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Re: helix
I guess how you have the shaft driven really depends on the motors your using and the space you have. 1766 made a robot in 2007 that was a direct drive system and it worked great. The only problem was that we had about a 1 inch clearance in between the two motors. If you don't have room for it, there really isn't much loss in using gears. One suggestion is to mount the rotating center on a bearing so that the downward force isn't being applied to the motor. I know this might seem like common sense, but I've certainly overlooked things like this before. So far, I've gotten lucky. But I've been trying to not push my luck.
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