Thread: control system programming
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Unread 23-06-2002, 22:13
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#0047 (ChiefDelphi)
  
Join Date: May 2001
Location: Pontiac, MI
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Clever Software is no substitute for Rigid Hardware
Posted by Joe Johnson.   [PICTURE: SAME | NEW | HELP]


Engineer on team #47, Chief Delphi, from Pontiac Central High School and Delphi Automotive Systems.

Posted on 3/2/2000 9:03 AM MST


In Reply to: Re: control system programming posted by Mike Gray on 3/2/2000 8:29 AM MST:



I think you are in for some real problems if the difference in motor speed is enough to bend your arm out of shape.

As a team that has had two motors driving 1 arm from different sides of the robot for 5 years now, I have a LOT of experience in this area.

Our standard has always been that, in such cases, the mechanism between the motors/gearboxes must be able to tolerate the motors driven in OPPOSITE directions without damage. I will admit that at times we have had machanism that didn't particularly LIKE such treatment, but never any that would suffer any permanent deflection (at least not by the time we were done with them).

This standard has served us well.

If you are having problems with the simple differences you have from the manufacturing tolerances of the motors, what are you going to do when one side of the arm catches on the goal or when some other robot loads one side of your arm or if you overload your motors and one motor's breaker trips slightly before the other?

Clever software is at best a band-aid to cover lack of rigid hardware.

I may be wiser to remove one of your motors and use the weight to stiffen up the hardware on your arm thus allowing the load to be driven from one side.

My advice, for what it is worth.

Joe J.



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