Quote:
Originally Posted by Mike Schreiber
Is there anything special you're doing that I'm not seeing? Looks like math center-to-center distances - no tensioning. Does this reduce lash significantly compared to spur gears in the first stage? Aside from over-sized hex, what else are you doing to remove lash from the system?
Awesome robot - as always.
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We don't do any tensioning on our first stage belts, it is what you have described. I don't think there are huge backlash savings based on having a belt vs gear drive on that stage, because the backlash at that stage is greatly reduced as you go through the reduction and the tooth to tooth backlash is minimal. There is also the added benefit of belts being quieter than gears at these speeds, but that is more of a nice to have.
Most of our backlash reduction comes from eliminating hex backlash. We also do the standard run as large a chain reduction as you can on the last stage, and then keep this chain tensioned well. Going forward we are going to be using #35 whenever we can for these reductions to avoid stiffness issues, which also helps with the controls.