User manual

Barrett Technology, Inc.
BA4-310 System User Manual Version 1.1
63
[ ] 9. Insert the tensioner worm back into the motor pinion. To reach the worm bore, the user
may have to rotate the wrist axes slightly to bring it around into view. Be careful not to
lose tension in the 1
st
-stage cable at this point, as your work will unwind back through
the 3
rd
-stage. Tighten the worm with the torque-driver to 0.23 N-m (32 oz-in).
[ ] 10. Pre-tension the circuit according to Section 6.4.3
6.4.2 Right Side
The cabling instructions for the right-side transmission are nearly identical to those for the left
side except for the initial position of the wrist axes. Before cabling the right side, orient the
wrist so that the side labeled "LEFT" is on your left, and the side labeled "RIGHT" is on your
right. Then rotate the wrist output fully counter-clockwise, but this time, pitch the output to the
left. This is the position the wrist should remain in when cabling the right-side circuit.
6.4.2.1 3
rd
Stage
[ ] 1. Begin with a 559mm 3
rd
-stage cable. Attach one end to the top termination in the lower
3
rd
-stage pulley.
[ ] 2. Wrap the cable around the pulley 2 times using tape to hold the wraps if necessary.
[ ] 3. Transition over to the right side pinion using a cross-wrap (the split in the surface of the
right side pinion is closer to the bottom of the wrist that that on the left side). Attach the
free end of the cable to the bottom termination of the pinion. Wind on the cable by
rotating the pinion. Rotate the pinion until the cable is tight.
[ ] 4. Immobilize the bottom of the pinion with tape to prevent cable unwinding.
[ ] 5. Attach one end of another 559mm 3
rd
-stage cable to the lower termination hole in the
lower 3
rd
-stage pulley. Wrap the cable up the pulley 3 times using tape to hold each
wrap as necessary. This cable will transition above the first cable, so it must wrap
between the wraps of the first. To avoid scrubbing of one cable against the other, two
wraps should lie between the transition points.
[ ] 6. Cross over to the pinion using a cross-wrap. Attach the free end of the cable to the
termination hole in the top of the pinion and rotate the top segment of the pinion only.
The first turn should track directly down to the pin in the pinion surface, and all other
turns should lie on the pinion surface below the pin but above the pinion split. Guide the
cable carefully to ensure that the cable winds on smoothly and evenly. Rotate the
pinion until the cable is tight.
[ ] 7. Immobilize the top of the pinion with tape to prevent cable unwinding.