[Adama]

Originally Posted by Qbranch

ok.. unfortuantely i dont have any pictures of that part of the robot. but i can give you some details.

the cims are mounted facing toward the left and right sides of the robot and have a #25 chain sprocket on them running to another sprocket to achieve a 2:1 ratio. this sprocket is on a keyshaft that has several ball bearings on it since this shaft has a good number of pounds on it (around or a little above 100 i believe). the shaft has another cim/chain/sprocket combo mounted on the other side as a mirror image.

On the shaft there are four timing belt pulleys and one larger timing belt pulley to run to the shaft encoder that the servo routine uses for feedback (the elevator moves too quickly for a human to control). the other pulleys run to the very long lengths of timing belt which run the extension of the elevator, ours is a triple-extension arm, if you need explanation on that part i can give one.

we would have used the belt pulley right there on the cim.... but its next to impossible to find that 3mm pitch or whatever it is timing belt. there's places that have it, but its used in many products apparently so they arent too interested in small quantity customers.

-q

thanks