How to assemble pib
You’re almost there, this is the last guide you need to have a working pib.
To assemble pib´ s arm to pib´ s body you need to have completed all the past tutorials.
First, we will assembly pib´s hand to its forearm.
Guide the teflon tubes coming out of the hand through the shown part of the forearm (C20).
Attach the spring in the forearm to the hand using 1 x M08 rod.
Pull strongly on the spring to attach it in the shown place of the hand.
For clarity C19 and the teflon tubes are hidden in the pictures.
Insert the loose fluorocarbon string coming out of hand into the teflon tube fixed in forearm.
Insert 2 x nuts in both C50.
Use both C50 to connect hand and forearm and fix them in place using 2 x 22mm screws.
Now we need to assemble the strings from the forearm to the internal body.
Insert the teflon tubes from forearm through the shown spots and use 2 x B14, 2 x B15 and 4 x 40 mm screws to fix them.
(Tipp: Wrap 2 x pieces of tape around each end of the tube before fixing them to have better grip.)
Insert fluorocarbon wires coming out of tubes in shown holes in connectors and tigh a knot at the end to fix them.
Now, we connect the shoulder joint assembly to the upper and internal body assembly.
Place 14 x nuts in shown spots in B01 and B02 of the shoulder joint.
Connect the shoulder joint to upper body assembly using 10 x 20 mm screws.
Use 6 x 16 mm screws to connect head-neck-assembly to the previous assembly from step 2.
Connect the preassembled elbow to shoulder using 2 x 25 mm screws.
Note: use the printed arrows to have the right orientation.
Disassemble C20 on the forearm to easily connect hand and forearm with elbow and shoulder.
Connect hand and forearm to elbow by using 2 x 25 mm screws.
Re-assemble C20 on the forearm with the screws you removed in step 2.
Enclose teflon tubes coming out of the forearm with 2 x C31.
You don´t need any tool for this.
Connect the motors in fingers, arm and head to both E03 servo bricklets in the upper body according to the table in the next slide.
Please use the information which are highlighted in the table.
Ignore any joint name with „left“ in it or connected to bricklet 2 if you are assembling pib with just one arm (=right arm).
Please use the information which are highlighted in the table.
Ignore any joint name with „left“ in it or connected to bricklet 2 if you are assembling pib with just one arm (=right arm).
Connect both E03 servo bricklets (located in the upper body) to E02 TinkerForge HATBrick (located in the head)
using 2 x bricklet cables. Please use the spots A and B on the HATBrick to connect the cables.
Lastly, your pib needs some power.
Therefore, connect the adapter to the shown spot of the screen (in the head) and with the USB-C power supply for Raspberry Pi.
You did a great job, pib is assembled!
Plug both power supplies to the power distributor and your pib is ready for all kind of fun stuff.
Additionally, you will need these printable and non-printable parts:
| Tutorials | Non-printable parts |
| 2 x B14-Tube_holder | 17 x S01 M3 nuts |
| 2 x B15-Tube_holder_top | 1 x M08 metal rod |
| 2 x C31-Wire_cover_upper_arm | 6 x S06 16mm screws |
| 2 x C50-Wrist_joint_connector | 10 x S08 20 mm screws |
| 2 x S09 22 mm screws | |
| 4 x S10 25 mm screws | |
| 4 x S13 40 mm screws | |
| 2 x Bricklet cable | |
| 1 x Power Adapter | |
| 1 x USB-C power supply for Raspberry Pi |
