Microsoft Applied Robotics Research Library

Open Source Samples for Service Robotics

gestureBot Construction Guide

Session 5: Assemble the Right Arm

In this session we will 3D-print the base component while assembling the gestureBot's right arm.

Parts:

• servo labeled ID:005 programmed in Session 2
• (3) 130MM servo cable
• (16) short plastic rivets
• (2) long plastic rivets
• (16) 3mm miniature steel screws
• (2) Screw Mount Swing Bracket 3D-printed in Session 4, the swing brackets and servo wheels form a shoulder joint between servos ID:005 and ID:006 and an elbow joint between servos ID:007 and ID:008.
• (2) Servo Wheel 3D-printed in Session 4, the servo wheels support the swing bracket mounts for servo ID:006 and ID:008.
• (2) Servo Mount Plate 3D-printed in Session 4, the servo mount plates support the servo ID:005 attachment to the upper torso frame and form a lower arm section between servo ID:006 and ID:007.

Tools:

• PH0 Phillips screwdriver
• plastic rivet tool

Procedure:

First, start 3D-printing the parts required for future sessions:

• Base

Second, assemble the right arm:

• Mount a swing bracket to servo ID:005 with (4) 3mm miniature screws, taking care to align the tick-marks on the servo horn, the servo cover, and the swing bracket.

• Attach servo wheel to right shoulder swing bracket by inserting a long rivet through the bracket and into the back of servo ID:006. Do not install the rivet pin to allow the servo wheel to rotate freely.

• Mount the servo ID:006 horn to the right shoulder swing bracket with (4) 3mm miniature screws and taking care to align servo horn double tick-marks with the tick-mark on the bracket. Note that in this case the alignment is made with the opposite side of the servo horn.

• With (3) short rivets, attach a servo mount plate to the back of servo ID:007 with the mount hole rings oriented length-wise to the servo.

• Connect a 130mm cable to the top-side connector of servo ID:006.

• Attach servo ID:006 to ID:007 using (4) short rivets in the mount plate while routing the cable connected to servo ID:006 through the space between the servo and the mount plate.

• Connect cable from servo ID:006 to servo ID:007 on its bottom-side connector.

• Mount the right elbow swing bracket to servo ID:007 with (4) 3mm miniature screws taking care to align the tick-mark on the servo horn with the tick-mark on the servo cover and the bracket.

• Attach servo wheel to right elbow swing bracket by inserting a long rivet through the bracket and into the back of servo ID:008. Do not install the rivet pin to allow the servo wheel to rotate freely.

• Mount the servo ID:008 horn to the right elbow swing bracket with (4) 3mm miniature screws and taking care to align servo horn double tick-marks with the tick-mark on the bracket. Note that in this case the alignment is made with the opposite side of the servo horn.

• Connect a 130mm cable from the top connector of servo ID:007 to the rear-side connector of servo ID:008.

• Connect a 130mm cable from the rear-side connector of servo ID:005 to the bottom-side connector of servo ID:006.

Next-> Session 6: Assemble the Left Arm