Quote:
Originally Posted by Kevin Sevcik
Jason,
I don't think I specifically declared it above, but our arm design is fairly well inside BB's 35 ft-lb spec at about 8 ft-lbs, and we're still slowly failing our gearbox due to the shock loading I mentioned above.....
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Ahh, I'm not surprised... either that you did a good design job, or that the little BB is getting beat around, depite that. I hadn't really appreciated the magnitude of the shock loading on the gear shafts until we built a mecanum drive machine and were trying to tune the PID loops for wheel speed with the robot sitting on blocks and the wheels spinning freely. As we slammed the motors from full forward to full reverse we hammered and hammered away at the gearbox. You're probably right that a warning about repeated impact loads should accompany the overall torque load.
It actually sounds like the fact that your system worked through a regional but is showing signs of wear is a sign that you designed it perfectly... after all, if it isn't overloaded, it's overbuilt!
Jason