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Nice Arm
There is some really cool stuff in that arm if you look at it closely. Output shafts for some functions are also being used as idler shafts for others. This leads to nice packaging, but requires a lot of forethought so that the chain lengths work out properly (I don't see any hardware for adjusting chain tension, is there any?). Nice job!
We have always used a sliding middle joint on the Bobcat because it is easier to control, but the rotating middle joint does give you more flexibility. Your drivers (and programmers) will just have to be careful with the CG.
As for the specs - they seem to rely on the stall torque of the motors. In order to actually move stuff and avoid tripping breakers, the loads will have to be somewhat less than the ones quoted. Still looks like there is enough torque to get a lot of stuff accomplished though!
Great Job! Hope to see it up close at one of the competitions.
Good Luck,
P.J.
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