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POST No. 2408080
MX12W backslash in arm disposition
2021-09-19 04:35:22 SantiCapo

Hi!


I am using 3 mx12w motor, one coupled to the other in arm disposition (see image). When we move, say the second motor, the first one moves too beacause of backslash. This did not happen to us with the ax12a model. Is there anything we can do to counter this backlash from one motor in the others?


Thanks in advance!


Santiago



 

2021-09-19 04:35:22
SantiCapo
2021-09-23 17:07:56 Will Son

Hi Santiago,


Looks interesting! Thanks for attaching the picture. (Two thumbs up!)


The MX-12W is originally designed for Wheel type application so it has much lower gear ratio than AX-12A.

This lower gear ratio will introduce some backlash when used for joint applications.

You may try adjusting the PID gains so that it can hold the position, but this may not be an ultimate solution.


Also installing the 2nd DYNAMIXEL closer to the first module may be effective as this will decrease the inertia of the total system.

Modifying the 1st - 2nd joint structure similar to 2nd - 3rd joint structure will have lower inertia.


Thanks!

2021-09-23 17:07:56
willson