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Hello. What a great job! But I always have a question. I found that the backlash of the normal planetary reducer with 50 reduction ratio is about 25arcmin, and the total length of ar2 and Ar3 is 620mm. As the second joint is used in this kind of reducer, it is found that the end positioning error should be about 4.39mm by calculation. Why do you make ar2 and Ar3 with an end positioning error of 0.75mm?
I would like to know that as well, I get the same value when doing the calculation.
The AR- robots have very good repeatable accuracy. I just complete a 30 hours of part changing operation with my 3D printed AR2 taking finished parts in and out of my CNC mill. Pulling finished milled parts then Installing new stock without skipping a beat! Total awesome! Having said that there are many factors that can contribute to the repeatable accuracy, reach, speed, weight in gripper....
Thank you. It doesn't seem to be a problem . AR-Robot is a very good design