Step 8: Attach the Shoulder Yaw Joint Plate and Shaft Mount
Secure part 400_05A to actuator ID 15 with eight threadlocked M3x12 flat bolts, then route the cable through part 400_06B and secure it to the actuator shaft with six threadlocked M4x20 socket bolts.
Parts needed
| Part | Count |
|---|---|
| Current shoulder assembly from Step 7 | 1 |
| 1 | |
| 1 | |
| M3x12 Flat Bolt | 8 |
| M4x20 Socket Bolt | 6 |
| Threadlocker | As needed |
Instructions
Now move Upper Arm Assembly upward so that the Left Shoulder Yaw actuator (ID 15) shaft is facing the ceiling.
Take part and align it with the holes on the surface of Upper Arm Assembly around the actuator shaft. Part has 1 protrusion on its edge, it is important that this protrusion is facing toward you like in the visualization. Make sure this is positioned correctly, else your arm will be locked wrongly.
Take 8 – M3x12 Flat Bolts and lightly tighten it into the 8 holes on Part to align with the threaded holes on the actuator.
After the parts are aligned:
- remove each of the 8 – M3x12 flat bolts in a star formation,
- apply threadlocker,
- then tighten them back to secure Part and the actuator together.
Take Part and align the 6 holes on the part with the actuator shaft holes. Also route the cable form the hollow shaft of the actuator through the center of part .
Take 6 – M4x20 Socket Bolts and lightly tighten each one into the holes to align part with the actuator.
After the parts are aligned:
- remove each of the 6 – M4x20 socket bolts in a star formation,
- apply threadlocker,
- then tighten them back to secure Part and the actuator together.
How is this guide?
Step 7: Connect and Join the Shoulder Assemblies
Connect the XT30 connector to actuator ID 14, solder the corresponding cable conductors from actuators ID 13 and ID 14, and join the shoulder subassemblies with plates 400_03A and 400_01A and threadlocked flat bolts.
Step 9: Install the Elbow Actuator and Route Its Cables
Connect the XT30 cable connectors to actuator ID 16, seat it in part 400_15C, and route both cables through their designated openings.