Subject:
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Re: Backlash in Lego Gear Trains
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Newsgroups:
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lugnet.technic
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Date:
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Tue, 9 Jan 2001 18:24:24 GMT
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Viewed:
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662 times
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One other solution I forgot, that I have used with some success for Mindstorms:
Make your device smart, so that it keeps track of its own backlash and
compensates for it. I made a device that did this. It would keep track of an
estimate of how loaded the teeth were, and it would run the motor for an
extra amount of time if it was needed to remove slack. For example, if you
are building a plotter, the software would translate motor run times from
something like this:
10 forward
10 reverse
10 reverse
pen down
1 forward
1 reverse
to:
10 forward
12 reverse (10 + 2 lash)
10 reverse (10 + no lash this way)
pen down
6 forward (1 + 5 lash due to load)
6 reverse (1 + 5 lash due to load)
This method can be combined with all of the other methods to fine-tune out
the last of your backlash problems.
-Amnon
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Message is in Reply To:
 | | Re: Backlash in Lego Gear Trains
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| (...) backlash (...) You may find some answer in a post where I explained how Paolo Masetti won the line following robotics contest during Italian Legofest IV. One of Paolo's robot key feature was the reduced backlash in the steering gear train. (...) (23 years ago, 9-Jan-01, to lugnet.technic)
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