Hey, it’s been a while since we last updated! We ran into a few issues. First, I underestimated the amount of flex in a chain drive system. We were going to use a chain final stage to direct drive the axes, but it is way to bouncy. Second, I seriously underestimated the amount of torque required to direct-drive the axes. By a factor of 10. Unit conversion error.
So it was back to the drawing board. We took the linear actuators from the V1 frame and had some 3/8″ brackets cut to hold them on the frame:
The arms mount together with a custom shaft and bearing pack assembly:
And then came assembly! Here’s the yaw arm, mounted in the basement:
And the full assembly, all put together:
How rigid is it, exactly? *Almost as good as we want it. The bearing assemblies have a little too much deflection. We’ll fix that in the next revision.
And finally, here it is moving (it’s controlled by a joystick in this video):