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HaddingtonDynamics / Dexter

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Eliminate mechanical Hysteresis / backlash #7

Open JamesNewton opened 6 years ago

JamesNewton commented 6 years ago

Although the ultra precise encoder system used in each joint removes all backlash during operation, mechanical issues during calibration of the encoder disks can remain, causing slightly uneven motion and minor non-linearity in positioning.

We have assumed this is caused by the belts so perhaps we need to go back to Kevlar belts? Dual belts?

But it may be caused by the harmonic drives when they are exposed to side loads. The Cycloidal Drive ( see #6 ) may remove this issue.

Or perhaps the Motors shifting because the screws aren't exactly the right size?

JamesNewton commented 3 years ago

Kamino cloned this issue to HaddingtonDynamics/OCADO