I made a robotic arm using 4 Dynamixel AX-12A servos.
During operating it, I noticed sometimes it gets a little cranky, loses fluid movement and starts stepping instead.
My setup looks like this:
I understand that the stepping is because of the lever arm, probably over a longer period of time the force applied to the first horizontally aligned servo (this is the one making cranky movements sometimes) causes it to overheat a little, thus the stepping effect. I use the servos with 30% speed so the movement is a bit more precise, I also lowered torque a little bit (but I can’t make it lower because the servo needs to apply force at the end of the finger).
My question therefore is a little more generic: how can you lower the encumbrance on the servo? I want to eliminate this stepping. I thought of building something similar to a plastic exoskeleton, a couple of frames, but I have no idea how to shift the applied forces at least partially to the frame.