Rotary Delta | Linearisation of Gearbox

Features
1

Hello,
I´m using a Rotary Delta Machine and found out that the gearboxes from each Axis are not 100% linear from homingswitch to several Positions. Im using a two stage belt gearbox. I connected a encoder to the axis of each arm to check several positions from the homing switches…

Would it be possible to do a linearisation-calibration?

I have something like this in mind:
→ Home Axis
→ move the Arm 10 degrees
→ measure and input the actual degrees of a reference Encoder connected to the axis
→ move the Arm 10 degrees
→ measure and input the actual degrees of a reference Encoder connected to the axis
…
→ creating a LookUp-Table for correction values to encounter the gearbox inaccuracy
→ interpolate the correction Values for the missing Positions between each measuring point.

Just an Idea if that would be possible.

Thanks in advance

2

It’s probably possible, but it sounds like it would have notable software complexity. It’s not something I, personally, will have time to work on.

Another approach would be hardware changes to minimize the inaccuracy. Do you know why it is occurring? Is the belt slipping?

-Kevin