wheel hub so this is the first drive with the new fully enclosed gearboxes well i guess they're only partially enclosed because the uh gear that's on the underside of the rim is still out in the open but that one didn't seem to be as much of a problem last time it is a lot noisier with these new gears the old gears that were packed full of grass definitely suppressed sound a lot more i can't even hear myself talk right now we got a wheel that's falling off looks like it's the same problem that i noticed before um that wheel hub part broke it's still driving fine though that's impressive just three three wheel drive i wonder how long it's been going like this can't be more than a few hours because i was out here yesterday so i just put a new gear hub on there and now the rover's heading back out to the waypoint mission so it's a completely sunny day and the rover is driving non-stop so it's definitely getting a hundred percent of the energy it needs from the sun i did notice a problem earlier where one of the gearbox axles was coming out i think it was this one here so i put some tape over it um hopefully it won't come out anymore although it looks like it kind of is protruding so i need to push that back into place i'll have to come out here with some glue or something and really uh lock it in there but yeah other than that all is well [Music] there's almost always a rise in break-ins during the holidays and that's why simply safe is having their best sale of the year right now my roommates and i live in a slightly sketchy area and banji decided we needed better home security so he built a facial recognition nerf ball launcher that autonomously shoots any burglars intruder intruder intruder intruder intruder intruder freeze put your hands where i can see them wait stop come back suspect is uncooperative target acquired engaging target turns out he's a better software engineer than mechanical engineer so we decided to get simply safe instead simplisafe brings home security into the digital age with a network of wireless sensors around your 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the field and it looks like the gps mast got broken off somehow which is really strange i don't know what could have done that there's also no gps on the end of it so that's super strange like there's no poles or anything around here that would have hit that mast maybe it was like a deer or something a coyote i don't know very odd there's no indication that it like ran into the the kind of dirt wall on the edge of the field or anything like that so what a mystery so it's the next day i just replaced the gps mask and i'll let it run again overnight it really seems like these giant banana slugs are attracted to the gears for some reason there's a bunch of them all in the gears they willingly oh that one just fell they willingly crawl i don't what do you call what does a slug do how does it move it doesn't crawl they willingly slide up into the gears so weird i designed a new gear hub with a beefier center section that seemed to prevent them from breaking i replaced them one by one as they would break there's a random wheel sitting here another broken gear hub three wheels are spinning one wheel's not this thing just broke off and it made it quite a ways before getting stuck all right i replaced the broken gear hub and now we'll just let it keep going until the next one breaks well that doesn't sound right i'm not exactly sure what's going on here but it just randomly started making that noise august 27th still going we made it to september yeehaw september 4th it's now september 10th i just switched out the old frankenstein 3 cell 32 amp hour lipo with an life po4 battery from rely on they make awesome life po4 batteries for all sorts of applications and these are nice because they're safer than lipos they're not as likely to blow up and they all have built-in bms's with over charge and over discharge protection and cell balancing so this rely-on battery will be a much better fit for the rover since it's just living out here in the field and it needs to be reliable and safe to not start a brush fire i'm actually surprised at how well the lipo was working before this there was no cell balancing going on at all this charger is just a straight input dc charge controller and the cells pretty much never went out of balance so i guess that's purely just luck or just coincidence that the cells are really well matched in their internal resistance but anyways this rely on life po4 battery will be a much better option for the rover so this is what i'm using from now on it's now september 28th and in the battle between the grass and the rover the grass is winning it's gotten a lot longer now we've had a lot of rain recently so there's been a lot more moisture and the vegetation is kind of growing back before it really dies out for the winter and the rover hasn't been driving as much because the sun is pretty low in the sky now and the days are a lot shorter um it gets dark pretty early and it gets light a bit later so it's the next day september 29th and the rover's actually driving when i got here it's about 11 a.m but it's only going to get worse as the year progresses and the days get shorter so we need more power and i have a plan i'll give you a hint it involves ailerons boom wings the solar plane v3 has since been retired and i still have its wings so i figured instead of just sitting in my closet i ought to put them to use and i built a janky little trailer to go on the back of the rover and pull them around i'm definitely not proud of the quality of this trailer but i am proud of the fact that i built it in under an hour it's just pieced together with a bunch of crap i had laying around some old free-fly movie parts that i pulled out of the dumpster some foam wheels no bearings just 3d printed bushings pretty amazing hillbilly engineering at its finest although a little more classy because of the carbon fiber i can tell there's definitely a huge surplus of energy now because at one point i unplugged the battery and it just kept driving so the solar cells are producing probably over a hundred percent maybe even 200 of the power that it needs to drive so that's great we should be able to charge the battery and drive through a lot of the night now i'll have to come back late at night and see if it's still going or early in the morning and even see if it's still going that would be awesome but anyways this trailer is great yesterday afternoon i had this idea and then this morning i implemented it so that was a quick turn prototype right there as far as the electrical connection i just put these wings in parallel with the two panels that are on the top of the rover there's probably a voltage difference between the two panels so i just put diodes in between each one um i don't think it really matters that much i don't we're not going for absolute peak efficiency here so whatever i've got the geneson gv charge controller in the rover so it should be able to handle up to 10 amps of charge current i don't think we're quite there but a lot more amps than before that's for sure now the real question is will it survive the elements probably not stay tuned to find out oh it just cracks me up that my rover has ailerons that's so good oh no it's the next day and uh the rover did a wheelie that's no good huh it just got off course a bit weird so i freed the rover and zip tied the gps mast back on it had broken off and now we're back in business i heard there's actually a solar storm going on recently so that could have caused a greater than normal gps position error and led to it getting stuck in the bush over there not sure it's the next day october 1st 10 am and the rover's not moving and the escs are beeping which means it hasn't moved for at least the last 10 minutes or 20 