This will be a tall order with less than two weeks to go, and considering the nature of the venue, we should be controlling all this from a Raspberry Pi ! Until this weekend, very little consideration has been given to this aspect of the project work.
So on that note, we're going to start reassembly...
Installation of motor pulleys - replacements made over the weekend installed into front, and originals at rear, carefully checking for end-float in the motor shafts as we proceed:
I've been applying Thread Lock to all grub screws
The cracked reduction gearing is still an issue... however with a little drop of superglue to reinforce things, this will allow me to reinstall them for now. I'm still waiting for the new spur gears to arrive, so this is only a temporary measure:
New timing belts roughly placed in order - Medium, Short, Long, Short, and finally Medium. Although they have a tendency to spring about the place, they can be easily repositioned once the axle is bolted in place. All moving parts are lubricated with WD-40, but I also have a Precision Oiler pen for hard to reach parts such as bearings.
As you can see, they went in pretty easily after tweaking things about:
Starting with the motor support bar stiffener - this was fitted loosely, and was not tightened until the switch support bar and sensors had been re-fitted.
Further adjustments will definitely be required - one sensor is touching a reduction gear which means friction will rear it's ugly head
Final adjustments will have to wait until the arm is installed !
Here are a few pictures of the Armdroid shoulder so far :-
I've also been busy setting up my Raspberry Pi with a development environment to start writing the controlling software. I'll update the blog later with more details on that....