Hi Chris,
Huge fan of your work and have been working hard on making some updates to the robot.
You have mentioned in a few posts different upgrades you are working on for the AR2 (bigger motors & a bigger version).
It would be really interesting to hear a roadmap of what you are working on and a (very) rough time line of when they might be completed.
If your not comfortable sharing all good!
Best,
Paul
I had trouble with the chain too. I ended up upgrading to a timing belt and pulley.
As for encoder I didn't use any on the AR2, however I'm building a new robot that uses magnetic encoders and haven't selected the ones I'm using. This is my version of the AR2 that I made. https://www.youtube.com/watch?v=tcFbzyTCwVU&feature=emb_logo