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.

New joint bearing parts

I picked up the bearing housings from D&T today. I was hoping to get everything but its been delayed until Wednesday, still I'm going to push on and fit the bearing housing to the aluminium cheeks. You can see at the top right of the picture one of the 0.1mm laser cut shims I have had made to offset any cheeks that are of differing thickness. This is because the 25mm sheet aluminium cut parts came in a range of thickness's from 25.0 to 25.4 .