Difference between revisions of "Arm Construction"
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Machined Parts: | Machined Parts: | ||
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1x AX-12A Holster | 1x AX-12A Holster | ||
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1x Wrist | 1x Wrist | ||
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Additional Parts: | Additional Parts: | ||
+ | |||
1x AX-12A Servo | 1x AX-12A Servo | ||
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1x MX-28T Servo | 1x MX-28T Servo | ||
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1x HN07-N101 Servo Horn | 1x HN07-N101 Servo Horn | ||
12x 2mm x 9mm machine screws | 12x 2mm x 9mm machine screws | ||
+ | |||
4x 4mm x 5mm machine screws | 4x 4mm x 5mm machine screws | ||
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1x 4mm x 8mm machine screw | 1x 4mm x 8mm machine screw | ||
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8x 2mm x 3mm machine screw | 8x 2mm x 3mm machine screw | ||
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1x 3mm x 8mm machine screw | 1x 3mm x 8mm machine screw | ||
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4x 4mm nuts | 4x 4mm nuts | ||
Line 28: | Line 39: | ||
Machined Parts: | Machined Parts: | ||
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1x Wrist Rotator | 1x Wrist Rotator | ||
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1x Lower Arm | 1x Lower Arm | ||
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1x MX-64T Servo Holster | 1x MX-64T Servo Holster | ||
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1x Lower Arm Brace Front | 1x Lower Arm Brace Front | ||
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1x Lower Arm Brace Back | 1x Lower Arm Brace Back | ||
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Additional Parts: | Additional Parts: | ||
+ | |||
1x MX-64T Servo | 1x MX-64T Servo | ||
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1x MX-106T Servo | 1x MX-106T Servo | ||
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2x HN05-102 Servo Horns | 2x HN05-102 Servo Horns | ||
10x 2.5mm x 9mm machine screws | 10x 2.5mm x 9mm machine screws | ||
+ | |||
16x 2.5mm x 6mm machine screws | 16x 2.5mm x 6mm machine screws | ||
+ | |||
18x 4mm x 8mm machine screws | 18x 4mm x 8mm machine screws | ||
+ | |||
2x 3mm x 8mm machine screws | 2x 3mm x 8mm machine screws | ||
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18 4mm nuts | 18 4mm nuts | ||
Line 52: | Line 76: | ||
Machined Parts: | Machined Parts: | ||
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1x Rotating Upper Arm | 1x Rotating Upper Arm | ||
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1x Rotating Upper Arm Brace Front | 1x Rotating Upper Arm Brace Front | ||
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1x Rotating Upper Arm Brace | 1x Rotating Upper Arm Brace | ||
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1x Upper Arm | 1x Upper Arm | ||
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1x Upper Arm Brace | 1x Upper Arm Brace | ||
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Additional Parts: | Additional Parts: | ||
+ | |||
1x MX-106T Servo | 1x MX-106T Servo | ||
+ | |||
3x HN05-101 Servo Horns | 3x HN05-101 Servo Horns | ||
24x 2.5mm x 6mm machine screws | 24x 2.5mm x 6mm machine screws | ||
+ | |||
16x 4mm x 8mm machine screws | 16x 4mm x 8mm machine screws | ||
+ | |||
10x 2.5mm x 9mm machine screws | 10x 2.5mm x 9mm machine screws | ||
+ | |||
1x 3mm x 8mm machine screw | 1x 3mm x 8mm machine screw | ||
− | |||
+ | 16x 4mm nuts | ||
== Wrist Construction == | == Wrist Construction == | ||
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[[File: Wrist assembly step 1 top view.PNG]] | [[File: Wrist assembly step 1 top view.PNG]] | ||
[[File: Wrist assembly step 1 side view.PNG]] | [[File: Wrist assembly step 1 side view.PNG]] | ||
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+ | |||
+ | 4. Next we mount the AX-12A servo into its holster and secure it using 2mm x 9mm machine screws as shown in the images below | ||
+ | |||
+ | |||
+ | [[File: Wrist assembly step 2.PNG]][[File: Wrist assembly step 2 side view.PNG]] | ||
+ | |||
+ | |||
+ | 5. This completes the wrist piece. The Left wrist piece is constructed the same way but mirrored. Analyze the picture below to find what slight adjustments need to be made. | ||
+ | |||
+ | |||
+ | [[File: Right Wrist.PNG]] | ||
+ | |||
+ | |||
+ | == Forearm Construction == | ||
+ | |||
+ | 1. First we place the MX-64T in the groove of the lower arm as shown in the picture below. We then mount it from below using 4 2.5mm x 9mm machine screws. | ||
+ | |||
+ | 2. Next we place the MX-64T Servo Holster inside the lower arm and align it the proper holes on each side. The holster should be snug against the top of the servo with the raised part of the servo perfectly fitting through the hole in the holster. See pictures for details. We then use 6 2.5mm x 9mm machine screws to mount the holster to the top of the servo and place 2 4mm x 8mm screws in the MIDDLE holes to secure the MX-64T holster to the lower arm. | ||
+ | |||
+ | 3. Now we mount the servo horn to the wrist rotator using 8 2.5mm x 6mm machine screws. Once secure we then attach the horn to the MX-64T servo and secure it using a 3mm x 8mm machine screw. | ||