minutes or so this goes to show that the wing solar panels aren't some magical infinite power source it's a kind of a foggy overcast morning and obviously they're not getting enough power to drive right now which is not entirely surprising but i am still hoping though that these will give enough power for it to drive on a cloudy day because ninety percent of days here in the winter are cloudy so i'm not entirely sure but there's a good chance that even though it's cloudy today it'll still get enough power to charge back up and eventually start driving let's see what do we have here oh looks like we got some condensation on the inside of the plastic that's no good that little red light right there once the battery charges up to it's um above its low voltage threshold that'll turn green and then it'll start driving that guy better move before it starts up ah busted it's later the same day the sun's out now and i've caught the rover coming into these bushes again it's also making a really strange noise now definitely sounds like something is rubbing in one of the gearboxes look at this it's drifting over into the weeds again the tracks over here it's going way over there what the hell today has not given me a whole lot of confidence in this thing to keep going um i wouldn't be surprised if there was a gearbox failure here pretty soon because of that noise that noise that rattling noise actually just kind of went away oh now it's back oh yeah it's back but it looks like all the condensation from inside the solar panels is gone so that's good it's now october 5th still going strong october 7th it's a cloudy day we're probably only driving for about 50 percent of the time today i was hoping the wings would give it enough power to drive continuously on a cloudy day but doesn't seem to be the case definitely better than before though it's october 8th high noon and the rover's driving 100 of the time it's not that much uh less cloudy than it was yesterday maybe there was some sun this morning and the battery charged up a bit i'm not sure wow looks like we just got too far off course and now it's stuck in the tall grass high centered damn i just gave it a winch and now we're free it's october 12th there's a lot of condensation in the solar panels because it was raining all weekend but now the sun's out and the rover is running non-stop these gearboxes seem to have self-healing powers seem to be working perfectly fine now no weird sounds or anything it's october 13th and it's super windy today i'm glad the wings haven't blown over they're kind of lifting up and moving around though oh looks like one of the ailerons blown in oh no the wind blew the wings off this is crazy it actually broke the trailer this whole tube clamp just i got it tied back together with some string and tape hopefully that doesn't happen again there's no trailer where'd it go damn it fixed it we're back up and running it's october 15th all is well oh looks like it's stuck again oh yeah it definitely dug itself a hole there might have got caught on this blackberry vine it was totally this fine it grabbed the rover right there by the gearbox in between the frame and the gearbox after i got it unstuck yesterday it hadn't moved as of this morning but i just put a fresh battery in it and now it's up and running again the gearboxes are now making some weird noises after being stuck for a while probably because they kicked up a bunch of dirt and uh little pebbles that are now kind of lodged in there it's october 21st all seems well it's october 26th first time i've been out here in a while and i got here the river was running that's awesome it's october 27th we got a little bit of sun and we are cruising the trailer makes the funniest squeaky noises i swear the entire waypoint mission has shifted to the south by like 10 feet it totally used to go right here and now it's going way out there that's weird yeah it's you can totally tell and this is i've been noticing this for the last month or so it's not new like the rover's right there you can tell it's been going there because the grass is all packed down but then over here where it used to go the grass is growing again that's really weird it's like there's some gps position drift over time although i don't think that happens it's october 28th and it looks like we finally had a catastrophic failure this gear motor seems to be broken the wheel's not getting any torque upon further inspection it looks like this motor is just not spinning um the gear the drive train the gearing is all still working it's actually back driving the motor right now which is pretty amazing that it can do that with such a low gear reduction but that means there's an electrical connection with this motor so i need to figure out what's wrong it's friday november 6th the rover's been in my garage all week i was uh waiting for a new esc to come in the mail and i finally replaced it and we're back up and running i just put a fresh battery in there so we should be running all day november 11th cruising right along november 12th still rolling it's november 16th it's really rainy and dreary today so i charged the battery it's november 17th and it's really windy today trailer flipped over once so i just put a weight on the bottom of it not good trailers falling apart okay i cut the trailer loose so i'll come back later and attach it it's november 18th and we're still cruising with no trailer i put a fresh battery in it today there's a broken wire on the trailer from when it flipped over in the wind so i need to replace that oh no the rover sank it sank in the grass wow oh yeah looks like it might have gotten caught on a blackberry vine and then it dug itself a hole also the test field is getting really wet and soggy this time of year so it's kind of like a marsh out here so i just put a fresh battery in it and pulled it out of the hole it should start driving again in a sec all right guys perfect timing but this uh kind of highlights a problem that i mentioned before which is the waypoint mission is slowly over time drifting south um it got stuck in that vine that's kind of outside of the south boundary of where the waypoint mission has been and it's continually drifting further and further so really strange it's november 20th i just put a fresh battery in it november 23rd i just charged for the battery it's november 25th and it's so pretty it's december 1st it was sunny all day it's not driving now but the esc's are not beeping which means that it was driving a little while ago so i've had my big 32 amp hour lipo in it for the last few days and when i got here this morning it was at like six volts so it had been over discharged last night probably because it was freezing cold so i'm gonna try and revive that lipo but right now i've got a new battery in it so it should run all day today it was pretty sunny two days ago it wasn't sunny yesterday it's not sunny today but the grass looks pretty packed down so it must have been driving two days ago when it was sunny anyways it's moving right now how neat is this i think this uses bing map data and you can see the imagery data so that means it's probably no more than four or five months old or so today everything is just wet i don't think it's driven at all today until now i just swapped out the battery um so it should dry for the rest of the day as long as the ground doesn't turn into a swamp and swallow it it's december 11th and i charge to the battery i noticed that one of the gearboxes is stripped out it's currently three wheel drive but that doesn't seem to matter at all it's still driving just fine that wheel is still getting a little bit of torque but it can still slip the rest of the wheels are all still going strong this thing has survived far longer than i initially expected it to with it being winter time the solo