Hi Simone, yes the robot has 6 stepper motors with planetary gearboxes. Not sure if will be released after is finished, for the moment is still a project in development.
Hello Alpha, thanks! Those are Nema 17 for axis 1, 2, 3 and Nema 11 for axis 4, 5, 6. They use planetary gearbox. There is no plan for the moment to share the files, project is under construction.
@@ZeroBacklashRobotics are the motors integrated with planetary gears ? Or are you adding the planetary gears 3D printed ? One , 2 or 3 stage ? What’s the gear ratios ??
Hi NRP056, The way I approached, I started with a simple calculation taking into account the desirable payload x2, the geometric length of each joint, and the approximate position and weight of each motor. When distances are fixed, the design starts around that backbone. All is 3D designed, every single component has the right material and density. After this is done, a more advance calculation with dynamic motion is needed, to fine tune the best torque selection for each motor. Manufacturing and easy assembly play also an important role during the whole process. Of course this is not a straight forward process, there is always up and downs and redesigns, but you can have an idea.
@@ZeroBacklashRobotics Thanks for the answer, it's a really good insight. Im not really good with planning and all the math in it. Im always use the trial and error method this time, wich if i wanted to upgrade more, it need to be stop and start to use method while creating something. Thank you very much.
