Building the Arm

Start 

You should have the acrylics pieces lined up, a screwdriver with a Philips bit, and Robotics Series 3

Left Side 

Left Servo Mount

You will need pieces A, B, one servo, and two M3 8mm screws. Place A with the largest rectangular cutout towards the top left. Take the blue servo out of its bag and place it down through that cutout. The cable coming out of the servo should be on the left. Thread the cable through the large cut out in B then place B over the servo. The smaller cutout should be towards the right. Before screwing this piece in place, take the servo cable and feed it through the small cut out in B. Push B flush against the servo. Place both screws in the holes in B then screw into A. Do not over tighten the screws. You will snap the acrylic.

Parts needed
Parts needed
Top left cutout
Take the servo
Insert down into cutout
Flush with the part
Cable coming out of the left
Take B
Slip through cable
Slide out servo
Take a screw
Place in top hole
Screw down
Repeat with remaining screw
Pieces should be parallel and not bent at all

Left Servo Arm

You will need the smaller bag inside the servo bag, and C. Take out the servo horn shown below as well as all three screws. Place the center of the horn through the large hole at the end of C. From the opposite side as the horn arms, screw in the two longer screws through C and into the horn.

Parts needed
Parts needed
Take horn
Place in hole
Flip over
Take a long screw
Insert
Screw into horn
Repeat

Attaching the Arm

For this step we need Robotics Series 3. Power up the Arduino and connect all batteries from the 6-AA battery holder. Place the servo cable from the Left Servo Mount into header P8 found at the front left of the I2C Servo Driver if the robot is facing forward. Make sure the brown wire is facing the inside. Once inserted, the servo will go to the 90 degree location. Unplug the servo cable.

Powered on RS3
Powered on RS3
Plug in to P8
Wait for servo to move

Take your servo arm and place it on the servo so that the arm point to the 9 o' clock position. Plug in the servo cable again to make sure it still points to 9 o' clock. When confirmed, take the cable out and screw the smaller screw from the smaller servo bag into the center of the servo horn and into the servo. It's okay if you spin the arm while tightening, but if it is spinning then it's tight enough.

Parts needed
Parts needed
Place on servo
Pointing to 9 o' clock
Screw in small screw
Set this aside

Set this aside as we proceed to the next step.

Right Side 

Right Servo Mount

You will need pieces D, E, one servo, and two M3 8mm screws. Place D with the largest rectangular cutout towards the top right. Take the blue servo out of its bag and place it down through that cutout. The cable coming out of the servo should be on the right. Thread the cable through the large cut out in E then place E over the servo. The smaller cutout should be towards the right. Before screwing this piece in place, take the servo cable and feed it through the small cut out in E. Push E flush against the servo. Place both screws in the holes in E then screw into D. Do not over tighten the screws. You will snap the acrylic.

Parts needed
Parts needed
Take the servo
Place down into D
Cable to the right
Take E
Slip cable in cutout
Place over servo
Take a screw
Place into upper hole
Feed cable through guide
Pull tight
Tighten screw
Repeat

Right Servo Arm

You will need another smaller servo bag of parts and F. Insert a similar servo horn into the large hole in F. Screw two screws from the opposite side through F then the horn.

Parts needed
Parts needed
Take horn
Place in hole
Flip over
Take one screw
Insert
Tighten
Repeat

Attaching the Arm

Follow the same procedure from the left side except the arm should be at 12 o' clock not 9. When the arm is in the correct position, screw the smaller screw from the smaller servo bag into the center of the servo horn and into the servo.

Take arm
Take arm
Place on servo pointing up
Screw into servo
Finished

Vertical Piece

Take a G piece and one 6mm screw. Line up one hole from the G piece with the hole on the top right of D. If the servo arm is on the outside of the piece then G should be on the inside. Screw the 6mm screw through G and into D.

Parts needed
Parts needed
A hole in G
The hole in D
Take the 6mm screw
Insert into G
Insert into D from behind
Tighten
Done

Set this aside as we proceed to the next step.

Middle Mount 

You will need pieces H, i, J and one 8mm screw. Line up the hole in H with the hole in the rounded part of i then J. The H piece should be closest to you. Insert the screw through H into i then J. Not too tight as we want the parts to move freely.

Parts needed
Parts needed
Hole in H
Hole in i
Hole in J
Take the screw
Insert into H
Seen from above
Add i
Add J
Tighten
Done

Creating the Base 

3/4 Frame

To start the base of the arm you'll need the middle mount, left servo mount, K, L, a 12mm screw and nut. Place K with the large tabs facing up and down and the small tabs should be below the cutouts. Place the middle mount on top of the K piece. The side with the hole should be on the right. Line up the slots in L with the tab in K and the tab in the middle mount. Connect the left servo mount to K. The side of the left servo mount with the arm should be facing K. Slide the mount into the tabs in the top K as well as L. Place a nut in the T-slot in L then insert the 12mm screw through A and into the nut.

Parts needed
Parts needed
Starting with the middle mount
It will go here
In this orientation
Middle mount in place
Match these cutouts
To these
Take L
Slide into K and middle mount
Left servo arm
Facing the inside
Take the left servo mount
Slide into tabs on K
And in L
Take nut
Insert into T-slot
Insert the screw
Tighten
Ready for next step

Take the M piece, a 12mm screw, and nut. Slide the M piece into A. It should be similar to how L worked. If the already constructed base is too ridged, try loosening the t-sloted 12mm just a tad to allow for some flex. With the M piece in place, again put a nut in the T-slot and then insert a 12mm screw through A and into the nut.

