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.
Parts needed
| Part | Count |
|---|---|
| Shoulder and upper arm assembly from Step 8 | 1 |
| Forearm assembly from Step 12 | 1 |
| WAGO connector | 4 |
| 6 | |
| 12 | |
| Threadlocker | As needed |
Instructions
Position the shoulder and upper arm assembly and the forearm assembly so the color-coded cable leads from the (ID 15) and the (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 .
Follow the video below to use a WAGO connector
If you have never worked with a WAGO connector before, follow the video below to strip, insert, and check each wire before continuing.
The shoulder and upper arm assembly and the forearm assembly should be connected to each other as follows. The orientation of the forearm assembly is very important as it will dictate the rotation limit of the arm, so make sure you oriented it exactly as shown below.
Fit the forearm assembly onto the shoulder and upper arm assembly such that the 6 holes on circumference of part is aligned with the 6 holes on circumference of part .
Take 6 of and lightly tighten into the 6 holes on the circumference of part to align with part
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 part together.
Take 12 of and insert it into the 12 holes on part . 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.
How is this guide?
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.
Step 14: Complete the Left Arm Module
Confirm that the left arm module is assembled and ready for later torso installation.