Monday, 30 April 2012

End of leg rebuild with new joint bearings

Finished re-building the legs with the new joint axle and taper roller bearings. All went together very nicely, much easier than the previous system! Tomorrow I will get the encoders hooked up and start the calibration procedure. The maybe a test!

The New Femur & Tibia Axles
The first Femur axle in place, with half the Coxa and Femur cheeks. 
The completed Femur joint
The occasional stubborn bearing needed this jig to get it started. Thank goodness I add M8 tapped holes in the ends of the axle!
Half way there, all the femurs back on.
Not bad for one days work.. on my own!
And another day with help and the tibia's are back in place.