rover is not really a solar rover it's just a rover and i'd rather not spend my life just swapping out batteries all the time so i think i'm gonna take this home today and open up the gearboxes and see how they look so i connected the flight controller to mission planner one last time to see if there might be any clues as to why the rover's path was shifting south ever so slowly it looked like over time the compass calibration had got worse or maybe its physical position was changed a bit i'm not sure but you could definitely see that there was a difference between the rover's actual heading and the heading that was shown on mission planner i think this is probably the reason why the rover's path was shifting to the south it wasn't actually a gps issue just a compass heading issue i am pretty bummed that i'm kind of calling it quits even though the rover's still driving just fine but this can't go on forever so i feel like i just euthanized my dog so now we'll see how the rover held up to all those months in the field one of the cool things that i noticed was that the tire treads went from being layered plastic with little layered grooves in it to just smooth plastic it just got worn down and smoothed out over time and the tops of the treads in some places almost look like an injection molded part the frame got pretty rusty that's no surprise because i didn't coat it with anything it's just raw steel there's tons of grass seed and just all sorts of field debris all over the rover some of the steel bolts got pretty rusty the motors are covered in gunk a lot of the silicone wires got sun bleached none of my bearings got too messed up but a lot of them seemed to get pretty rusty there was mouse poop on the frame so mice must have been crawling all over it at some point the rover was kind of like its own little ecosystem some of the grass seeds that got lodged in the frame even started to grow there's some sort of worm slug kind of creature shoved in the dirt there on the tire one of the escs showed some corrosion i'm not sure if that's under the epoxy that i put on to waterproof it or if it's over the epoxy but i'm surprised it still worked the pivot point and the articulating frame still works fine a little rusty but that's all right now let's take a look at the drivetrain so this is the outer ring hub gear from the wheel that stopped working it really looks fine seems like it has a lot of life left in it the drive gear for that stage looks a little bit more worn down that's expected because each tooth sees more action because there's fewer of them on the inside there's quite a bit of gunk so that goes to show that even though i kind of sealed off these gear boxes they weren't really sealed there there was enough holes for stuff to still get in there probably mostly just like grass and seeds and stuff like that they got ground up and kind of turned into powder but a lot of the gears in there look fine on this particular gear that failed it's clear that it was just the smaller diameter gear portion of the the orange gear here there's this weird kind of squishy powder residue that was uh left on the walls of the gearbox it's really strange i don't know what that it must just be like soggy powder soggy ground up grass powder i don't know but the rest of the gears in that same gearbox really look fine they look like they have quite a bit of life left in them so i'm not sure why that one failed it probably just got caked full of too much stuff and then wore down here's another ring gear it also looks pretty fine which is really surprising because these are the gears that were exposed so they were just constantly getting debris in them and then they would just chew it up and spit it out i guess inside of this gearbox everything looked pretty fine all the teeth were very intact looks like i definitely could have kept on running there's some debris in there but it didn't seem to have a huge effect on it even the motor gear didn't even look that worn down even though it was experiencing the most rpm here's the third ring gear it also looks fine but those ones are also experiencing the least rpm the drive gear for that looks a little more worn down for sure you can kind of tell that the teeth have gotten sharper over time and there were indications that the wheel was rubbing on the gearbox cover as you can see right here on the inside there was clearly a lot of grass now on this fourth gearbox the ring gear actually split down the middle but it was still working when i stopped the rover so maybe the herringbone gear design was kind of holding the halves together now this drive gear looks pretty bad but it was still working at some point it must have gotten some rocks or just harder debris stuck in there because the teeth are pretty chewed up and worn down in places and then inside that gearbox this gear right here like you can tell that the teeth are much sharper like it wore down a lot so that's interesting it was still working though and then this one was also still transferring torque but a lot of the teeth are like more than half gone so that would not have lasted very much longer i don't think but the motor gear in that gearbox looks fine the teeth were definitely smoothed down a lot like the layers got erased it looked more like injection molded parts the motors look pretty gunked up but that doesn't matter at all they still work fine there's just a lot of powder in there from the gears smashing stuff up and spitting it out it even kind of looks like there was a little bug that lived in the stator at one point it left a little web cocoon kind of thing wouldn't that be an interesting place to live there's something really satisfying about pushing these 3d printed drivetrain components to their breaking point i find it really interesting to see how they wear down over time and what parts fail first it's really great feedback for my next project that might use 3d printed gears or motion components whatever that might be there will be a link in the description to the stl files for the gearbox but i'm not really sure that i'd recommend building it because it's really prototype-esque and i didn't really put a ton of time into polishing the design so here's a little diagram of the rover's electrical system for those of you interested basically you have the solar panels connected to an mppt controller that charges a battery just like you would expect and then the battery is wired into the esc's they go to the motors so we have an arduino nano here that is used to measure the battery voltage and based on that measurement to determine whether the flight controller should be in hold mode or auto mode so when the battery is low the arduino tells the flight controller to be in hold mode so the rover will not drive and the battery will not get discharged anymore and then once the battery charges up and surpasses a certain voltage the arduino will say okay flight controller you can go into auto mode now and then it'll go into auto mode and the rover will start driving now you could write code for the arduino that spits out an s bus signal and that would bypass this s2 pw mixer and go directly into the flight controller but i didn't want to have to deal with that and i'm not very good at writing code so i used this s2 pw mixer thing that basically takes just normal servo outputs from the arduino using a servo.h library and converts those channels i think it was just one channel in this case just the gear channel so channel 5. converts that into an s bus signal and then the s bus signal then goes into the flight controller so that's all there is to it pretty simple just an arduino pretending to be an rc receiver telling the flight controller when to go into hold mode or auto mode depending on the battery voltage so that's all for this video thanks for watching bye

