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    Paul
    Mar 31, 2019

    Extending J2 Arm

    in Questions

    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!

    2 comments
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    Paul
    Mar 31, 2019

    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.

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    Chris Annin
    Mar 31, 2019

    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.

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    2 comments