Crunching noise


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Sawyers gears produce a crunching noise while moving. This occurs especially on low joint velocities. In comparison to other robots in our lab, the noise sounds abnormal.

I have recorded the sound for single joints and attached a zip file. Is it normal or is there a hardware issue?








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Hi Max,

How are you commanding the robot to move when these recordings are taken?

The joints of the Sawyer arm do produce a loader noise than some other robots and this is due to the gear ratios and drive mechanisms that are used to ensure the robot is collaborative.  Do you have an audio recording or video of the robot without the recorder right next to a specific joint?  This would give me a better idea regarding the noise being abnormal or what is expected with the Sawyer robot.



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  • 4 weeks later...


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