Dexter v1
(Assembly Manual)
Contents
Proper Assembly Area: ...................................... 3
Supplied Tools: .................................................... 3
I Base Assemble: ................................................ 4
Base Assembly Parts List: ............................... 4
Base Assembly Tool List: ................................. 4
A: Dry fit the parts in the following manner: ................................................................................ 6
B: Gluing .............................................................. 8
II Arm Body......................................................... 11
Arm Body Parts List: ....................................... 11
Arm Body Tools List:....................................................................................................................................................................... 11
A: Dry fit the parts in the following manner: ........................................................................................... 13
B. Attach the bearings ................................................................................................................................... 19
C. Gluing the strakes ..................................................................................................................................... 20
D. Attaching the 2 stepper motors to the assembly. ............................................................................ 21
III. Pivot ............................................................................................................................................................. 24
Pivot Parts List: ............................................................................................................................................... 24
Pivot Tools List: ............................................................................................................................................... 24
A: Dry fit the parts in the following manner: ........................................................................................... 26
B: Glue the parts in the following manner: .............................................................................................. 29
C: Mounting the Code Disk .......................................................................................................................... 32
E: Mounting the Arm Body motor and harmonic drive component. ................................................... 34
D: Mounting the Base motor and harmonic drive component. ............................................................ 37
F: Gluing the Pivot Assembly. ...................................................................................................................... 40
F: Glue Rig for the Pivot Assembly. ............................................................................................................ 45
IV. End Arm Hub Assembly ........................................................................................................................... 50
End Arm Hub Parts List: ............................................................................................................................... 50
End Arm Hub Tools: ........................................................................................................................................ 52
A: New Belt Pulley A & B: ............................................................................................................................. 53
B: Dry fit the parts in the following manner ............................................................................................ 55
C: Glue the parts in the following manner .............................................................................................. 60
D: Prepping the All-Thread Bolts ................................................................................................................ 77
E: Final End Arm Hub Assembly .................................................................................................................. 79
2 | P a g e
V. External Gear Assembly ........................................................................................................................... 90
External Gear Parts List: ............................................................................................................................... 90
External Gear Tools: ....................................................................................................................................... 90
A: Finishing Nails and Strakes Insertion ................................................................................................... 92
B: Glue Strakes and Motor End Cap (G02A). .......................................................................................... 93
B: Motor Placement ........................................................................................................................................ 98
C: Attaching the External Gear to the Arm Body ................................................................................ 103
D: Attaching the Stator Gear to the External Gear ............................................................................ 104
VI. Differential ............................................................................................................................................... 106
Differential Parts List:................................................................................................................................... 106
Differential Tools:........................................................................................................................................... 107
A: Dry Fit components ................................................................................................................................. 108
VII. Attaching Arm Body and End Arm Hub ............................................................................................ 148
VIII. Attaching PIVOT to Base. ................................................................................................................... 154
IX. Attaching PIVOT to Arm Body. ............................................................................................................ 169
X. Attaching Differential and End Arm Hub ........................................................................................... 175
XI. Attaching Belts ........................................................................................................................................ 177
XII. Attaching Wire and First Light (open loop) .................................................................................... 182
XIII. Attaching the Wire Harness and Optical Encoders (closed loop) ........................................... 182
XIV. Connecting to DDE .............................................................................................................................. 182
XV. Fine Tuning the Optical Encoders ..................................................................................................... 182