WAM™ Wrist – Cable Maintenance Guide [email protected]
www.barrett.com
© 2008 Barrett Technology®, Inc.
Document: D1004, Version: AG.00
Page 9 of 13
Figure 10 – M5 Stage-3 Cables (color-enhanced)
Figure 11 – Taping the M5 Stage-3 Lower-
Pinion
4 M5
Stage-3
The cabling circuit for the M5 Stage-3 is represented in Figure 10 (only the
colored cables are in the M5 circuit).
□
1.
Position the wrist so that you can easily access the M5-Side. Rotate
joint 5 to its far positive stop (fully CCW), and flip the wrist pitch
opposite to the side that you are working on. Secure J5 and J6 with
tape.
□
2.
Begin with a 3rd-stage cable (B3479). Attach one end to the top
anchor in the lower 3rd-stage pulley. If necessary, push the
termination in further and pull the cable across the surface of the
pulley to force the termination into the orientation visible in Figure
10.
□
3.
Wrap the cable around the pulley 2.5 times using tape to hold the
wraps.
□
4.
Transition over to the M5 pinion using a cross-wrap. Attach the free
end of the cable to the bottom anchor of the pinion. Wind on the
cable by rotating the pinion (after approximately ½ of a turn the
cable should pass over the flat section of the anchor-separator).
Rotate the pinion until the cable is tight.
□
5.
Immobilize the bottom of the pinion with tape to prevent cable
unwinding (see Figure 11).
□
6.
Attach one end of another 3rd-stage cable (B3479) to the lower
anchor in the lower 3rd-stage pulley. Wrap the cable up the pulley 3
times using tape to hold each wrap as necessary. This cable will
transition above the first cable, so it must wrap between the wraps of
the first (see color-enhanced Figure 10).
□
7.
Cross over to the pinion using a cross-wrap. Attach the free end of
the cable to the anchor in the top of the pinion and rotate the top
segment of the pinion only. After approximately ½ of a turn the
cable should pass over the flat section of the anchor-separator and
the 2
nd
½ of the first turn should track directly down below the pin
on the pinion surface, and all other turns should lie on the pinion
surface below the pin but above the pinion split. Guide the cable
carefully to ensure that the cable winds on smoothly and evenly.
Rotate the pinion until the cable is
tight
.
□
8.
Immobilize the top of the pinion with tape.
□
9.
Using a thin piece of tape, connect the upper and lower portions of
the M5 pulley/pinion pair by laying the tape around the “pinion split”
(see Figure 12).
□
10.
Remove ALL other tape.
□
11.
Gently move the M5 stage-3 circuit to its extremes. Ensure that the
cables are not tangled or rubbing tightly. Nudge the cables into the
relative positions as shown in Figure 10. If necessary, carefully
remove the pinion tape, retighten the circuit, and resecure.
□
12.
Continue on to Section 6 and follow the directions for the M5 circuit
leaving the thin tape around the pinion split in place for now.
Figure 12 – Taping the M5 Stage-3 Pinion Split
Stage 3 Upper Pulley
Cable Termination