Parts needed
Parts needed
Take M
Slide onto base
Screw in T-slot
Screw in T-slot

J Extension

Take a G piece and one 8mm screw. Place G between the holes found in C in the left servo mount and J in the middle mount. Insert a screw through C, then G, then tighten into J.

Parts needed
Parts needed
Take screw
Place through C
Place G through screw
Place J on screw
Flip over
Tighten
Done

Cross Brace

Take the N piece, a 12mm screw, and a nut. Place N into i. There is a curved section in N which should be on the bottom right of the piece. Place the nut into the upper t-slot and insert the 12mm screw through i and into the nut.

Parts needed
Parts needed
Take N
Insert into i
Another view
Screw in T-slot

Full Frame

Slide the right servo mount towards the base we have already constructed. First, insert F into N. Place a nut into the lower t-slot and insert the 12mm screw through F and into the nut. Fit tabs in K, L, and M into D before fully tightening. Place a nut each in t-slots found in L and M. Then insert a 12mm screw through D into each nut and tighten.

Take right servo mount
Take right servo mount
Slide together
Add T-slot to N
Add T-slot to M
Add T-slot to M
Add T-slot to L
Add T-slot to L

Base to Claw 

O Arm

Take the O piece and two 6mm screws. Place O between i and the G piece coming off of the left side. Insert one 6mm screw through G and tighten into O. Insert the remaining screw through O and tighten into i. Not to tight as we want free movement.

Parts needefd
Parts needefd
This hole
With attach here
This more middle hole
Goes into i
Both screw from the outside in
G is in front of O but O is in front of i

Q Tri-linkage

Take pieces G, P, Q, a circle spacer, two 8mm screws, and one 6mm screw. The following directions assume that the letter Q on piece Q is facing so it's readable. Place a 8mm screw through the bottom hole in Q. Now place P through that screw as well. Now tighten the screw into the hole found on F.

Parts needed
Parts needed
Q is readable
Take an 8mm screw
Insert into bottom hole
All the way through
Place P on same screw
Into F
Like so
Tighten
Ready for next step

Slide a circle spacer between the left hole in Q and the G piece already attached to D. Insert the remaining 8mm screw through G and the circle spacer before tightening into Q.

From this angle
From this angle
Take a circle spacer
Place between Q and G
Insert screw through G and spacer
Tighten into Q
Ready for next step

Take the free G piece and insert a screw through either hole. Tighten this screw into the remaining hole in Q from the back. The opposite direction that you did the two previous 8mm screws.

This hole in G
This hole in G
Goes behing this hole in Q
With a 6mm screw

Claw 

Servo Mount

Take pieces R, S, T, U, the remaining servo, and four 8mm screws. Place R so that the letter faces up and is to the left. Place S and T as they are seen in the pictures below. Place the servo face down and with the cable coming out the left. Once the servo is flush with R, place U on top. Make sure to line up the larger notch in U with S. Insert all four 8mm screw through U and into R.

Parts needed
Parts needed
R is readable
Take S
Place in upper slot
Take T
Place in lower slot
Take servo
Place between S and T
Take note of cable
Coming out of left side
Take U
Slip cable through
And over servo
Take all screws
Place through holes in U
Screw into R
No bends

Claw arms

Take pieces V, W, X, one 8mm screw, and one 12mm screw. Insert the 12mm screw into the upper hole in R and the 8mm screw into the lower hole. Flip over the servo mount. Place W on the 12mm screw and X on the 8mm screw. The two arms who should be geared together and in the close position seen below. Place V on the two screws such that the V is facing up and points away from the arms. The 8mm screw should be tightened into V at this time.

Parts Needed
Parts Needed
Take 12mm screw
Place in upper hole
8mm goes in lower
Place arms on
Flip over
Take V
Place over screws
Tighten 8mm

Servo Horn

Take the one sided servo horn out of the small servo bag. Place it in the center hole of Y with the horn above the slotted lug. Take a long screw and tighten it through the slot and into the horn.

Parts needed
Parts needed
Take horn
Place in hole
Flip over
Take screw
Tighten
Done

Attaching Y

For this step we will again need the fully powered drawing robot. Plug the servo in the servo mount into P7 in the I2C Servo Driver. It will move to the 25 degree position. Place the Y piece on the servo with the horn facing away from the claw arms. Affix Y in place with the small screw.

RS3 and Claw
RS3 and Claw
Plug into P7
Parts needed
Y piece on servo
Pointing right
Add servo screw
Done

Finishing the Claw

Take pieces Z. Y+, one 8mm screw, and two 6mm screw. Open up the claw arm to 180 degrees. Place Z over V so the center hole lines up the 12mm screw from before. The other hole in Z should line up with the one in W. Insert the 8mm screw through Z and into W. Place Y+ on top of Y and insert a 6mm screw into both holes.

Arms at 180 degrees
Arms at 180 degrees
Take Z
Place like this
Tighten 12mm from the other side
Add an 8mm from the bottom
Through Z and W
Tighten
Take Y++
Place over Y
Add two 6mm screws

Attaching the Claw 

Gather the other circle space and three 8mm screws. Insert one 8mm screw through P and into the higher hole in S. Insert one 8mm screw through G and into the lower hole in S. Take the remaining 8mm screw and insert it through O and into T.

Claw, G, and P
Claw, G, and P
8mm screw through P into lower S
Take a circle spacer
Place between G and upper S
Add another 8mm screw
Tighten in upper S
Other side
Add last 8mm screw
Tighten into T
Finished
Finished

Next Section 

You have completed building the arm. Head over to the next section to upload the control code.

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