Quote:
Originally Posted by Mike Marandola
Maybe the shafts holding the small pulleys are deflecting. What kind of belts/pulleys are you using?
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VexPro HTD. We had considered switching to a different tooth profile, but I am not sure if belts/pulleys are available that wouldn't require us to remount the gearbox at a different location. Remounting should be possible, but is currently a challenge with the holes already in place for this mounting and the clearance holes for shafts/bearings.
Quote:
Originally Posted by Travis Schuh
Some thoughts on solving this problem is you could go to wider belts and larger belts, or switching to something like #35 chain (hopefully combined with larger sprockets). You could also try motion profiling your arm to reduce the loads on the belt when lowering the arm.
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Wider belts is an attractive option, we actually have spares of those pulleys (18T & 36T) and I wonder if simply doubling up on belts on either side might help.
As for controls, we tried a trapezoidal ramping function in combination with PID but couldn't get good motion out of it (usually the I term would build up too quickly while the voltage ramped up). PID is critical for us because we need to be able to hold the arm steady for our ball-intake position. Motion profiling might be a better option, though it would be new for us.