assembly.md

Assemble the robot

1 Build the electronics first

Wire the electronics

2 clean support material

Add threaded inserts

add horn to link 1 output bracket

Add horn to the two other link brackets

Add motor 1 to base

Put the cable in before putting motor into base

Add motor 3 to middle bracket

Add gripper and servo

Attach Electronics to Base

Remove the backing of the breadboard and use the double stick tape to attach the breadboard to the base

Wire all Motors and Home them

Add the thrust bearing to base and link 1 output bracket

Add passive support screws to Middle bracket and Gripper bracket

Use the supplied screw to attach the printed links to the passive side of the motor.

Use Calibration Pose to assemble base motor to its horn

Place motor 2 in link 1 output bracket but dont add the screws yet.

Pull motor 2 out and add the horn screw

Add Motor 2 back in and add Motor 2 horn and bracket

Attach horn to Motor 3

Home the robot to verify the horn

Home the robot in its calibration pose now that all motors are in place.

If the motors move after calibration

If the robot homes and holds the calibration pose then you are safe to move on. If one of the motors comes off the calibrtation pose, pull that horn and reset it closer to the correct pose, if you have to err to one side go past the calibration pose away from where the motor moved itself

Add last 2 motor horn screws

Add motor case screws to motor 2

Calibrate the gripper

Plug in the gripper servo and power up the system

The gripper will power up fully open place the horn on as shown

also add the rubber band.

Use solid core wire to hold the gripper open in the toggle pose