DEVLOG 002 – Worked on J3 (joint 3) and fixed issues with previous designs
Today was heavily focused on working on the third joint. I was originally going to use a closed-loop servo, but due to a better deal I found for motors, it would be easier to use the extra stepper that comes in the bundle of three rather than not using it. I also decided to use a 6:1 gear ratio, which bumps up my torque to around 2.52 NM which is plenty. My biggest struggle was trying to decide how I was gonna connect the stepper to the joint. I originally intended to use a HTD belt and pulleys, but after further CAD and more research, I determined that they would be bulky and take up more space than what is available. After more research, I decided to use a 1:1 pinion gear ratio to get the job done. This worked perfectly for the space that I was given. It also should be very efficient in transferring the force. I also was able to make the bracket to mount it, but my only issue is that the manufacturer of the planetary gearboxes did not give where the mounting holes are, so I will have to measure them and add holes whenever I physically get them.
For fixing old mistakes was mostly that I was really unsure how to properly mount a planetary gearbox, but I fixed that issue on joint 2. That was practically it for old stuff to fix (EVEN THOUGH THERE DEFINITELY IS MORE)
LAST THING: I finally figured out how to start properly logging hours. It is sad though because I have lost around 4 Hours due to these issues, even though I can show the compiled time-lapses on lookout. It’s all good though. At least it is figured out. That is everything CHEERS