Selfmade Gear Rack Gripper Making Problems
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Hello together, would appreciate if anyone is able to help me on this one.
I designed a gear rack gripper, existing of a gear which is mount to the stepper motor and 3 additional gears which connect the rack with the drive gear.
In addition the gripper is controlled via the Duet 3 Toolboard, which is directly mounted on top of the gripper. I configured the gripper as an extruder since it got no possibility to home. With "retract" he gripper opens with "extrude" the gripper closes etc.The following Problem shows up when i try to grab something: the gripper closes, and when having the object between the gripper finger the force is getting higher. Until the point where the force is getting to high (?), and the driving gear jumps back a little bit which leads to a falling down of the grabbed object.
Setting the current of the stepper driver up only drives to an higher grabbing force, but the following error is the same.
Since i know that the StallGuard Function is not supported yet on the Toolboard i wanted to ask if there is anything i can do, to get a workaround for this malfunction.A possibility would be to measure out each object with its dimension and the maximum possible feed amount before the step driver fails, but this solution would be quiet stressful.
I hope i did explain my Problem well enough, and thank you already for getting into it.
Greetings
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@duet3questionmaster how about putting a torsional spring in there? That way you position control the compression of the spring and so can better control the force.
You could even put an endstop on the spring similar to how the Jubilee toolchanger mechanism works?
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