Hi Chris,
I'm thinking of extending the J2 arm. As I'm hanging it it should reduce the weight so I am hoping that the motor can handle the additional strain from the increase in length.
Before I start work on it, I wanted to check in with you to get your feedback.
GamePlan: I am going to start with the model for the J2 arm and extend the middle section so I keep the existing dimensions for the existing motors.
I am also considering trading out the chain with a timing pulley & belt and potentiality adding in 1 or 2 tensioners.
1) Am I right that you would update the variable in the "Calibration" tab for "DH a-2 (link length") with the increased J2 length and that would then flow through the software?
2) If I am inverting the robot how much concern would you have about hitting the strength/holding limit for the J2 motor?
3) And are there any tips that you think might be of help to approaching it?
Thanks as always!
Hey Chris,
Follow up question. I've been looking into pulleys and belts but was wondering if I was overlooking something as to why I might not use a belt vs. a chain for Axis 2.
Hi Paul. I think you will be just fine to execute the plan you have lined out. I have never inverted the AR2 but I dont see why it would be an issue. You are correct on the a2 parameter being the one to change if you lengthen the arm. I think you could use a belt if you select a strong enough one, initially I tried an LX series belt that was the same width as the J5 belt but it had too much stretch. You would need to find a belt that will not stretch under load.
