Difficulty
Moderate
Steps
12
Time Required
- 4. Elbow Tail and Ulna Assembly 12 steps
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Quiz
0
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Package #4
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Ulna Gearbox portion of Package #5
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Alan Keys
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Socket Drivers
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Needle Nose Plier
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Prepare the following components:
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5B - Eccentric Cams
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5B - Top and Bottom Rotors
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3/8'x396.35mm Brass Tube
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15x21x4mm 6702 Bearing (x3)
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M3x4mm Set Screw (x3)
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Insert the 6702 Bearings in the Rotors
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Make sure the Bearing is all the way in.
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Prepare the Cams and Brass Tube that acts as the input shaft
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Top Eccentric Cam (thinnest profile)
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Bottom Eccentric Cam (medium profile)
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Concentric Cam (thickest profile)
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Machined Brass Tube, 3 hole drilled end
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Insert and align the Concentric Cam's Set Screw hole to the furthest of 3 holes on the brass tube and secure it using a M3 Set Screw
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Do NOT screw further than you have to. You want to make sure the screw has bit into the Brass Tube Hole but no deeper than that.
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Place the 6702 Bearing
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Repeat the above process with the Bottom Eccentric Cam (medium thickness)
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Insert the "B" Rotor, once the Set Screw in secured just enough for the bearing to go in.
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Repeat the Orange and Yellow steps with the Top Eccentric Cam (thinnest profile) and "T" Rotor
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Prepare the following components:
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5Bc - Ulna Housing Top parts
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5Bd - Output Disks
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30x37x4mm 6706 Bearing
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M3x25mm Screws (x8)
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M3 Hex Nuts (x8)
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Insert 6706 Bearings into 2 Top Housing parts
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Top output disk housing (chamfered on one side)
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Bottom output disk housing (not chamfered)
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Prepare the Output disks with the Top Output Disk inserted on the Chamfered side of the Top Output disk
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Top Output Disk (Thick Cross)
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Middle Output Disk (Thinnest disk)
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Bottom Output Disk (Medium Thickness disk)
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Place the Middle Output Disk on the other side of the Top Output Housing
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Use the M3x25mm screws to Hold them in place
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Insert the Bottom Output Disk on the Bottom Output Housing
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Make sure to look down on the non label face of the Output Housing when inserting the Bottom Output Disk
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Screw in all the M3x25mm screws
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Align the 2 Output Housing and use Needle Nose Pliers to tighten the nuts
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Prepare the following components:
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5Ba-b - Housing Parts
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Previously assembled Parts (Input shaft and Output disk
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M3x5mm Screws (x8)
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M3x25mm Screws (x2)
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M3x35mm Screws (x4)
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M3 Hex Nuts (x6)
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M3 Square Nuts (x8)
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Insert Square Nuts on the 5Bb Rotor Housing parts
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Use M3x5mm Screws to hold these square nuts
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These nuts are future Cable Management attachment depending on the Tool that's attached at the end effector
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Align the "T" Labels on the rotor to the Rotor Housing and insert only the Top Rotor
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Align the "B" Labels on the rotor to the Rotor Housing and insert it through.
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Clamp the Bottom Housing parts on the Concentric Cam Bearing using the M3x25mm Screws
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Align the Output Disk Housing and the Rotor Housing to the Alignment Line
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Align the Bottom Housing parts in a way that the separation line is aligned to the label
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Screw the Housing components using the M3x35mm Screws
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