+ | |||
+ | |||
+ | [[File: Forearm step 1.PNG]] | ||
+ | [[File: Forearm step 1 side view.PNG]] | ||
+ | [[File: Forearm step 1 top view.PNG]] | ||
+ | |||
+ | |||
+ | If assembled properly the top of the MX-64 Holster should look exactly like the image below. Make sure it is assembled properly before continuing as it will be hard to fix later on. | ||
+ | |||
+ | |||
+ | [[File: Forearm step 1 inside.PNG]] | ||
+ | |||
+ | |||
+ | 4. Now we attach the lower arm brace front and lower arm brace as shown in the picture below. Be certain the orientation is correct, its extremely important that the front brace be attached facing the top of the MX-64 servo or else you cannot obtain full dexterity with the elbow. Both braces are attached using 8 4mm x 8mm screws each. They are attached with nuts internally for both aesthetic and safety purposes. However this makes it very hard to attached the nuts. I recommend securing the entirety of one brace first, and then for the other one start going bottom up. Secure both screws at the bottom before continuing upwards on either side. This will leave you enough room to use a tool to hold the nut in place while you screw in the screw from the outside. | ||
+ | |||
+ | 5. Lastly we attached the servo horn to the top of the lower arm using the 8 2.5mm x 6mm screws and secure the servo to the horn using the 3mm x 8mm screw as shown below. | ||
+ | |||
+ | |||
+ | [[File:Forearm step 2.PNG]] | ||
+ | |||
+ | |||
+ | Below is an image of a properly constructed right forearm. The forearms can both be the same, it does not effect functionality. However a piece called 'left lower arm' has been provided in order to create a mirrored left arm for aesthetic purposes. Using the left lower arm piece the assembly is completed the exact same way. The only difference is the left lower arm is constructed to have the 106-T servo mount on the opposite side, thus mirroring the right configuration. | ||
+ | |||
+ | |||
+ | [[File:Right Forearm.PNG]] | ||
+ | |||
+ | |||
+ | == Upper Arm Construction == | ||
+ | |||
+ | 1. First we place the MX-106T servo in the groove of the upper arm and secure it from below using four 2.5mm x 9mm machine screws, similarly to step 1 for the lower arm. | ||
+ | |||
+ | 2. Next we add the upper arm brace and slide it snug between the branches of the upper arm and flush on the back of the 106T servo. We then use 6 more 2.5mm x 9mm screws to secure the upper arm brace to the 106T servo as well as use four 4mm x 8mm machine screws to secure attach the brace to the upper arm. Nuts are used to secure the screws as shown in the picture below. | ||
+ | |||
+ | 3. After the servo is secure we attach the two servo horns to the arm using the 8 2.5mm x 6mm screws. We note that the shoulder construction and design is yet to be completed and these horns are not present in our current testing prototype. | ||
+ | |||
+ | |||
+ | [[File:Upper arm step 1.PNG]] | ||
+ | |||
+ | |||
+ | 4. Next we attach the rotating upper arm to a HN05-101 servo horn using 8 2.5mm x 9mm machine screws. Once secure we attach the horn to the 106T servo on the bottom of the upper arm and secure it with the standard 3mm x 8mm screw | ||
+ | |||
+ | 5. Lastly we attach the upper arm brace front and upper arm brace back. The front brace is the one with the large hole in it. This is used for cleaner wiring. The wires coming out of the MX-106T in the upper arm will feed through the large hole into the back of the elbow servo. The orientation as to which these are attached does not matter, it simply determines whether this upper arm is for the left or right side, since the hole must always be facing the front. The braces are secured using 4 4mm x 8mm screws each with nuts on the interior as shown below. | ||
+ | |||
+ | |||
+ | [[File:Upper arm step 2.PNG]] | ||
+ | |||
+ | |||
+ | When the upper arm is complete it should look like the picture below. | ||
+ | |||
+ | |||
+ | [[File:Upper Arm.PNG]] |
Latest revision as of 10:56, 13 May 2016
Required Parts
All parts for the Arm are Machined. The Arm is broken down into three major parts: the wrist, the forearm, and the upper arm. The required parts per arm are shown below:
Wrist
Machined Parts:
1x AX-12A Holster
1x Wrist
Additional Parts:
1x AX-12A Servo
1x MX-28T Servo
1x HN07-N101 Servo Horn
12x 2mm x 9mm machine screws
4x 4mm x 5mm machine screws
1x 4mm x 8mm machine screw
8x 2mm x 3mm machine screw
1x 3mm x 8mm machine screw
4x 4mm nuts
Forearm
Machined Parts:
1x Wrist Rotator
1x Lower Arm
1x MX-64T Servo Holster
1x Lower Arm Brace Front
1x Lower Arm Brace Back
Additional Parts:
1x MX-64T Servo
1x MX-106T Servo
2x HN05-102 Servo Horns
10x 2.5mm x 9mm machine screws
16x 2.5mm x 6mm machine screws
18x 4mm x 8mm machine screws
2x 3mm x 8mm machine screws
18 4mm nuts
Upper Arm
Machined Parts:
1x Rotating Upper Arm
1x Rotating Upper Arm Brace Front
1x Rotating Upper Arm Brace
1x Upper Arm
1x Upper Arm Brace
Additional Parts:
1x MX-106T Servo
3x HN05-101 Servo Horns
24x 2.5mm x 6mm machine screws
16x 4mm x 8mm machine screws
10x 2.5mm x 9mm machine screws
1x 3mm x 8mm machine screw
16x 4mm nuts
Wrist Construction
1. In all steps for the arm we attach the servo horn first before we mount the servo. The servo horn is attached to the wrist using 2.5mm x 6mm machine screws as shown in the figure below.
