Thanks for the response Nicholas,
There are still some details I have to improve, as my design is not final yet. I think I will forget about the pulleys and will use gears instead. I think it is easier to increase the reduction with gears than with pulleys and bands. It will also reduce the vitamin count as they can be printed.
One thing I didin't fully understand is why going away from the Annirak drive will make more complex the equations. I see yours are very easy cause both arms are equal length and the offset from the base and the offset from the tool point is the same, so that reduces the complexity. On my idea the arms are different and there is only one offset from the tool point, that can be easily programed as an addition to the final point needed. Well, I thik I have to show you the numbers.
See you later.
There are still some details I have to improve, as my design is not final yet. I think I will forget about the pulleys and will use gears instead. I think it is easier to increase the reduction with gears than with pulleys and bands. It will also reduce the vitamin count as they can be printed.
One thing I didin't fully understand is why going away from the Annirak drive will make more complex the equations. I see yours are very easy cause both arms are equal length and the offset from the base and the offset from the tool point is the same, so that reduces the complexity. On my idea the arms are different and there is only one offset from the tool point, that can be easily programed as an addition to the final point needed. Well, I thik I have to show you the numbers.
See you later.