Hey Angel!
Thought the URL was the issue!
Glad you liked the workshop and the channel. I’ll have english subtitles to my videos soon.
My 5th articulation also has a homing issue. It always homes to a different (sometimes 20-30 degrees off) angle. I believe it might be because of the wiggling that causes the optic endstop disk to give false positives, would this be a correct guess? I’m trying to hotfix this to finish the video, for now I just manually move it after homing.
I was doing the exact same thing you suggested for the 4th articulation, I started printing multiple versions of the inner disk of the bearing by slightly scaling it up to see which one will fit the best with the plastic balls, glad to know I’m on the right path.
About the 5th and 6th articulation, I started imagining about a system where we could simply switch to a single stepper for the 5th (using a 10 to 20 pulley maybe?) and smack a servo to the middle of the Art56MotorCoverRing for 6th. This way 5th would be more stable and still can home, and you wouldn’t need to home the 6th since it’s now a servo. It would also decrease weight from the tip of the arm. It would only require changing a few of the parts in that module, so I might try this design at some point. If it works I’ll just fork the github and add all of the mods with the name Fat Thor. 🙂
I’ll definitely post it for the ww section once it’s complete.