- At first I noticed there was a strange thing where the voltage wasn’t constant. I think this was simply because I was moving the tester because once I found a better positioning for the probes it seemed to stop.
- Finger 2 needed its strain gauges reversed due to the fact that you want low sensitivity and need to up the offset. The way it was set up it was balancing to the bottom end and it couldn’t be fixed because the offset was all the way up while gravity was forcing the voltage down. Anything fighting gravity need to have negative offset up positive offset down unless you want it to be ultra sensitive by turning the gain up. Even in that case I think this orientation is still better.
- It is possible when interacting with the elevation to accidentally move the wrist. I don’t think this was because of loss of holding torque but because the linkage isn’t connected to the motor tightly enough.
- Overall sensors seem to have very good response range. Fingers are pretty sensitive even with gain all the way down but still in good range of force. Elevation is the hardest to move but
- Displacement for each sensor goes as follows
- Finger 1: up = negative, down = positive
- Finger 2: up = negative, down = positive
- Wrist: forward = negative, back = positive
- Azimuth: right =negative, left = positive
- Elevation: up = negative, down = positive
- I don’t think we need to shield the wires at the moment but once the motors are moving instead of just holding we might find it necessary. It is going to be hard to tell though because motion will probably cause fluctuations in general.
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