Devlog #3

So now i have printed all the parts and assembled the arm up to the wrist, but a few problems prevented the arm from moving properly.

• The gears at the elbow are slipping when under load and also the shafts supporting them are not stable.

I think I can fix this by locking the two shafts together and using wider M2 gears.

• The belt at the shoulder is also slipping under load.

I think that i just need the gears to be bigger so that they can tension the belt better.

• The elbow joint servo doesnt have enough movement to drive the whole elbow 180 degrees because of the gears.

I messed up this part because i was supposed to buy the 270 degree servo not the 180 one. Ill be waiting for the 270 servo to arrive.

Aside from those problems I have written code so that I can control the servos by angle and not PWM pulses.

The base of the arm works fine, Ill be controlling that as soon as i learn how to control a stepper motor.

For now I have redesigned most of the arm to fix these problems, but as i wait for the servo and all the parts to print, ill try to work on a web that can control the arm.