Quote:
Originally Posted by thatprogrammer
I have heard a few whispers that you run custom sized shaft in order to help achieve such precision. Is this true?
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Yes. Every hex shaft in the 3 gearboxes that matter is custom sized to be about 4 thou oversized. The gears are a light press fit on the shaft.
We also run the first reduction as a well tensioned chain run. The chain has negligible backlash when well tensioned. You do need to tension it enough such that it doesn't go slack under acceleration and deceleration, or you add nonlinearities back into the control loops again...
Apparently you can do similarly good things with a soda can as a shim, or some other thin metal. We haven't tried that ourselves.