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Originally Posted by Holtzman
AndyMark
Great looking stuff. The traction wheels will be a huge time saver.
I'm a little curious about the CIM planetary though. 181:1 seems like a pretty huge reduction. ~ 25 rpm is pretty slow even for an arm. Would it be possible to remove one of the stages to reduce the amount of reduction in the planetary? If so, that would make this a very adaptable design, and definitely something worth looking into, especially since you can use a FP planetary and a CIM planetary in conjunction.
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Thanks for the feedback and question.
There are 4 stages of the CIM Planetary. 1 stage could be removed if the external (ring) gear was simply machined down to be shorter.
181:1 is a middle-of-the road reduction for a arm movement on a FIRST robot. 25rpm is almost 180 degrees rotation in 1 second. That is moving pretty quickly. Last year, on the TechnoKats robot, the arm reduction was 406:1. This arm could lift a tetra from the floor to above a goal in a bit over 2 seconds.
Regards,
Andy