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.

1

2

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