AstroTrackerHD Prototype 4 in testing, with pics. (HD = harmonic drive, which is a high-precision, high-torque, zero backlash gear set. See: https://youtu.be/3mWemlMEzFk). I did some code cleanup and refactoring for version 4.0.7, and added the ability to adjust the speed in small increments and save the speed values to eeprom. I have a couple posts on this earlier in the year, but if you haven't seen them: AstroTrackerHD is my project to build a very accurate star tracker using a NEMA 17 stepper, 139:1 ratio planetary gear feeding a 100:1 ratio harmonic drive. I'm running updated software in this one, and I'm in the process of 3D printing some brackets for the stepper.
Star Tracker Build: the 100:1 reduction Harmonic Drive gearhead arrived today, and I'm planning out the mechanics for the direct drive train and structure for a case (3D printing a prototype case that will hold everything together tonight). Harmonic drives are the way to go if you're looking for extreme precision, zero backlash, and just plain cool technology: https://www.youtube.com/watch?v=3mWemlMEzFk I will be using the original iOptron CEM25P saddle for testing, and the threaded holes in the harmonic drive line up neatly. Gearhead specs here: http://www.harmonicdrive.net/products/servo-mount-gearheads/harmonic-drive/csf-gh/14/csf-14-100-gh
Electronics project for the day: prototyping the drive system for a direct-drive star tracker. This will be driving a 100:1 ratio Harmonic Drive gearhead. For this test I'm using a NEMA 11 stepper motor, also geared down, and a cheap A4988 stepper driver, but I will be experimenting with others.