The middle joint is considered as the main joint of the robot. This joint is coupled with one of the suction feet via a drive belt. To detect the center position of the joint, a rotary type limit switch is built into the middle joint. With this center position swith, error in the motor position can be minimized and corrected. In the figure, the rotary switch is shown as the circular bronze plate located between the worm gear and the pulley.

Fig: Middle Joint

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