How to build pib´s shoulder joint
pib’s shoulder joint consists of 18 printable parts and is assembled in 23 steps.
Place 4 x nuts into C01 and attach 1 x E09 servo using 4 x 8mm screws.
Insert C01 into the hole of B02 by putting 1 x M05 thrust bearing in between.
Please note: M05 consists of 1 axial bearing and 2 simple disks.
Attach the motor clamp to the servo using 1 x 10 mm screw.
Insert 3 x nuts into the shown spots in B02.
Insert 1 x nut into the shown spot in C29, then attach it 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.
Place 1 x motor clamp and 1 x M04 ballbearing on C03.
Attach E09 servo on C03 using 2 x 12mm screws.
Insert the assembled C03 into C01 as shown.
Insert 2 x nuts into the shown spots of C03. Please use a little tool, as this step is a little bit tricky.
Slide then C05 onto C03.
Fix the assembled C03-C05 with 2 x 16mm screws.
Connect C30 to C05 using 1 x nut and 1 x 20 mm screw.
Repeat Step 6+7 with C04 to have an assembled C02 with shoulder rotators.
Connect C30 to C04 using 2 x nuts and 2 x 16mm screws.
Please note: this step is a little bit tricky. You may need to use a small tool to get the nuts into the shown spots.
Attach C27 to C5_C30 using 4 x nuts and 4 x 25mm screws.
Attach C27 to C5_C30 using 4 x nuts and 4 x 25mm screws. Place then 2 x nuts in C27.
Connect 1 x E07 servo to C26 using 4 x nuts and 4 x 10mm screws. Add another 4 x nuts in the shown spots.
Connect C26 to the assembly using 2 x 12 mm screw in the shown spots.
Place 2 x nuts in C15 and 4 x nuts in C09, then use 2 x 8mm screws to connect them.
Place 4 x nuts in C08, then place M06 and M07 in the shown orientation inside C08.
Repeat this step, so you have this assembly twice.
Connect C26 with C08 and C09-C15 using 1 x 10mm screw for assembling to the servo.
You may need to press everything together while doing this.
Use the second C08 assembly from step 17 and place it opposite to the same part.
Attach C28 to the previous assembly using 8 x 10mm screws to the bottom and 6 x 12mm screws to the top.
Add 2 x C31 to the assembly that will be used to encapsulate the teflon tubes later.
Attach B01 to B02 using 4 x nuts and 4 x 20mm screws.
Congratulations, you did a great job, the 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:
|Printable parts||Non-printable parts|
|B01-Clavicle_left||3 x E09 DS3225 Servo with motor clamps|
|B02-Clavicle_right||1 x E07 MG996R Servo|
|C01-Shoulder_head||2 x M07 Thrust_bearing 70x50x1|
|C02-Shoulder_base||2 x M06 Ballbearing Axial 70x50x3|
|C03-Shoulder_rotator||2 x M04 Ballbearing 60x78x10|
|C04-Shoulder_rotator_2||1 x M05 Thrust_bearing 95x70x6|
|C05-Shoulder_arm_inner_connector||46 x S01 M3 nuts|
|2 x C08-Central_rotator_bracket||16 x S03 M3 8 mm screws|
|C09-Central_rotator_connector||14 x S04 M3 10 mm screws|
|C15-Central_rotator_motor_connector||11 x S05 M3 12 mm screws|
|C26-Central_rotator_motor_scaffold_short||4 x S06 M3 16 mm screws|
|C27-Arm_shell_lateral_major||5 x S08 M3 20 mm screws|
|C28-Arm_shell_lateral_minor||4 x S09 M3 22 mm screws|
|C29-Shoulder_horizontal_mount||4 x S10 M3 25 mm screws|
|C30-Shoulder_arm_inner_connector2||3 x S13 M3 40 mm screws|
|2 x C31-Wire_cover_upper_arm|