Questions for Fraser Robinson

What are optimal linkage lengths for the robotic arm?
How did you optimize the payload to weight ratio?
What was the reasoning behind using worm gear in the end effector?
Are you familiar with the iteration of the arm design where belts were used? If so how did the belts perform and why were the belts removed in the following iterations?
Why were bushings used on the motor shafts instead of bearings?
Why were differentials used?
What are your thoughts on using a tubular approach for the arm frame?
Any recommendations on dealing with backdriveability of the cycloid/planetary drives used in the current arm design? How would you prevent the arm from “flopping around” when it is in its rest position?
Has there ever been past discussion on integrating motor brakes?
How was the weight distribution on the arm calculated
How was the arm prototyped? Was there a prototype created?
How did you do the torque calculations for each joint of the arm?
Are there considerations for the arm that you didn't think about initially and later realized you missed?
If you could design the arm all over again, would you do anything different?
What made you select a 5 DOF arm instead of a 6 DOF arm?

University of Waterloo Robotics Design Team