How to build pib´s shoulder joint
pib’s shoulder joint consists of 16 printable parts and is assembled in 20 steps.
Please set motors to zero position and assemble while they are connected to power. Refer back to calibration tutorial for an info refresh.
Place 4 x nuts into C01 and attach 1 x E09 Servo using 4 x 8mm screws.
Insert C01 into the hole of B02 (right side of pib*) by putting 1 x M05 thrust bearing in between.
Please note: M05 consists of 1 axial bearing and 2 simple disks.
Attach 1 x M09 (motor clamp) to the servo and fix it by tightening the 2 small screws in the clamp.
Insert 3 x nuts into the shown spots in B02.
Attach C29 with 3 x 40mm screw to B01 and 1 x 12mm screw to the motor clamp.
Attach C02 to C01 using 4 x nuts and 4 x 20mm screws.
Insert 8 x nuts in the shown spots in C02.
Insert 2 x E07 motors and attach them with 8 x 12mm screws.
Insert 2 x M04 ballbearings in the shown spots in C02.
Insert 2 x M09 motor clamps on both E07 servos and fix them using the 2 small screws in clamps.
Insert 4 x nuts in C03 and C04.
Connect C03 and C04 to shoulder assembly and tighten them to clamps using 2 x 12mm screws (B02 is hidden for clarity).
Place 4 x nuts in C05 and C30, then place 2 x M08 rods to fix 2 x M12 springs in the shown spots.
Assemble C05 and C30 using 1 x nut and 1 x 20mm screw.
Connect the previous assembly to shoulder joint assembly using 4 x 16mm screws and make sure that the grooves in both assemblies are aligned before addidng the screws by rotating the lower assembly till fitted.
Insert 8 x nuts into C26 and assemble E07 using 4 x 10mm screws.
Connect M15 to E07.
Then, place C08 on top and insert 4 x nuts in the shown spots.
Attach C27 to C5_C30 using 4 x nuts and 4 x 25mm screws. Place then 2 x nuts in C27.
Insert 2 x nuts in C15 and connect it to M15 using 1 x 10mm screw in the shown orientation.
Insert 2 x nuts in C09.
Connnect C09 to C15 using 2 x 8mm screws.
Place 4 x nuts in C08.
Then, place M07, M06 and C08 on top of C09.
Insert 2 x nuts in C27.
Enclose previous assembly with C28 and C27.
Use 8 x 10mm screws in the lower 8 holes and 6 x 12mm screws in the upper 6 holes.
Connect previous assembly to shoulder assembly using 4 x 25mm screws.
Attach the loose ends of both springs to the shown spot using 2 x M08 rods.
Please note: due to display effects both springs are parted in the middle.
Attach B01 to B02 using 4 x nuts and 4 x 20mm screws.
Congratulations, you did a great job, pib´s shoulder joint is assembled!
Please repeat this tutorial for other shoulder if needed.
In order to construct the shoulder joint, you will need these printable and non-printable parts:
|1 x E09 DS3225 Servo
|2 x E07 MG996R Servo
|3 x M09 Motor-clamp
|1 x M15 nylon connector
|4 x M08 Rod 2x20mm
|2 x M12 Tension Spring T700
|54 x S01 M3 nuts
|2 x C08-Central_rotator_bracket
|6 x S03 M3 8 mm screws
|13 x S04 M3 10 mm screws
|17 x S05 M3 12 mm screws
|4 x S06 M3 16 mm screws
|9 x S08 M3 20 mm screws
|4 x S10 M3 25 mm screws
|3 x S13 M3 40 mm screws
|2 x M04 Ballbearing 60x78x10
|1 x M05 Thrust_bearing 95x70x6
|2 x M06 Ballbearing Axial 70x50x3
|2 x M07 Thrust_bearing 70x50x1