2020 Arm Existing Specs
dof: 5dof
weight: 14kg
reach: ~1m
arm type: polar articulated
actuator type: gearbox brushed DC, linear actuator bicep
transmission type:
- turn table: worm drive
- bicep: direct
- elbow: worm drive
- wrist: worm & mitre gear drive
- claw: screw drive (no ball bearings)
largest number of gears per transmission: 7 in the wrist (all 7 gears are controlled with 2 motors, 2 axis are depended on each other not good for the tolerance stackup)
primary material type: laser cut 6061 aluminum
primary bearing material: bronze bushings (this is fine for the elbow but less ideal for motor shafts; rpm too high)
encloser: 3d printed flat covers, otherwise none
wire management: none
pcb location: all boards on bicep
sensors:
- blackfly camera on wrist
- absolute encoders on each joint
biggest issues with current design:
- backlash is everywhere - worms are not very precise or designed poorly
- front heavy - motors can be moved back to the elbow
- allen key is jank