Scorpion V2

grabcad

Working Title.Not final robot but robot as of "Shipping Day" (become "Bag Day" become "just a day")All 3d printed sprockets Nylon11 Carbon Fiber for the win.Motors for Arm1, Arm2, & Arm3 are all Low. Wrist rotation and cone/cube intake rollers are motors on the arm itself. All chains save for Wrist rotation and intake rollers have rock solid chain tensioners (tight chain is happy chain). 3d printed (in Nylon11CF naturally) VersaPlanetary Gearbox with inverted 775Pro motor on grabber (also converted all screws to 10-24 because who likes using those 8-32 and 10-32 threads? nobody that's who!)Sensors for Versaplanetary have a 40:105 ratio to mimic (exactly) the 16:42 Sprocket ratio on the 1st stage for Arm1, Arm2, Arm3, & Arm4. So that we can have a 1 to 1 ratio between the arm and the sensor even though the Versaplanetary output shaft makes more than 1 rotation.Arm uses 2 gas springs (120lbs output, 5 inch max travel) to make Arm1 and Arm2 joint totally neutral balance in all orientations. The motors only need to move the arm, the gas springs counter act gravity.Arm has hollow shafts so all wiring can pass through easily and cleanly3D printed (in Nylon11CF) "CIM Adapter" allows for the Falcon motors to be easily removed from the Versaplanetary from the motor side rather than having to reach in from the Output Shaft side which is often much less convenient.