Step 7: Connect and Join the Shoulder Assemblies
Connect the XT30 connector to actuator ID 19, solder the corresponding cable conductors from actuators ID 18 and ID 19, and join the shoulder subassemblies with plates 300_03A and 300_01A and threadlocked flat bolts.
Parts needed
| Part | Count |
|---|---|
| Subassembly A | 1 |
| Subassembly B | 1 |
| Single ended XT30 (2+2) - 100mm | 1 |
| 1 | |
| 1 | |
| M4x12 Flat Bolt | 8 |
| M3x16 flat bolts | 6 |
| Threadlocker | As needed |
| Approved soldering and insulation supplies | As needed |
Instructions
Connect the XT30 connector of the 100 mm single-ended cable to the port on shoulder roll actuator ID 19 in Upper Arm Sub Assembly.
Solder each corresponding conductor from the cable leads routed from actuator ID 18 to the cable leads connected to actuator ID 19 , following the released pinout.
Please follow our video for the soldering process
Please follow our video for the soldering process to make sure that the connection is made correctly else it can cause signal infidelity in the system.
Lay the Shoulder Assembly on its side such that the part with the bearing face upward. Lay the Upper Arm Assembly on its side such that the holes on part face upward. This part is symmetrical so any side is fine.
Align the protruded portion of part with the bearing, then align the 4 holes arranged in a moon shape with part from Subassembly A.
Take 4 – M4x12 flat bolts and lightly tighten into the 4 holes on part to align the part with part
After the parts are aligned:
- remove each of the 4 – M4x12 flat bolts,
- apply threadlocker,
- then tighten them back to secure Part and part together.
Now we flip the entire sub assembly on the opposite side, with the actuator shaft facing upward for Upper Arm Assembly.
Align the 6 circular holes on part with the 6 threaded holes on the actuator shaft, then align the 4 moon-shaped holes with the 4 threaded holes on part .
Take 6 – M3x16 flat bolts and then lightly tighten them in the 6 holes arrange in a circle on Part to the actuator shaft.
After the parts are aligned:
- remove each of the 6 – M3x16 flat bolts in a star formation,
- apply threadlocker,
- then tighten them back to secure Part and the actuator together.
Take 4 – M4x12 flat bolts and lightly tighten into the 4 holes arrange in a moon shape on part to align with part .
After the parts are aligned:
- remove each of the 4 – M4x12 flat bolts,
- apply threadlocker,
- then tighten them back to secure Part and part together.
How is this guide?
Step 6: Close the Shoulder Actuator Housing
Join parts 300_13C and 300_14C around the actuators with the carried socket bolts and secure part 300_13C to actuator ID 20 with three threadlocked M4x8 socket bolts.
Step 8: Attach the Shoulder Yaw Joint Plate and Shaft Mount
Secure part 300_05A to actuator ID 20 with eight threadlocked M3x12 flat bolts, then route the cable through part 300_06B and secure it to the actuator shaft with six threadlocked M4x20 socket bolts.