2. We then attach the wrist piece to the AX-12A servo holster using 4 4mm x 5mm machine screws with nuts securing them from the wrist piece.
3. After the wrist has been attached to the AX-12A servo holster we then attach the MX-28T servo to its horn and secure it using the 3mm x 8mm machine screw.
4. Next we mount the AX-12A servo into its holster and secure it using 2mm x 9mm machine screws as shown in the images below
5. This completes the wrist piece. The Left wrist piece is constructed the same way but mirrored. Analyze the picture below to find what slight adjustments need to be made.
Forearm Construction
1. First we place the MX-64T in the groove of the lower arm as shown in the picture below. We then mount it from below using 4 2.5mm x 9mm machine screws.
2. Next we place the MX-64T Servo Holster inside the lower arm and align it the proper holes on each side. The holster should be snug against the top of the servo with the raised part of the servo perfectly fitting through the hole in the holster. See pictures for details. We then use 6 2.5mm x 9mm machine screws to mount the holster to the top of the servo and place 2 4mm x 8mm screws in the MIDDLE holes to secure the MX-64T holster to the lower arm.
3. Now we mount the servo horn to the wrist rotator using 8 2.5mm x 6mm machine screws. Once secure we then attach the horn to the MX-64T servo and secure it using a 3mm x 8mm machine screw.
If assembled properly the top of the MX-64 Holster should look exactly like the image below. Make sure it is assembled properly before continuing as it will be hard to fix later on.
4. Now we attach the lower arm brace front and lower arm brace as shown in the picture below. Be certain the orientation is correct, its extremely important that the front brace be attached facing the top of the MX-64 servo or else you cannot obtain full dexterity with the elbow. Both braces are attached using 8 4mm x 8mm screws each. They are attached with nuts internally for both aesthetic and safety purposes. However this makes it very hard to attached the nuts. I recommend securing the entirety of one brace first, and then for the other one start going bottom up. Secure both screws at the bottom before continuing upwards on either side. This will leave you enough room to use a tool to hold the nut in place while you screw in the screw from the outside.
5. Lastly we attached the servo horn to the top of the lower arm using the 8 2.5mm x 6mm screws and secure the servo to the horn using the 3mm x 8mm screw as shown below.
Below is an image of a properly constructed right forearm. The forearms can both be the same, it does not effect functionality. However a piece called 'left lower arm' has been provided in order to create a mirrored left arm for aesthetic purposes. Using the left lower arm piece the assembly is completed the exact same way. The only difference is the left lower arm is constructed to have the 106-T servo mount on the opposite side, thus mirroring the right configuration.
Upper Arm Construction
1. First we place the MX-106T servo in the groove of the upper arm and secure it from below using four 2.5mm x 9mm machine screws, similarly to step 1 for the lower arm.
2. Next we add the upper arm brace and slide it snug between the branches of the upper arm and flush on the back of the 106T servo. We then use 6 more 2.5mm x 9mm screws to secure the upper arm brace to the 106T servo as well as use four 4mm x 8mm machine screws to secure attach the brace to the upper arm. Nuts are used to secure the screws as shown in the picture below.
3. After the servo is secure we attach the two servo horns to the arm using the 8 2.5mm x 6mm screws. We note that the shoulder construction and design is yet to be completed and these horns are not present in our current testing prototype.
4. Next we attach the rotating upper arm to a HN05-101 servo horn using 8 2.5mm x 9mm machine screws. Once secure we attach the horn to the 106T servo on the bottom of the upper arm and secure it with the standard 3mm x 8mm screw
5. Lastly we attach the upper arm brace front and upper arm brace back. The front brace is the one with the large hole in it. This is used for cleaner wiring. The wires coming out of the MX-106T in the upper arm will feed through the large hole into the back of the elbow servo. The orientation as to which these are attached does not matter, it simply determines whether this upper arm is for the left or right side, since the hole must always be facing the front. The braces are secured using 4 4mm x 8mm screws each with nuts on the interior as shown below.
When the upper arm is complete it should look like the picture below.