MIRAbot SR6 starting to randomly shake?

SR6 starting to randomly shake? Any idea on how to fix?

With or without playing a script it shakes like it’s out of sync.
This progressively has gotten worse over time (no changes in firmware, software, etc)

I’ve gone through like 4 SR6 (all from different providers) over the last 2 years. All of them have died to this same fate.

I’m no expert and have an OSR2 but that sounds like a problem I had where the arms were shaking even when it wasn’t doing anything. As soon as I turned it on or when no script was playing, they would tremble like they couldn’t stabilize right. Turns out the servos were going bad and everything was fine once I replaced them.

It’s crazy how fragile the servos are then, I bought this in Feb. /sad

Hi, colleague, you’re absolutely right! If there’s any play in the gear, the electronics try to compensate for it and put it back in place! If you can disassemble and replace them, that would be great, but you need to know what kind of gears are there!