Thanks for replying! These Kollmorgen motors are DC brushed motors, they are not servos (proper) with integrated controls. Although they do have built in tachometers that may prove to be useful at some point. The gears are designed from the same tooth pattern and the ratio is tall so backlash should be minimal. As far as tip drop goes, my aim of this design is to use the motor body itself as part of the arm length, so the linear flex will be minimal. The gears do not drive the arms just the encoder for shaft rotation measurement, the arms are direct drive off the motor shafts. These motors are so powerful and efficient, and they accelerate to full speed in less than 1 rpm under a load greater than the weight of the motor itself. Way overkill for what is really necessary for the robots size, but they are what is laying around in the bin for free. Harnessing the speed into useful control may be a challenge, but nothing that hasn't been done before. The final version after a few updates should be able to mill soft metal or engrave with rotary/laser, as well as pick-n-place for wave soldering and painting. I am still working on some code changes in the Arduino conversion driver, but in the next week or so I should have some new pics of the progress of the build.
Again thanks for your interest!
Edited 1 time(s). Last edit at 06/06/2016 01:10PM by MarkBot.
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will also provide all the info I already have and I think it is of use