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&GT2-400mm

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!!!