Devlog #6

So i have just finished assembling the arm and making all the gears, motors and joints properly now

what I have done:

• fixed the shoulder joint by removing the belt completely, now it runs on a 1:1.5 spur gear reduction

• I added the stepper motor so now the arm can rotate by its base, allowing it to move in 3d

• I redesigned the gripper since the old one (finray style gripper) was too weak and couldn’t pick things up. this new gripper is a rack and pinion gripper that is much stronger

• I have connected the SMPS power supply and now every motor can run on full power

• I have connected the website to the esp so now my slider control works and is accurate

But there are still some problems:

• the backlash of all the joints add up, which means the end effector wobbles too much.

• My coordinate control still isn’t accurate

So before shipping this project, I will fix the coordinate control code so that it is now accurate. The backlash is a separate problem that I dont think ill be able to solve in time.