Hi,
Thanks for the amazing instruction! My build of AR3 is almost finished. However, there is a backlash problem on J2. Here is the video: https://photos.app.goo.gl/NFMZ6KbqRHfPEMBD8
The J2 spindle are 3D printed by PETG with 90% infill. The backlash makes the robot shaking quite a bit when I jog J2.
Is this amount of backlash normal? Or do you have any suggested method to fix this? Thanks a lot!
Hello, that is fairly typical of the backlash in the J2 gear motor. Some of that could also be in the key shaft depending on how tight of a fit your printed parts are. The backlash is a little more than the spec sheet lists. With the arm in compression or lifting a payload it should not be an issue for accuracy.
@chris-annin Thank you Chris! I found that if the J2 jog angle is small, say 10deg, the arm shaking is obvious. When the jog angle is large, the movement is smoother. Maybe the trajectory generated for a short motion is jerky. Later I will investigate how to generate a jerk bounded motion.
I'd installed overall structure of AR3, it seems really significant backlash under J2. I'm tried to find the solution and notice an interesting approach.
I'm facing very great challenge to install J2 motor, so I not gonna to remove J2 motor and try above method. Someone if feel interested may try above method to remove backlash in J2?
