J22 Symmetric Joint ##################### .. _D3.4_image91: .. figure:: ../designPrimitives/images/image91.jpg :align: center Fully assembled J22 asymmetric joint showing the optional connectivity in the flange. Parts List ------------ The parts list is maintained at `roboy.open-aligni.com `_. External users can access it using the following credentials: - user: roboy - password: roboy .. csv-table:: Partslist of J22 asymmetric joint :header: "Level","Manufacturer P/N","Manufacturer Name","Part Type","Description","Quantity","Designator" :file: 20170406-J22Asymmetricjoint-A_complete.csv Upper Joint Fork ---------------- Step 1: Mount metal sheets on upper joint fork ++++++++++++++++++++++++++++++++++++++++++++++ .. _D3.4_image93: .. figure:: images/image93.jpg :align: center Press the four M2 brass inserts into the upper joint fork using pliers or a bench vise. .. _D3.4_image94: .. figure:: images/image94.jpg :align: center Screw the two upper metal sheets on the sides with M2 screws. Step 2: Mount the cable catching ++++++++++++++++++++++++++++++++++++++++++++++ .. _D3.4_image95: .. figure:: images/image95.jpg :align: center Press the M2 brass insert into the upper joint fork on the top side. .. _D3.4_image96: .. figure:: images/image96.jpg :align: center Fix the cable catching mechanism with M2 screws. Step 3: Mount the guiding pulley ++++++++++++++++++++++++++++++++++++++++++++++ .. _D3.4_image97: .. figure:: images/image97.jpg :align: center Place the pulley between the metal sheets. Push in the pulley axle (hinge pin 25x4 mm). .. _D3.4_image99: .. figure:: images/image99.jpg :align: center If needed adjust the diameter of the holes of the metal sheets. .. _D3.4_image98: .. figure:: images/image98.jpg :align: center Secure the axle on both sides with lock washers or locktite. Lower Joint Fork ------------------- Step 4: Mount the metal sheets on the under joint fork ++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. _D3.4_image100: .. figure:: images/image100.jpg :align: center Insert the `M3 brass inserts (with heads) `_ in the holes on the inside of the joint, and the `M3 brass inserts (without heads) `_ from the outer side. .. _D3.4_image101: .. figure:: images/image101.jpg :align: center Insert the under metal sheets in the appropriate slots and fix them with M3 screws Step 5: Mount the cable fixation pin ++++++++++++++++++++++++++++++++++++++++++++++ .. _D3.4_image102: .. figure:: images/image102.jpg :align: center Mount the cable fixation pin - (if needed) adjust the diameter of the mounting holes for pin (hinge pin 45x6 mm) - Mount the pin - Secure the pin on both sides with the lock washers - Clip on it the cable centring clip or glue in the pin - Note: Bearings should **not** be in the under joint fork at this time Step 6: Mount the guiding pulley ++++++++++++++++++++++++++++++++++++++++++++++ .. _D3.4_image103: .. figure:: images/image103.png :align: center Press the ball bearing into the pulley. Insert the axle pin in the ball bearing .. _D3.4_image104: .. figure:: images/image104.jpg :align: center Mount the assembly in to the upper joint fork Step 7: Assemble the joint axle (part 1) ++++++++++++++++++++++++++++++++++++++++++++++ .. _D3.4_image105: .. figure:: images/image105.jpg :align: center Mount joint axle side. Mount on one side of the joint axle: - one of the large circlips (DIN 471 - 9 x 1) - one ball bearing - one of the small circlips (DIN 471 -6 x 0.7) .. _D3.4_image106: .. figure:: images/image106.jpg :align: center Insert the joint axle through the upper and under joint forks. Mount the other large circlip on the other side of the joint axle Step 8: Assemble the joint axle (part 2) ++++++++++++++++++++++++++++++++++++++++++++++ .. _D3.4_image107: .. figure:: images/image107.jpg :align: center Mount the other ball bearing. Mount the other small circlip. Glue the sensor magnet (use only a small drop of glue!). Note: the magnet can also be glued before mounting the joint axle. .. _D3.4_image108: .. figure:: images/image108.jpg :align: center Optionally: Secure the joint axle with the countersunk M3 screw. Step 9: Mount the side covers ++++++++++++++++++++++++++++++++++++++++++++++ .. _D3.4_image109: .. figure:: images/image109.png :align: center • Assemble the sensor and SIM boards and the circular space in the larger side cover (glue the boards to the cover) • Check that the red, blue and green cables are facing upwards and the other red cables are behind • Screw the side covers on the under joint fork Optional Step 10: Solder the cables on one of the SB connection boards +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ **This step can be skipped if now SB connection boards are to be used.** .. _D3.4_image110: .. figure:: images/image110.jpg :align: center Prepare cable tree on connector boards. Cut on 15 cm length: 4 data wires 0,25 mm\ :sup:`2` 2 power wires highly flexible silicon 1,5 mm\ :sup:`2` Connector side: .. _D3.4_image110A: .. figure:: images/image110A.png :align: center Pin colour code: F1+ white F1 - brown F2 + yellow F2 - green Optional Step 11: Guide the cables through the joint and solder them to the other SB connection board ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ **This step can be skipped if now SB connection boards are to be used.** .. _D3.4_image111: .. figure:: images/image111.jpg :align: center Strip all cables until the SB-pocket. Pull cables through the connector board and solder from top. Screw both connector boards to joint with four M1,6 screws. Connector side: .. _D3.4_image111A: .. figure:: images/image111A.png :align: center Pin colour code: F1+ white F1 - brown F2 + yellow F2 - green Tips: - Put the joint in the position of the longest cable path! - Avoid cable crossovers by connecting to board