written by: dan royer · mcr 4. fork assembly written by: dan royer 4. fork assembly guide id: 21...
TRANSCRIPT
mcr
4.ForkAssemblyWrittenBy:DanRoyer
Step1—ToolsandPartsRequiredforThisChapter
AssembledPicassoBox
AssemblyUlnaGearbox&ElbowTail
[3D]-6EPicassoWristGearboxComponents
[3D]-5AForkComponents
AlanKeys
SocketHeadDriver
Plier[Opt.]
Step2—PicassoWristGearboxOutput-Parts
Preparethefollowingcomponents:
AssembledPicassoBox
[3D]-6EaPicassoGBOutputDisks
6706Bearing[30x37x4mm](x1)
M3x10mmScrews(x4)
M3x20mmScrews(x8)
M3HexNuts(x8)
Step3—PicassoWristGearboxOutput
Clamp6706BearingswithtwoOutputDiskcomponentsusingM3x20mmscrewsandHexNutsTightenthesenutsaswell
Alignthe4MiddleHolesofClampedOutputDisktothesideofthePicassoBox
SecuretheclampedoutputdisktothesideoftheAssembledPicassoBoxusingM3x10mmScrews
Step4—PicassoWristGearboxInput-Parts
Preparethefollowingcomponents:
[3D]-6EaPicassoGBHousing
[3D]-6EaPicassoGBRotors&6PEPulleyGear
[3D]-6EaPicassoGBEccentricCams
BrassTube[7/32'x25.95mm]
6701Bearings[12x18x4mm](x3)
M3x4mmSetScrews(x3)
M3x20mmScrews(x4)
Step5—PicassoWristGearboxInput-Note
EccentricCams"Thin/Top"EccentricCam
"Thick/Bottom"EccentricCam
RotorsMakeasharpiemarkonthesideoftheRotorwhereitlinesupwiththeBandTlabeloneachRotors
BrassTubeTubeendwiththetwodrilledholes=CamEnd
Tubeendwiththeonedrilledhole=PulleyEnd
Step6—PicassoWristGearboxInput-1
Insert6701BearingstobothTopandBottomRotorsaswellastheTopHousing
SlidetheBottomEccentricCamtothe2ndholefromtheedgeintheCamEndoftheBrassTubeFirstholeisontheothersideoftheTube
AlignthesetscrewholesandscrewitsplaceusingtheM3x4mmSetScrew
Step7—PicassoWristGearboxInput-2
SlidetheBottomRotortotheBottomEccentricCamLabelSideoftheRotorisfacingtheCamEnd
RepeattheprocesswiththeTopEccentricCamandRotorLabelSideoftheRotorisfacingtheCamEnd
Step8—PicassoWristGearboxRotorAlignment
AligntheSideSharpiemarkontheBottomRotortothe"B"labelontheHousingandslideonlytheBottomRotorintotheHousing
AligntheSideSharpiemarkontheTopRotortothe"T"labelledontheHousingandslidetherestoftheRotorin.
Ifeverythingwentsmoothly,thegapbetween8holesoneachrotorshouldbeequallyspaced
Verifythatyoucanmanuallyturntheeccentricshaftinthecenterandthattherotorssmoothlyturninsidethehousing.Tightprintingandmisalignedrotorscancausethegearboxtojam.
Step9—PicassoWristGearboxInputPulley
Insert6701BearingontheTopHousing
SecuretheTopHousingtotheRotorHousingusingtheM3x20mmScrewsDON'tscrewallthewayin.JusttotheflushedtothebottomoftheMainHousing
AlignthePulleyGeartotheSetScrewandslideinthePulleygeartotheBrassTubeSecureitusingM3x4mmSetScrew
Step10—ForkIdler-Parts
Preparethefollowingcomponents:
[3D]-5AaFork{Bottom&Top}
[3D]-5IIdlerBearingCover(x8)
MF83FlangedBearings[3x8x4mm](x8)
M3x20mmScrews(x4)
M3HexNuts(x4)
M3NylockNuts(x4)
Step11—ForkIdler-1
InsertMF83BearingsintotheBearingSleeves
InserttheM3x20mmScrewintotheForkHalfwherethere'sachamferedpegontheinnerface
SlideoneoftheBearingSleevestotheM3x20mmScrewsswiththeflangedpartonthebottom
UseM3HexNuttosecuretheBearingSleeveinplace
Step12—ForkIdler-2
InsertanotheroneoftheBearingSleevesontheM3x20mmScrewsbutthistimewiththeflangedpartfacingup
UseM3NylockNutstosecureitinplace
Repeattheprocedurefor3otherlocations.
