Chapter 3: Robot Installation 2. Attach one pair of outer arms to each of the three pairs of ball studs on the platform. a. Swing the bottom end of the outer arm pair to the right, as far as possible. b. Slip the right ball joint socket over the right ball stud. (Move the platform as needed to do this.) c. Move the platform and outer arm pair to the left as you slip the left ball joint socket over the corresponding ball stud. 3. Ensure that all spring hooks are fully-seated in the grooves of the horseshoes, as shown in the following figure: Figure 3-9. Horseshoe and Spring Assembly Attaching the Theta Drive Shaft NOTE :
The fixed platform does not use a theta drive shaft, so this section does not apply to systems with a fixed platform. Each U-joint has two identical ends. When the theta drive shaft is shipped, it will have one end of a U-joint attached to each end. One connects to the J4 motor drive, the other connects to a shaft on the top of the J4 platform. Hornet 565 Robot User's Guide, 14608-000 Rev C Page 31 of 156