2021-04-30 Meeting Minutes - Arm - Final Concept

Axis 1

Medina's concept with the low profile bearing and belt drive.

• plan for further reduction via cycloidal gearbox or planetary gear-set or something else
• where is encoder mounted?
• tensioning?
• spec high quality bearing

Axis 2

Cycloidal drive + belt drive

• prototyping! metal, little value in 3d printing
• belt drive after the cycloidal drive
• back drive-able

Link 2

2 sides, symmetrical (not necessarily same pieces) space for transmission

• space for a cycloidal drive in the middle of link to power A3
• belt from cycloidal drive to A3

Axis 3

Cycloidal drive

• with belt
• see Link 2

Axis 4

Cycloidal drive

• Coaxial with L3 & L4 motor behind A3, long shaft to get the rotation.

Axis 5 & Axis 6

stacked on top of each other

• both axis motors on the inside of the L4
• L6 inside/ontop of L5
• Miter gear inside of L5 to drive A6
• Belts from motors go into L5 for both motors

Link Lengths

 l2 : 500mm

l3: 500mm

L5/L6: negligible, as short as possible