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Originally Posted by midway78224
How can we get the best linear speed. Whats the best ball squeeze. We have a 2 inch squeeze although it work well for us we could never hold more then 2 balls because it would jam. Any suggest.
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If the linear speed of your harvester at the contact point matches or exceeds the max speed of your robot's drive, you should have no problems. We used a quarter inch to half inch of compression throughout our collector/conveyor system. Essentially what you want is enough compression that you can reliably grab balls, including within reason any balls with deformities, and no more. Any additional compression is just putting unnecessary load on your motors, which can stall them. This stalling of your motors could be what you are observing as jamming.
We ran the 180ish watt FPs with 1 16:1 planetary gearbox on them to drive our 2.5 inch diameter rollers. At about 1000 rpm free speed at 2.5 inches, it exceeded our robots max speed of about 10 ft/s.