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Originally Posted by RobotsThatWork
Ok then if the plates are the same, don't bother making another configuration. Not worth the effort.
Also, is there an advantage to putting the encoder on the gearbox itself? I feel like putting it on a wheel shaft yields more accurate information for coders to determine stuff like distance traveled, etc. since its reading how much the wheel has turned, which directly determines how far you are moving. no math involved(which leads to slight inconsistencies with whats expected vs. whats actually happening). Thoughts?
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The only issue with mounting it on the output shaft is that its often more difficult to get a secure mounting that wont wobble or come off (ie look at our 2015 robots drivetrain encoder). Of course there has been some talk of using a follower wheel so that it accounts for slipping, but not much research has been done into that.
What has been done, however, is mounting a small 3d printed gear on the back side of the output shaft, between the piston and the gearbox plate. Taking a look at the CAD, you seem to have enough room on the shaft itself, but depending on the mounting, the encoder might end up very close to the ground.