A simple theory suggested was that a tighter belt tension would result in increased radial load on the stepper motor bearings, which in turn, due to friction, would result in an increase in temper ...

It’s all done with stepper motors and geared belts, which allow each of Walter’s joints to be driven by a motor that’s one joint further upstream than would be the case if it were designed ...

Start with belts, ensuring correct tension for precise ... mechanical resonance from rapid direction changes. Monitor stepper motor calibration to maintain acceptable movement tolerances and ...