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Adept Lynx Platform User's Guide, Rev D
Page 111 of 126
Chapter 8: Maintenance
Drive Assemblies
The platform drive assemblies have been designed to be field-replaceable. This will replace the
drive motor, gearbox, encoder, and wheel/tire assembly.
Removal
1. Remove the inner rear cover.
2. Unlatch and open the battery compartment door, at the back of the platform.
The battery compartment door is capable of being locked. You may need to unlock it
before opening.
3. Disconnect battery power by unplugging the two cables at the rear of the battery.
4. Remove the side cover a small distance from the platform on the side where you want
to replace the drive assembly. Refer to Removing and Installing Covers on page 93.
The light disc PCA cable will still be attached.
5. Disconnect the cable from the light disc PCA, so the side cover can be moved com-
pletely away from the platform.
This will expose the drive assembly.
6. Lift the drive wheel up, compressing its springs, enough so that you can insert a Ø6 x
10 mm (Ø0.24 x 0.4 in.) pin into the hole on the rear side of the assembly (there is a
hole on each side). This will keep the springs compressed (the wheel will be in the up
position), and make removal easier. An M5 x 10 screw works well for this.
Figure 8-14. Spring-Compression Hole
7. The drive assembly is held in place with three nuts on studs across the top, and two
sets of two screws at each side, near the bottom of the assembly.
Remove the three nuts and four screws (and their washers) holding the drive assembly
to the platform.
Retain these nuts, screws, and washers for attaching the new drive assembly.