3.1. J22 Symmetric Joint

Fig. 3.18 Fully assembled J22 asymmetric joint showing the optional connectivity in the flange.

3.1.1. 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

Table 3.1 Partslist of J22 asymmetric joint

Level	Manufacturer P/N	Manufacturer Name	Part Type	Description	Quantity	Designator
0	J22 Asymmetric joint	MyoRobotics Consortium	Joints	Asymmetric elbow joint	1
1	J22 prox joint end	GI	MyoCAD	Under joint fork that provides an interface for the structural bond.	1
1	J22 dist joint end	GI	MyoCAD	Upper joint fork that provides an interface for the structural bond.	1
1	J22 prox lever arm adapter	GI	Machined parts		2
1	J22 dist level arm adapter	GI	Machined parts		2
1	J22 axle assembled	GI	MyoCAD	This is all the parts required to make the axle pin work in the asymmetric joint	1
2	J22 axle	GI	Machined parts	This is the joint axle that goes through the upper and under joint fork	1
2	626-2Z	NKE	Bearings	Bearing 6 x 19 x 6 mm	2
2	1950-007	Wegertseder GmbH - Schrauben Shop	Nuts, rings, inserts	Circlip 9 x 1mm	2
2	1950-004	Wegertseder GmbH - Schrauben Shop	Nuts, rings, inserts	Circlip 6 x 0.7	2
2	MyoArm Assembly	GI	Labour		0.17
1	J22 cover	GI	MyoCAD	Side cover of the joint for myorobotics elbow asymmetric	1
1	J22 cover sensor	GI	MyoCAD	This covers the magnet and the SIM board	1
1	J22 cabel cover v4	GI	MyoCAD	This used in the asymmetric joint to decrease the risk of the cable jumping out the guiding pulley.	1
1	J22 Guiding pulley assembled	MyoRobotics Consortium	Accessories	Putting together of the small guided pully	1
2	J22 pulley centre	GI	MyoCAD	Is used to create the pulley which is then inserted in to the upper joint fork	1
2	693-2Z	NKE	Bearings	Bearing 3 x 8 x 4 mm	1
2	1018-066	Wegertseder GmbH - Schrauben Shop	Screws, Bolts and Rods	Zylinderstift 3x8	1
2	MyoMuscle Assembly	GI	Labour		0.17
1	J22 Cabel centering	GI	MyoCAD	This used in the asymmetric joint to decrease the risk of the cable jumping out the guiding pulley.	1
1	Large Hinge Pin 6x45	MyoRobotics Consortium	Screws, Bolts and Rods	The labour to create the groves and attach the washer	1
2	1018-190	Wegertseder GmbH - Schrauben Shop	Screws, Bolts and Rods	Hinge pin 45 x 6 mm	1
2	MyoArm Assembly	GI	Labour		0.17
2	1956-114	Wegertseder GmbH - Schrauben Shop	Nuts, rings, inserts	Lock washer 5 mm	2
1	Large Hinge Pin 4x25	MyoRobotics Consortium	Screws, Bolts and Rods		1
2	1018-112	Wegertseder GmbH - Schrauben Shop	Screws, Bolts and Rods	cylindric bolt 25 x 4 mm	1
2	MyoArm Assembly	GI	Labour		0.17
2	1956-110	Wegertseder GmbH - Schrauben Shop	Nuts, rings, inserts	Lock washer 3.2 mm	2
1	Large Hinge Pin 3x24	MyoRobotics Consortium	Screws, Bolts and Rods	This is the labour need to create the hinge pin groves and attach washers (was meant to be 3x25)	1
2	1018-082	Wegertseder GmbH - Schrauben Shop	Screws, Bolts and Rods	Zylinderstift 3x24	1
2	1956-108	Wegertseder GmbH - Schrauben Shop	Nuts, rings, inserts	Lock washer 2.3 mm	2
2	MyoArm Assembly	GI	Labour		0.17
1	1956-108	Wegertseder GmbH - Schrauben Shop	Nuts, rings, inserts	Lock washer 2.3 mm	2
1	1956-114	Wegertseder GmbH - Schrauben Shop	Nuts, rings, inserts	Lock washer 5 mm	2
1	1956-110	Wegertseder GmbH - Schrauben Shop	Nuts, rings, inserts	Lock washer 3.2 mm	2
1	812 000 020.800	Kerb Konus	Nuts, rings, inserts	Brass Insert M2	5
1	813 000 030.800	Kerb Konus	Nuts, rings, inserts	Brass Insert M3	4
1	852 000 030.800	Kerb Konus	Nuts, rings, inserts	Brass Insert M3	4
1	J22 pulley prox joint end	GI	MyoCAD	This is used for the pulley for the cable to be able to move	1
1	MyoJoint Sensor	GI	MyoRobotics Products	Joint sensor for a MyoRobotics elbow	1
2	Joint Angle Sensor Board (JASB)	Embedded Robotic Systems LLP	Microcontroller	Sim board used with the magnet in the asymmetric joint	1
2	RMM44A3A00	RLS	Microcontroller	Magnet for the sensor board	1
2	Cable JASG to CAN	GI	Tendon, Rope, Cables	CAN bus cable for the joint sensor	1
3	SH3-SH3-28300	JST	Tendon, Rope, Cables	Cable, crimped, 300mm for JST SH series	4
3	SHR-04V-S-B	JST	Tendon, Rope, Cables	connector housing, SH, female, 4 terminal, 1 mm range	1
3	MyoMuscle Assembly	GI	Labour		0.15
3	SPUL/1.2/3.2MMBLK SPUL/1.2/3.2MMBLK	Pro Power	Tendon, Rope, Cables	Shrink Tube 3.2-1.2mm	0.1
2	Cable magnetic joint sensor to JASB	GI	Tendon, Rope, Cables	Wires that come out of the joint	1
3	MyoMuscle Assembly	GI	Labour		0.75
3	2842/19 RD005	Alpha Wire	Tendon, Rope, Cables	Redwire for magnet ( 30.5m, Diameter 0.688mm)	10
3	2842/19 BL005	Alpha Wire	Tendon, Rope, Cables	Blue wire for magnet ( 30.5m, Diameter 0.688mm)	10
3	2842/19 GR005	Alpha Wire	Tendon, Rope, Cables	Green wire for magnet ( 30.5m, Diameter 0.688mm)	10
2	RMB20VA10BC1	RLS	Sensors	Magnet sensor board	1
1	2534-278	Wegertseder GmbH - Schrauben Shop	Screws, Bolts and Rods	M3 screw cylinder 8mm into the lower joint fork	8
1	2534-234	Wegertseder GmbH - Schrauben Shop	Screws, Bolts and Rods	M2 screw cylinder 6mm	5
1	J22 prox lever arm adapter bonnet	GI	MyoCAD		2

