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Re: We only need half of this right?
We did that on our input arm. MiniCIM into a 30:1 VP, into a 20 tooth pinion mated with a 64 tooth gear on the arm. The miniCIM + VP is very close to shearing a tooth at stall. When you backdrive the mechanism by dropping the arm on top of a divider with the weight of the robot, it shears teeth before backdriving.
Our solution is a lot of work for me. We're switching to steel 10DP gears, that I have to machine down to the same face width and with a versakey pattern. If that doesn't work, we're switching to a set of the same steel gears I'm leaving at the full 1" face width. That should move the failure point to the output shaft itself.
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