Elbow Detail

Above is a SolidWorks drawing of the elbow joint. The timing pulley (top) is connected by a belt from the motor. The thin blue lines which can be seen are circular discs which attach to the axle and 'forearm' of the robot allowing it to rotate with respect to the timing pulley. An optical encoder (bottom) is connected to the axle with a 'flexible coupling' (for practical purposes). This feeds information back to the program via a cable enabling it to correct any discrepancies effecting the angle through which the 'forearm' turns e.g. slippage between timing belt and pulley.