Channel: rctestflight

Views: 413,135

Keywords: solar, rover, ardurover, autonomous, waypoint, ardumower, rctestflight

Id: QVep9iSXVeo

Length: 36min 42sec (2202 seconds)

Published: Tue Dec 15 2020

Reddit Comments

[u/Dosinu]

watching this, fucking blows my mind the engineering involved in mars perseverance

[u/dragonman4444]

Slugs are lubricant

[u/AgCat1340]

Daniel's channel and projects are so fucking cool. I watched all of his videos over the last winter. I wish he was more active but hey, he comes up with some really awesome stuff.

[u/ArchDukeCich]

Didn’t think I’d watch 35 minutes, was awesome

[u/Avery-Inigo]

If you think this is cool you should check out his boat videos!

[u/_Reddit_Newbie_]

I've loved this series, always that thought if automous farming or a swarm of small robots all moving seperatly, cool projects! Really like this channel.

[u/BavarianBarbarian_]

Omg when it keeps driving after one wheel broke off

I was really surprised how long this construction of PLA kept moving.

[u/3_34544449E14]

I've lost so much of my life watching this guy's videos and I don't regret any of it. Fantastic stuff.

[u/intashu]

Wow! Genuinely suprised that PLA held up that well to being exposed that long, let alone driving gears that regularly with basically mulch/snail lubrication!

Didn't think I'd watch the whole thing but I did!