3.1. J22 Symmetric Joint

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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

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

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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

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

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

3.1.2.3. Step 3: Mount the guiding pulley

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

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

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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

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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.

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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

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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

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

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

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

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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)
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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)

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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.

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

3.1.3.6. Step 9: Mount the side covers

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  • 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.

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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:

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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.

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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:

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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