@Annirak: So with a Wally-like arm drive you get near constant driving torque. With a PGDJ (Proportional Gear Drive Joint) you get a constant driving force on a line of action through the arm ends.
Breaking the proportionality of a GDJ (Gear Drive Joint) could be advantageous. This is my basic idea for a one arm SCARA. The steppers would be stationary and would drive the arm in a way that is roughly analogous to a hbot. (Don't pay attention to my string placement. I just slapped some lines on the diagram to give context.)
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@bluscape: I think I am out of beta test slots for Wally and Simpson. However, I haven't asked for money yet so I am bound to have a few openings in the near future. Give me your email at http://conceptforge.org/. All offers for beta slots go through that mailing list. (A Kickstarter is roughly scheduled for mid-December.)
Breaking the proportionality of a GDJ (Gear Drive Joint) could be advantageous. This is my basic idea for a one arm SCARA. The steppers would be stationary and would drive the arm in a way that is roughly analogous to a hbot. (Don't pay attention to my string placement. I just slapped some lines on the diagram to give context.)
@bluscape: I think I am out of beta test slots for Wally and Simpson. However, I haven't asked for money yet so I am bound to have a few openings in the near future. Give me your email at http://conceptforge.org/. All offers for beta slots go through that mailing list. (A Kickstarter is roughly scheduled for mid-December.)