about 5.8 Nm of torque reliably during testing the drive slipped when i applied a
17Nm load. When I examined the drive i found the wave generator was not
forming the flex spline correctly I upgraded the drive to use 2 608 bearings but still not working as good as i hoped. After a bit of research i found a better wave generator design using a elliptical plug and a thin wall bearing the challenge was to design it in CAD then print it after a few tries I had a wave generator that worked at high speed and wouldn’t slip. My test drive is not up to the task of
testing so I need to reprint the whole thing again . Instead of using a gear motor I want to use a Nema 17 stepper motor and fit the encoder in the side. Below is the steering actuator from omni_bot2
Below is my latest wave generator, the flex spline is printed in nylon and is holding up well the print quality is bad with the teeth being a bit smaller then they should be
very nice idea to use a nema motor with encoder
ReplyDeleteThank you i hope to have a working version soon
DeleteYou are making excellent progress and it is helpful for people to read your blog to discover more about how robotics work.
ReplyDeletenice! Do you also have CAD files and codes available?
ReplyDeleteI will release files for the final version that will be some time away as
DeleteI don’t have that much time for this project. You can look at the source for this project at http://www.thingiverse.com/thing:20177
Hallo Peter,
ReplyDeleteFYI: http://www.ros.org/news/2014/10/announcing-package-for-the-schunk-servo-electric-5-finger-gripping-hand-svh.html