head v2 cabling - icub · web viewhead v2 cabling the newly released version of the head has 2...
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iCub Facility Rev. A2 27/05/2013
Head V2 CablingThe newly released version of the head has 2 tendons and a differential joint to actuate the first 2 DoF of the neck. Such mechanism is in principle analogous to the one of the shoulders.
Preparation:Prepare 2 cables as described below:
Cable:
CarlStahl U0778110 (Coated 1.0 mm / 0.81 mm)
Crimp:
RC_IIT_010_P_064
CABLE “A” – RC_IIT_019_G_018
CABLE “B” -- RC_IIT_019_G_017
Note that the “X” marks in the picture above is the area to be peeled from the t eflon coating. All dimensions are in mm.
312
82 1
10
28
312
134
162
28
iCub Facility Rev. A2 27/05/2013
ProcedureStart with Cable A as shown in pics below.
Tips & tricks:
You may find some difficulties in fixing the small metal plate (RC_IIT_010_P_010 see in figure below) above the cable and inside its seat. Try with a strong magnet to hold it into its seat while sliding the metal cable below it (as shown in pic below. Alternatively you can put a small drop of cyanoacrilic glue on the RC_IIT_010_P_010 and glue it to the cable. In this way it should automatically slide to the correct position.
*Start Here
iCub Facility Rev. A2 27/05/2013
iCub Facility Rev. A2 27/05/2013
Completely wire Cable A without tightening the set screws.
Pic above shows BLACK ARROWS for Cable A and RED ARROWS for Cable B.
Route Cable B as shown in pic below. Do not tight the set screws.
Adjust the tension with the 4 tensioner.1 and 2 for Cable A3 and 4 for Cable B
Now tight all the 4 setscrews.
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2
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