Chapter 3: Robot Installation l Connect the upper U-joint to the drive shaft of the J4 motor. This will be the wider cylinder section. Upper U-Joint at J4 Motor The upper (J4 motor) end of the drive shaft is labeled with a temporary label, indicating Top. Remove the label before use. l Connect the lower U-joint to the shaft on top of the J4 platform. CylinderSection of Drive Shaft NOTE : The drive shaft is not symmetrical. There is a top and a bottom. Installing the drive shaft upside-down will degrade system performance. Note the orientation label on the drive shaft. Look for a “Top” label on the drive shaft. To attach the free end of the U-joints: 1.
Slide the U-joint over the shaft (platform or J4 motor). The fit will be fairly tight. Center Section of Drive Shaft The hole in the side of the U-joint needs to line up with the hole in the shaft. Lower U-Joint at J4 Platform Theta Drive Shaft U-Joint Set Screw J4 Shaft (Motor or Platform) Figure 3-10. U-Joint 2. Screw an M6 x 20 dog point set screw (included) through the shaft, going through the hole in the side of the U-joint, and into the blind hole on the opposite side of the U-joint. The U-joint is not threaded. l Use Loctite 242. l Tighten to 5 N-m (3.7 ft-lbf) of torque. The head of the set screw should be flush with the outer surface of the U-joint.
For the top U-joint, use a 3 mm hex key, with a 10 - 15 mm short leg. There is not enough room at the J4 motor shaft to use a standard hex key. Hornet 565 Robot User's Guide, 14608-000 Rev C Page 32 of 156