I recently completed a DIY SR6 build but am having trouble with jittery movement and shaking.
Here’s an example using a simple sine wave movement from MFP:
Last night I tightened all the screws since things were moving around enough that screws were starting to become loose. In the video, you can see the top left arm is still a little wobbly, but I don’t think that’s the cause of the issue.
Is it safe to assume that this level of shaking isn’t normal? Other SR6 videos I’ve seen have been a lot smoother.
I’m considering trying to return these servos and replacing them with DS3235 servos which are $28/each on Amazon right now. I’ve seen these referenced in other threads and they seem to work for people but are loud.
I’d like to stay under $30/servo if possible, but if I need to replace servos, are there any other recommendations? Noise is a consideration for me.
I’ve also seen people recommend buying more expensive servos and building an OSR instead. From what I’ve experienced so far, I’m not sure I’m sold on the SR6 experience since I keep falling out with all but the slowest scripts I’ve tried (and I’ve found that I’m not a big fan of Fleshlights - I tried switching to the Handy grip 2 sleeve but that has introduced its own complications).
Any advice - either on other ways I can troubleshoot with my existing servos, or recommendations for new servos, would be greatly appreciated!
There is no video but most likely you have not aligned the servos accurately and instead of all the servos working in harmony; they are in constant conflict with one another.
Open and check your servo housing chassis. Make sure they are all equally spaced and screwed precisely.
Re-centre each horn accurately. Go into the code and re-configure the centre ‘1500’ position properly.
Without the receiver connected, just servo horns see if the movement is smooth. If it’s not, it’s either your code, your wiring or the servos are not good, but I doubt this as they are a variant of Blue Coreless.
You can also reduce the Hz polling rate to 100.
Thank you, hope this helps and gives you some pointers towards your troubleshoot!
Thanks for the advice - as far as I can tell, everything is grounded correctly (I followed the directions as best I could).
I doubled checked everything and as far as I can tell, everything should be in the right place.
I’m using a DS3235 SG for my twist servo - I took everything apart last night and plugged both an arm servo and the DS3235 directly into the ESP32 (i.e., removed all the housing) and I can feel the jitter in the movement of the arm servo while the DS3235 feels smooth.
I got the new servos. I want to believe that they feel smoother but it’s hard to tell. I’m still getting a lot of jerky movement though.
A few days ago I took everything apart because something had broken and noticed a lot of screws were loose. I tightened all the screws really well, and I think I may have over tightened. In particular, I think I may have warped the servo housing chassis in the process, which caused problems similar to Vespera’s first point. I’m now reprinting the servo chassis and will try again tomorrow.
When I built my first SR6 a few years back I too found the movement was janky and I came to realise it was because the build was just not aligned and printed properly.
You may have already printed the chassis but I really recommend building the SR6 using modifications from ‘TidyPrints’ particularly the Jacked Beta Frames and Limiter Arms:
Very interesting, I’ll give that a shot - thank you!
I just reprinted some of the parts and spent a few hours reassembling everything last night. I think it helped, but it’s still a bit wobbly. I did use it this morning and the jitter wasn’t as noticeable with faster scripts. I’ll probably take a break for a few days and then give the TidyPrints version a shot.
