Step 12: Install and Connect the Wrist Actuator
Attach part 400_10A to part 400_16C with threadlocked M4x10 Flat bolts, install actuator ID 17 with parts 400_11A and 400_12B and threadlocked M3x12 Flat bolts, then connect it to actuator ID 16.
Parts needed
| Part | Count |
|---|---|
| Assembly from Step 11 | 1 |
| 1 | |
| 1 | |
| 1 | |
| (ID 17) | 1 |
| 3 | |
| 16 | |
| Threadlocker | As needed |
Instructions
Take assembly from Step 11 and flip it around such that part with the bearing is facing the ceiling. Take part , align the protrusion with the bearing on part and align the 3 holes on it with part .
Take 3 of and lightly tighten into the 3 holes on part to align with part . After the parts are aligned:
- remove 3 of one at a time,
- apply threadlocker,
- then tighten them back to secure Part and part together.
Take the (ID 17), align the port with the port cut-out on part , then slot it into the hollow part.
Take part and align it 4 holes at 4 corners with the 4 threaded holes on part . Also, align the 6 holes inner holes on the part with the threaded holes on the actuator shell.
Take 10 of and lightly tighten into the 10 holes on part to align with and the actuator.
After the parts are aligned:
- remove 6 of from the inner holes one at a time in a star formation,
- apply threadlocker,
- then tighten them back to secure Part and the actuator together.
After the parts are aligned:
- remove 4 of from the corner holes one at a time in a star formation,
- apply threadlocker,
- then tighten them back to secure Part and part together.
Take part and align the 6 holes on it with the 6 threaded holes on the actuator shaft.
Take 6 of and lightly tighten into the 6 holes on part to align with the actuator.
After the parts are aligned:
- remove 6 of one at a time in a star formation,
- apply threadlocker,
- then tighten them back to secure Part and the actuator together.
Connect the free connector of the double-ended XT30 (2+2) cable from the (ID 16) to the port on (ID 17).
How is this guide?
Step 11: Attach the Elbow Shaft Plate and Actuator Housing
Attach part 400_09A to the shaft of actuator ID 16 with six threadlocked M3x16 Flat bolts and attach part 400_16C with three threadlocked M4x10 Flat bolts.
Step 13: Connect the Shoulder and Elbow Assemblies
Connect the leads from actuators ID 15 and ID 16 with four WAGO connectors, join parts 400_15C and 400_06B with six threadlocked M4x12 Socket bolts, and stage twelve M4x30 Socket bolts for torso installation.