Ooops... good point. Ouch. I guess I'd have to redo that robot design from that guy, by adding some gearing and different steppers... Hmm... But still, do we wanna have a SCARA robot or an Articulated robot?
Cheers -lev
On Monday, January 31, 2022 9:59:05 AM WET Luke Kenneth Casson Leighton wrote:
On Mon, Jan 31, 2022 at 6:38 AM David Lanzendörfer
leviathan@libresilicon.com wrote:
Hi everyone In all the designs for wafer transfer robots, I've seen so far on YouTube, they're horizontal only, with one linear actuator for changing the z-axis.
I think however, that this design here is better, because we can also use it to load wafers into machines, which don't have horizontal loading: https://www.thingiverse.com/thing:1838120
What do you think?
check the gearing, step-accuracy, and torque on the servos. TowerPro MG995 https://www.towerpro.com.tw/product/mg995/
are you happy with the possibility of the servos juddering under load, and possibly bashing the wafer against the place it's supposed to be delivering it?
11kg/cm might sound like a lot until you realise that the very first of the servos might be 30 cm away from the end of the arm, in which case that's only 11/30 kg of lifting force == 330 grams and i'm pretty sure it'd be more than 330 grams just for the arm itself once motors are in (the MG995 is 55g alone).
look closely at the design there and you'll see there's no gearing: those servos are direct-drive.
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