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Re: Balancing an Arm
Quote:
Originally Posted by akoscielski3
How do you counter balance an elevator??
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We also have used constant force springs with success.
Our 2011 elevator was 2 stages, with a main raising section and a "trolley" that had the roller claw mounted to it. To offset the entire weight of the elevator/roller claw, we needed to counterbalance both stages of the elevator.
To do that, we used one spring connected to the main raising section with the other end of it connected to the robot frame. We then used another spring that was mated to the frame of the main raising section with the other end connected to the trolley on the 2nd stage.
Because the weights of each stage were different, we used two different force springs. The springs together offset about 75% of the weight of the elevator. Like 33's, our elevator also shot out sideways if you turned it on its side.
Even without the weight being totally offset, the springs enabled the elevator to be faster, easier to position with PID and overall just more effective.
-Brando
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