Quote:
Originally Posted by DampRobot
As affirmed by JVN and other designers from teams like 148, 111, and 254, balancing an arm or elevator increases it's speed while decreasing current draw. The less weight that must be overcome by the arm/elevator, the faster it can be geared. While it's not too difficult to slow an arm down, it's very hard to speed it up. As the drivers (and software) adapt to the higher speed, performance benefits will become apparent.
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The bigger advantage of course is that if you reduce the load your motor needs to lift, you can use a less powerful motor to accomplish the task at the same speed. 148 (and 217) have used a single globe motor as our shoulder joint in years where many other teams are using a CIM or 1 or 2 FP motors...
The weight of the arm is (reasonably) balanced, so the motor just needs to lift the weight of the game object.
-John