Stabilizing Joints

I realized that the motors powering joints 3 and 4 were very badly supported and also cantilevered, which would result in the motor’s internal bearing taking all the load and possibly breaking. I had to redo it, and the first change I made was adding a plum coupler to take the load off of the servo’s internal bearing. I then added 2 more bearings to actually support the load, but once I was done with the first version (see the second picture) I realized it was too big, which would increase the reach but significantly decrease the lifting capacity. So, I redesigned it to be offset from its pivot, which would allow the motor to be mounted on the other end of the pivot (see third picture) and also shorten the arm. I also had the same cantilever problem on joint 4 so I changed it to support the shaft from both sides (see fourth picture). I then assembled everything in CAD and it ended up weighing around 930 grams, which isn’t terrible. Anyway, next time I need to:

• Make sure everything can be physically assembled
• Make a wiring diagram
• Update the BOM with all the components for wiring and links

Thanks for reading!