S60D-TB
Keep
“locomotion core” design. It looks nice, is rigid, and extensible. Much better than TB / TBH separation.
Critical
☑? RH gears gets stuck with guide
guide too narrow, often stuck
Guide mis-alignment, bad adhesion, too soft
Fix with graved cylinder rail design.
Increase guide width. 3D-print or out-source. One-piece structure.
need to think complete set of sensors for RR/RS/RH.
Is one optical sensor enough (NO).
What about RR, RH, and also how we implement it? Is it PCB (probably).
Want to avoid magnetic rail sensor?
loco core main drv motor case collides with new connector top
Fix
☑ 2 magnet-connector to align angle properly.
☑ expeirmental rail vertical slits to combat torque.
→ this is working very well. Much better than S60C triangle dimples.
Driver forward lin movement for robust insertion seq
→ no idea how to implement. Want to avoid additional servo. How about spring / magnet-based?
Spring is ok. S
RR gear module too small.
Won't Fix
experimental linear darm movement
pure vertical insertion. But rotational insertion works and easy to calculate bounds.
Fundamentally "improve" connector (Several hours of thinking didn’t get any good idea.)