Gearbox Replacment after a Crash at Maker Faire Prague 2023

A project log for RR1: Real Robot One - a DIY Desktop Robotic Arm

RR1 is an open-source, 6+1 degrees of freedom desktop robotic arm, mostly 3D-printed with joints powered by custom planetary gearboxes.

pavel-surynekPavel Surynek 07/01/2023 at 22:270 Comments

After running the RR1 rev.1 (the black one) at Maker Faire Prague 2023 for two days, we experienced a crash of the main shoulder gearbox. One of the axles holding the planet gear moved out and the planet went out of its position which resulted in an irrepairable collapse of the gearbox. So I made a new gearbox, now not from PETG but rather from polycarbonate blend with carbon fiber (Prusa PC blend).

Replacing broken gearbox of the main joint means decomposition of the robot into quite small parts interconnected via cables.

The new gearbox ready for assembly into the robot.

And finally everything assembled together again. The new gearbox improved rigidity of the robot which made RR1 rev.1 even better than before. After this incident I decided to replace the big gearboxes of the shoulder and the elbow joints in rev.2 (the orange one) originally made of PETG with new ones made of polycarbonate blend with carbon fiber (Prusa PC blend).