I have two 29:1 Metal Gearmotor 37Dx52L mm with 64 CPR Encoders (Pololu item 1443) I am using for a balancing robot. The robot is balancing but the gears exhibit some backlash and I believe this attributes to some jerkiness or instability in the robot motion profile. I am considering using the same motors/encoders by removing the gearhead and replacing the gears with a belt-driven system to reduce backlash. I have a couple of questions about this:
- Is it difficult or impractical to remove the gearhead?
- Will the gears be difficult to put back together if taken apart?
- How far does the motor shaft protrude from the main motor chassis?
Thank you for any enlightenment!