Joint Transmission
Bill Chennault
Posts: 1,198
All--
Some of you have expressed interest in the progress of my robot joint transmission. Essentially, it is complete. I still have to figure out the set screw/keyway or set screw/roll pin issue, but the transmission is up and running perfectly (no load) with set screws.
These three pictures show the miter gears and the motor mounts, which are just quarter inch aluminum plates, each of which is attached in six places (two on the transmission mounted bearing block and four on the gear motor). It is rock-solid.
There is no detectable backlash in the transmission.
From the top (no motor mounts or transmission cover plate and the motor shaft has not been cut to length) . . .
Top view with cover plate and side motor mounts . . .
From a side· showing attachment detail of one of the motor mount plates . . .
The flat washers are present because those particular holes in the bearing block next to the optical encoder are shallow and a half-inch screw is too long. I will get some 0.375" screws and replace those two and the two on the other side.
The square hole and one just like it on the other side provides connectivity to the optical encoder. One side is power for the LED and the other side is quadrature output. (128 counts per revolution.)
The next picture(s) will be of either the connector to the foreleg or the connector to the thigh. (Obviously, this is a knee joint transmission.) When the foreleg and thigh connectors have been constructed, I will take everything apart and take some finishing swipes with a face mill.
I believe this one--at least during testing--will be driven with an HB-25 via a Stamp of some variety.
--Bill
▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔
You are what you write.
Some of you have expressed interest in the progress of my robot joint transmission. Essentially, it is complete. I still have to figure out the set screw/keyway or set screw/roll pin issue, but the transmission is up and running perfectly (no load) with set screws.
These three pictures show the miter gears and the motor mounts, which are just quarter inch aluminum plates, each of which is attached in six places (two on the transmission mounted bearing block and four on the gear motor). It is rock-solid.
There is no detectable backlash in the transmission.
From the top (no motor mounts or transmission cover plate and the motor shaft has not been cut to length) . . .
Top view with cover plate and side motor mounts . . .
From a side· showing attachment detail of one of the motor mount plates . . .
The flat washers are present because those particular holes in the bearing block next to the optical encoder are shallow and a half-inch screw is too long. I will get some 0.375" screws and replace those two and the two on the other side.
The square hole and one just like it on the other side provides connectivity to the optical encoder. One side is power for the LED and the other side is quadrature output. (128 counts per revolution.)
The next picture(s) will be of either the connector to the foreleg or the connector to the thigh. (Obviously, this is a knee joint transmission.) When the foreleg and thigh connectors have been constructed, I will take everything apart and take some finishing swipes with a face mill.
I believe this one--at least during testing--will be driven with an HB-25 via a Stamp of some variety.
--Bill
▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔▔
You are what you write.