Of course, one actuator, no matter how pretty all by itself doesnt make a robot arm. The only tricky part is aligning the stub axle for the side, plate and screwing it into place, and there we have it a completed actuator for the robot arm. The cover pushes on and is followed by the second side plate and bearings Music. At this point to help guide the cycloid into place Music, its a bit fiddly, but the cycloid goes in just fine and its followed by the other drive rods. The other cycloid gets a bearing and ill insert one of the drive rods. The side plate and bearing pop into the main housing again Music and then the main axle can be inserted through the cycloid bearing and screwed into the axle on the motor Music. Bearing is popped on top of it, a smaller bearing goes into one of the cycloids, which can then be pushed into the main housing Music. This allows me to fit both cycloids in nicely and gives me more stability, where the drive sits on the base, lets print out the parts and put one together ill start by attaching the axle to the motor with a set screw and pop in the bearing and Axle into one of the side plates, the stepper motor can then be screwed into the side, plate Music and the large. As you can see, ive also increased the width of the drive. This increases the torque and decreases the amount of backlash in the system. The first is that ill now be using two cycloids instead of one theyre offset 180 degrees from each other and ive found. The video where i designed it up in the corner im going to use the same design but with a couple of small changes. I made this drive before its a 20 to 1 reduction and its powered by a nema 17 stepper motor ill link. They give me a nice balance of size and torque and theyre virtually backlash free.
I finally settled on using cycloidal drives to point the joints of the arm. To find one that gives me a balance of torque precision and back drivability in a compact package.
Ive been experimenting with all these different types of robot arm actuators.
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