nicholas.seward Wrote:
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> @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.
Well, you said it better than me. I remember that was the whole issue that I tried to solve with the new arm design. (in fact, that is not an issue on the original Annirak drive, as it also has constant force but not constant torque.)
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> @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.
Well, you said it better than me. I remember that was the whole issue that I tried to solve with the new arm design. (in fact, that is not an issue on the original Annirak drive, as it also has constant force but not constant torque.)