Prerequisites

  • Estimated Assembly Time: 1 hour
  • An assembled Apollo Frame, assembled Primary & Secondary arms, and an assembled end effector

Docs

Apollo 10 with Arms Installed

Procedure

  1. Position your assembled Apollo frame on a large work surface, and gather all the arm components you have assembled or purchased assembled.

  2. Insert an Axle into the robot frame followed by two M10 small OD washers. Then install one arm, followed by 4 washers as shown.

    • Position the washers just at the tip of the axle.

  3. Insert the second arm, then push the axle through its center bearings.

    • Using tweezers, insert 1 M10 small OD washer between Arm and Aluminum plate. Hold in place on end of axle with allen wrench, then install 2nd washer with tweezers, catching it with allen wrench.

  4. Push axle all the way through 2nd aluminum plate, wiggling things as necessary. Then Install an M8-1.25 Lock Nut and tighten until arm motion is slowed, back it off until motion just becomes free of resistance. The bearings are now properly tensioned. Next bring the belt tensioners all the way back towards the center of the frame. Drape the belt over the side of the robot, and position the belt in front of the belt tensioner, but behind the drive pulley as shown.

    • Note, be careful not to over tighten the Axle nut, as bearings could be damaged.

  5. Next position the belt onto the secondary arm pulley. Bring the belt as close as possible as shown in the first picture, then rotate the arm downwards to finish seating the belt. Repeat for second arm.

    • Be careful not to force it, very minimal pressure will be required if completed correctly. Belt damage could be done if mishandled.

  6. Tighten the belt tensioners one at a time by pulling them foreward then tightening the nut while under tension.

    • The belts are tight enough if they do not slip on the drive pulley under load.