2 ms·
Thank you for your reply. Proper servos with high torque are quite expensive. I wanted to keep the project under a certain amount to scale it. With the spring
by rq1 4y ago
Thank you for your reply.
Proper servos with high torque are quite expensive.
I wanted to keep the project under a certain amount to scale it.
With the springs to compensate the static loads (gravity) I can use weaker servos but I didn’t yet completed the “sensitivity table” of the generated angular momentums.
Yes indeed, the ~10arcmin should represent something like 5mm at about 1m distance.
Plus the ~30mm of the 1.8deg/step again at 1m or 3mm with 10:1 gearbox.
I thought I could tackle it by using more expensive parts (but weaker) at the end part of the arm for instance and write a software to orchestrate all the 6motors together.
I didn’t know about the harmonic drive I’ll look into it.
Thank you again for the references.
- Youden 4y agoThe proper industrial stuff can be quite expensive for sure. IIRC I paid around $400 per motor in total. You might be able to get a better deal on used motors/drives though. But steppers won't necessarily save you either, because that torque specification only applies to full steps. Harmonic drives are great but unfortunately quite expensive. What you might want to do is go cheap on most of the components and add a decent-ish encoder and use software to compensate for the imprecision. CUI's AMT series of encoders is widely available and comes with up to 14-bit resolution. I believe this can be a pain in the arse to get right but it sounds like you're comfortable with maths so it might work well for you.