How to build pib´s shoulder joint

We have created a simple guide that you can use to assemble pib’s shoulder joint. Feel free to use it.

pib’s shoulder joint consists of 16 printable parts and is assembled in 20 steps.

Start

Build

Build it better: our suggestion for assembling pib

Print1

Printable parts – Overview

Print2

Printable parts – Overview

Print3

Printable parts – Overview

Print4

Printable parts – Overview

Step 1a

Step 1a

Insert 4 x nuts in the shown spots in C01.

Step 1b

Step 1b

Insert 1 x E09 servo into shown place of C01 and attach it using 4 x 8 mm screws.
Pull the cable first, then tilt the motor a little bit to put in into the shown spot. You may apply some gently force.

Step 2

Step 2

Attach 1 x M09 motorclamp to the servo and fix it by tightening the 2 small screws in the clamp.

Step 3

Step 3

Insert the assembly of C01 into the hole of B02 by putting 1 x M05 thrust bearing in between.

Step 4a

Step 4a

Insert 3 x nuts into the shown spots in B02.

Step 4b

Step 4b

Attach C29 with 3 x 40 mm screw to B01 and 1 x 12 mm screw to the motor clamp.

Step 5a

Step 5a

Insert 4 x nuts in the shown spots in C02.

Step 5b

Step 5b

Insert 8 x nuts in the shown spots in C02.

Step 6

Step 6

Attach C02 to C01 using 4 x 20mm screws.

Step 6 addition

Step 6 – more pictures

Attach C02 to C01 using 4 x 20mm screws.

Step 7

Step 7

Insert 2 x E09 servo motors and attach them with 8 x 12 mm screws.
Insert the servos one after the other. Pull the cable first, then tilt the motor a little bit to put in into the shown spot.

Step 8

Step 8

Insert 2 x M04 ballbearings in the shown spots in C02.
Insert the ballbearings from the inside and apply some gently force. Pliers can be very helpful here.

Step 9

Step 9

Insert 2 x M09 motor clamps on both E07 servos and fix them using the 2 small screws in clamps.

Step 10

Step 10

Insert 2 x nuts in both C03 and C04.

Step 11

Step 11

Connect C03 and C04 to the former assembly and tighten them to clamps using 2 x 12 mm screws.
Please note: B02 is hidden for clarity.

Step 12a

Step 12a

Place 2 x nuts in both C05 and C30.
Our tip: use a small screwdriver or a precision tool to put the nuts into the holes and hit it gently with a hammer to place it correctly.

Step 12b

Step 12b

Push 2 x M08 rods in shown places and place 2 x M12 springs onto the rods.
Please note: Due to a display effect, the spring is displayed in two parts, but it is just one spring each.

Step 12c

Step 12c

Assemble C05 and C30 using 1 x nut and 1 x 20 mm screw.

Step 13a

Step 13a

Connect both assemblies together using 4 x 20 mm screws.
Please note: You’ll need some dexterity for this, as it’s not easy to insert it here.

Step 13b

Step 13b

Attach the loose ends of both springs to the shown spot using 2 x M08 rods.

Step 14a

Step 14a

Insert 8 x nuts into the shown spots of C26.

Step 14b

Step 14b

Flip C26, than put 1 x E07 servo motor in the shown spot and assemble it to C26 using 4 x 10 mm screws.
Put 1 x M15 on top of E07.

Step 15a

Step 15a

Insert 4 x nuts in the shown spot of C08.
Repeat this step, as you will need a second C08 later.
Our tip: use a small screwdriver or a precision tool to put the nuts into the holes and hit it gently with a hammer to place it correctly.

Step 15b

Step 15b

Place C08, 1 x M06 and 1 x M07 ballbearing on top of C26 in the shown orientation.

Step 15c

Step 15c

Insert 2 x nuts in the shown spots of C15.

Step 15d

Step 15d

Flip C15 and connect it to M15 on the former assembly using 1 x 10mm screw in the shown orientation. 
This step requires manual dexterity.

Step 16a

Step 16a

Insert 2 x nuts in the shown spots of C09.

Step 16b

Step 16b

Connect C09 to C15 using 2 x 8 mm screws.
Make sure to follow the shown orientation of the parts.

Step 16c

Step 16c

Then place 1 x M07, 1 x M06 and the prepared C08 from step 15 a on top of C09.
Make sure to follow the shown orientation of the parts.

Step 17

Step 17

Insert 2 x nuts in the shown spots of C27. 

Step 18 note

Step 18 – note

Step 18 shows how to attach C28 and C27 to the former assembly.
Please check carefully for the orientation of both the former assembly and the new parts.

Step 18a

Step 18a

Attach C28 to the former assembly in the shown orientation.
Use 4 x 10mm screws in the lower 4 holes and 4 x 12mm screws in the upper 4 holes.

Step 18b

Step 18b

Then, attach C27 to the assembly in the shown orientation.
Use 4 x 10mm screws in the lower 4 holes and 2 x 12mm screws in the upper 2 holes.

Step 19

Step 19

Connect previous assembly to shoulder assembly using 4 x 25 mm screws.

Step 20

Step 20

Lastly, attach B01 to B02 using 4 x nuts and 4 x 20 mm screws.

Final

Congratulations

Congratulations, you did a great job, pib´s shoulder joint is assembled!

In order to construct the shoulder joint, you will need these printable and non-printable parts: