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Re: shaft couplers
Cotter pins are the best. I made 694 use them so many times when set screws and keys failed.
On one of our old robots, there were some old gearboxes with threaded output shaft. They used tapped couplers to connect to smooth shaft. I thought that was really bizarre, but the tap + set screws made a really solid connection that was a total pain to remove.
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You can't fix something that isn't broken... but you can always break things that aren't fixed!
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