Step13—ForkBottomPreparation-Parts
Preparethefollowingcomponents:
AssembledUlnaGearbox,PicassoBoxandWristGearbox
ForkBottom{w/Idlerinstalled}
TimingBeltGT2-336mm>2-400mm
M3x10mmScrew(x1)
M3x22mmScrews(x6)
M3x4.5x12mmHexStandoffs(x7)
M3SquareNuts(x2)
Step14—ForkBottomPreparation-1
PlacetheGT2x400mmTimingBeltontheouterpulleyonAssembledUlnaGearbox
PlacetheGT2x336mmTimingBeltontheinnerpulley
AligntheUlnaSensorPlateandUlnaOutputGearboxtotheForkBottomwiththeHexStandoffinsertpointingupward
InsertM3x4.5x12mmHexstandoffsandsecureitsplaceusingM3x22mmScrewsUseM3x10mmScrewinthislocation
Step15—ForkBottomPreparation-2
InsertthePicassoOutputpinstothePicassoGearbox
RotatetheInputPulleyofthePicassoGearboxtoalignthegearboxhousing
InserttheassembledPicassoBoxintotheBearingSlotsoftheForkBottomMakesuretowraptheTimingBeltsonbothPulleyGearsANDtheBottomIdlers
TheSMOOTHSIDEoftheBeltontheIDLERS
InsertM3SquareNutsintheSquareNutinsertontheForkBottom
SecurethePicassoGearboxbytighteningthebottomscrewsontheGearboxHousing
Step16—ForkClamp-Parts
Preparethefollowingcomponents:
ForkBottomPrepared
ForkTop{w/IdlersInstalled}
M3x10mmScrew(x1)
M3x25mmScrews(x6)
M3NylockNuts(x4)
M3SquareNuts(x2)
[Opt.]-Tape
Step17—ForkClamp-FinalForkPreparation
InserttheM3SquareNutsintheForkTop
InserttheM3NylockNutsinbothForkTopandBottomonthesidewallOptionally,puttapeoverthenutsasthefrictionfitalonemaynotbeenoughtokeepthemon.
Step18—ForkClamp-TopIdlerBelts1
Thisstepmaybethehardesttoexecutesofollowthroughcarefully.UseAlanKeyasa"hook"ifyouneedto
Alignthe400mmGT2-TimingBelt{outerbelt}totheTopIdlerTaketheBeltoffoftheGearboxPulleyifyouneedto.
MakesuretheSMOOTHsideofthebeltisontheIdler
RotatetheTopForkandletitFLOATovertheBottomForkPutthe400mmBeltbackonthePulley
NoticethattheTopForkisshiftedforwardrelativetotheBottomFork
WhiletheForkisshiftedforward,putthe336mmGT2-TimingBeltontheInnerPulleyontheotherside
Step19—ForkClamp-TopIdlerBelts2
MakesurethebothInnerandOuterBeltsareonALLthePulleyGears
ShifttheTopForkbackandalignthe"PulleySeparatingWall"
DoublecheckthatthePicassoGearboxSideisallgoodtoo
OnceallHexStandoffsarealignedtoo,ClamptheTopForkdown
Step20—ForkClamp-Final
SecurethePicassoGearboxtotheTopForkbytighteningthetopscrewsontheHousing
UseM3x25mmScrewsandM3x10mmscrewtosecuretheTopForktotheBottomFork
Step21—ForkPicassoSensor-Parts
Preparethefollowingcomponents:
[3D]-AS6147SensorAdapter2
[3D]-5AcForkCableClamp
AS5147Sensor{rightangleheaderonthelabelside}
6-pinRibbonCableM/O-BrowntoBlue{sensor5Hand}-[1470mm]
6-pinRibbonCableF/O-BrowntoBlue{sensor4Wrist}-[1520mm]
M2x6mmScrews(x8)
M3x10mmScrews(x4)
Step22—ForkPicassoSensor-1
ConnecttheHandSensorCableExtensiontotheWiresthatcomesoutofthePicassoBox{HandSensor}
MountAS5147SensortotheSensorAdapter2usingM2x6mmScrews
InserttheWristSensorCable{Female}throughtheCableClamp
ConnecttheWristSensorCabletoAS5147SensorIfyoudon'tremembertheConnectionOrientationfromprevioussteps,justcopythepicture.
Step23—ForkPicassoSensor-2
UseM2x6mmScrewstosecuretheSensorAdaptertotheFork
OrganizetheCablesontheCableClampareaTheHandSensorConnectorisbelowtheWristSensorCable
UseM3x10mmScrewstoclampthesensorcableswithForkCableClampPlateThere'sonlyoneorientationthattheClampPlatecangoon,
MakesuretheVersionLabelisfacingtheCable
ChamferedPartiswheretheCablecomesOut
Step24—ForkFinalTouch-Cover
Preparethefollowingcomponents:[LSR]-ForkAcrylicPlates{Large&Small}
M2x6mmScrews(x8)
SmallAcrylicPlategoesontheSensorSide
LargeonegoesontheWristGearboxSide
SecurethemwithM2x6mmScrews
Step25—ForkFinalTouch-Alignment
RotatetheMotorShaftsontheElbowTailSidetorotatethejoints
AlignthePicassoBoxtotheFork
AligntheForktotheUlnaGearbox
AligntheHandtothePicassoBox.
Movementforallthreejointsshouldbesmoothandwithoutplayinbothdirections.
Step26—Finish!
Congratulation!Youarenearlythere!!!