3.1.2. Upper Joint Fork

3.1.2.1. Step 1: Mount metal sheets on upper joint fork

Fig. 3.19 Press the four M2 brass inserts into the upper joint fork using pliers or a bench vise.

Fig. 3.20 Screw the two upper metal sheets on the sides with M2 screws.

3.1.2.2. Step 2: Mount the cable catching

Fig. 3.21 Press the M2 brass insert into the upper joint fork on the top side.

Fig. 3.22 Fix the cable catching mechanism with M2 screws.

3.1.2.3. Step 3: Mount the guiding pulley

Fig. 3.23 Place the pulley between the metal sheets. Push in the pulley axle (hinge pin 25x4 mm).

Fig. 3.24 If needed adjust the diameter of the holes of the metal sheets.

Fig. 3.25 Secure the axle on both sides with lock washers or locktite.

3.1.3. Lower Joint Fork

3.1.3.1. Step 4: Mount the metal sheets on the under joint fork

Fig. 3.26 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.

Fig. 3.27 Insert the under metal sheets in the appropriate slots and fix them with M3 screws

3.1.3.2. Step 5: Mount the cable fixation pin

Fig. 3.28 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

3.1.3.3. Step 6: Mount the guiding pulley

Fig. 3.29 Press the ball bearing into the pulley. Insert the axle pin in the ball bearing

Fig. 3.30 Mount the assembly in to the upper joint fork

3.1.3.4. Step 7: Assemble the joint axle (part 1)

Fig. 3.31 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)

Fig. 3.32 Insert the joint axle through the upper and under joint forks. Mount the other large circlip on the other side of the joint axle

3.1.3.5. Step 8: Assemble the joint axle (part 2)

Fig. 3.33 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.

Fig. 3.34 Optionally: Secure the joint axle with the countersunk M3 screw.

3.1.3.6. Step 9: Mount the side covers

• 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

3.1.3.7. 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.

Prepare cable tree on connector boards.

Cut on 15 cm length:

4 data wires 0,25 mm²

2 power wires highly flexible silicon 1,5 mm²

Connector side:

Pin colour code:

F1+ white

F1 - brown

F2 + yellow

F2 - green

3.1.3.8. 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.

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:

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