Linkage Iteration #2

After the first iteration a number of design improvements were made. The servo mount was stiffened to minimize the bending that was being seen. The coupling between the servo and the push rod and the push rod and the link were switched to pin joints. Mechanical advantage in the links was increased by increasing moment by increasing linkage size. The potentiometer mounts on the links were improved to include cable management and better connection. Finally, a complete new set of servo motors was obtained which replaced the old test motors.

The results were very promising, achieving a wider range of motion than in the first iteration. Here are the iteration results on our YouTube channel.