I’ve built a much more robust setup for testing cube torque, but now I’m running into some new problems.
The IQ control motor I’ve been using the turn a cube layer seems to be a bit under powered for some of the cubes I’m testing, and especially when I try to turn cubes slowly it stalls. I’ve also noticed that even when it is completely free running at slow speeds it isn’t totally smooth:
I’m concerned that this will produce artifacts in the data because the uneven turning by the motor will be transmitted to the force sensor.
So I’m going to modify the setup for a much more powerful (and more expensive!) ClearPath servo motor. (https://www.teknic.com/products/clearpath-brushless-dc-servo-motors/) Luckily I have one of these lying around from another project. This motor should be powerful enough to tear apart any cube I put in the machine.
Kommentare