User manual

Barrett Technology, Inc.
BA4-310 System User Manual Version 1.1
51
Figure 26 - Right 1
st
-Stage Elbow Pulley Cabling
As each turn of cable is wrapped onto the pulley surface, make sure that it does not
cross the previous wraps (this is difficult because part of this pulley surface is obscured
by other parts of the joint). Apply tape to the set of wraps to keep them in place until
pre-tensioning. Allow the remaining cable to exit through back of the elbow.
[ ] 6. Drop both free cable ends down through the center of the internal wire guide in the arm
inner link and pass them around the sides of the motor pinion as diagrammed in Figure
27 (shown when the user is facing the right side of the elbow). Be careful not to drop
the cables around the guide and into the passageway occupied by the electrical wires to
the optional wrist and hand.
The free cable ends should exit the differential through the access hole under the motor
pinion in the bottom of the main cylinder.