How to build pib´s shoulder joint

pib’s shoulder joint consists of 18 printable parts and is assembled in 23 steps.

Step 1

Step 1

Place 4 x nuts into C01 and attach 1 x E09 servo using 4 x 8mm screws.

Step 2

Step 2

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.

Step 3

Step 3

Attach the motor clamp to the servo using 1 x 10 mm screw.

Step 4

Step 4

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.

Step 5

Step 5

Attach C02 to C01 using 4 x nuts and 4 x 20mm screws.

Step 6

Step 6

Place 1 x motor clamp and 1 x M04 ballbearing on C03.

Step 7

Step 7

Attach E09 servo on C03 using 2 x 12mm screws.

Step 8

Step 8

Insert the assembled C03 into C01 as shown.

Step 9

Step 9

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.

Step 10

Step 10

Fix the assembled C03-C05 with 2 x 16mm screws.

Step 11

Step 11

Connect C30 to C05 using 1 x nut and 1 x 20 mm screw.

Step 12

Step 12

Repeat Step 6+7 with C04 to have an assembled C02 with shoulder rotators.

Step 13

Step 13

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.

Step 14a

Step 14a

Attach C27 to C5_C30 using 4 x nuts and 4 x 25mm screws.

Step 14b

Step 14b

Attach C27 to C5_C30 using 4 x nuts and 4 x 25mm screws. Place then 2 x nuts in C27.

Step 15

Step 15

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.

Step 16

Step 16

Connect C26 to the assembly using 2 x 12 mm screw in the shown spots.

Step 17

Step 17

Place 2 x nuts in C15 and 4 x nuts in C09, then use 2 x 8mm screws to connect them.

Step 18

Step 18

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.

Step 19

Step 19

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.

Step 20

Step 20

Use the second C08 assembly from step 17 and place it opposite to the same part.

Step 21

Step 21

Attach C28 to the previous assembly using 8 x 10mm screws to the bottom and 6 x 12mm screws to the top.

Step 22

Step 22

Add 2 x C31 to the assembly that will be used to encapsulate the teflon tubes later.

Step 23

Step 23

Attach B01 to B02 using 4 x nuts and 4 x 20mm screws.

Final

Congratulations

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: