Roshan 12th June

The problem with the mechanical arm was due to the weight of the steel rod used to guide the Z axis arm is very heavy(high inertia). Therefore the existing stepper motor could not provide enough torque to rotate the rod and the alignment has to be 100% precise. Therefore instead of changing the motor to provide a higher torque which would require the driver circuits also to be changed, the steel rod was replaced to reduce the inertia and thereby reduce the required torque.
With this new configuration the mechanical arm works, how ever the speed is quite slow since the threading is quite closely placed in the rod.

Things to be done in the hardware portion
Increase the speed of the movement of the arm via software
System integration and callibrating to move the Z arm without collision with the terrain

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