Step 13: Connect the Shoulder and Elbow Assemblies

Position Upper Arm Assembly and Forearm Assembly so the color-coded cable leads from actuators ID 15 400_20X and ID 16 are accessible. Insert each corresponding conductor pair into four WAGO connectors according to the released pinout, inspect each connection, and place the joined cable leads inside part 400_15C.

Sub Assembly C and Sub Assembly D should be connected to each other as follow, also the orientation of Sub Assembly D is very important as it will dictate the rotation limit of the arm, so make sure you oriented it exactly as shown below.

Fit Sub Assembly D onto Sub Assemble C such that the the 6 holes on circumference of part 400_15C is aligned with the 6 holes on circumference of part 400_06B.

Take 6 - M4x12 socket bolts and lightly tighten into the 6 holes on the circumference of part 400_15C to align with part 400_06B

After the parts are aligned:

• remove each of the 6 – M4x12 socket bolts in a star formation,
• apply threadlocker,
• then tighten them back to secure Part 400_15C and part 400_06B together.

Take 12 - M4x45 socket bolts and insert it into the 12 holes on part 400_04B. This will be used later to install the left arm module to the torso module. If the shoulder part is blocking you from insert the bolt, use a bit of force to rotate the actuator around so you can slot the bolt in.