User manual

Barrett Technology, Inc.
BA4-310 System User Manual Version 1.1
46
Figure 21 - Elbow Directional References
5.6.1 2
nd
Stage
[ ] 1. Place joint 3 in the middle of its joint range if not already in this position. Move joint 4
such that the inner and outer link axes are inline (arm at full extension).
[ ] 2. Form a U-shaped bend in the middle of one of the 737mm 2
nd
-stage cables without
kinking it. As shown in Figure 22, fit this “U-bend” around the boss in the right 2
nd
-
stage pulley. It doesn’t matter which end goes over or under the boss.
Next, wrap the cable ends roughly a half turn around the right 2
nd
-stage pulley surface,
through the narrow clearance between the pinion and pulley, over the right pinion and
out the back of the elbow. Tape the 2
nd
-stage pulley to prevent rotation and tape the
cable ends at the point where they exit the elbow housing.