🟪 1.5mm Allen Key

🟦 2.5mm Allen Key

🟩 3mm Allen Key

▪Gather the following parts

🟪 1x Joint Motor

🟩 Joint motor mount

🟦 Strain wave joint

🟧 Wave generator bearing

🟨 4x M3x10mm screws

🟥 4x M4x25mm screws

🟫 4x M4 nuts

• Threadlocker

🟪 Take the strain wave generator out of the bag. This part is covered in grease. Keep this part as clean as possible from dust and other debris.

• Notice that the hole in the wave generator is 'D' shaped like the motor shaft.

🟦 Lining up the generator hole with the motor shaft, put the wave generator on the motor shaft with the set screw side facing the motor. Align one of the set screws with the flat face of the motor shaft and tighten it slightly using the 1.5mm Allen key.

🟩 Take the joint motor mount and place it over the motor shaft. Look at the wave generator in relation to the top face of the motor mount. The bottom edge of the bearing should be approximately level with the top face of the mount, or slightly below it. Reposition the wave generator to this position and tighten one of the set screws enough to hold it in place.

🟨 Take out the other set screw and put a tiny drop of threadlocker on it, you don’t want to have excess on the bearing. put this set screw back in and fully tighten it.

• Remove the other set screw and put threadlocker on it as well.

🟧 Take a paper towel and wipe off any excess on the bearing. There should be no threadlocker on the outer surface.

🟪 Take the motor mount and place it over the motor shaft. The four countersunk holes will line up with the mounting holes on the motor.

🟦 Take the four M3 screws and put a drop of threadlocker on them.

🟩 Attach the motor mount to the motor with the four M3 screws and fully tighten them with the 2.5mm Allen key.

🟪 Take the joint, like the wave generator this part is full of grease and needs to be kept as clean as possible.

🟦 Notice that the toothed gear in the joint is a slight elliptical shape.

🟩 Also notice that the wave generator bearing has an elliptical shape.

🟨 Align the joint to the wave generator bearing and slide the joint onto the bearing.

🟧 Take the four 25mm screws and M4 nuts and join the motor mount to the joint through the holes in the four corners. Only lightly tighten the screws since this is temporary to keep these parts together while the rest of the arm is assembled.

Gather the following:

🟪 Joint Bracket

🟦 217mm T-slot

🟩 10x M4x10mm screws

🟨 4x M4 T slot nuts

🟧 two 20mm T-slot spacers

🟪 Take the joint bracket and place it on top of the joint. Notice that there are six holes on the joint and align the six holes in the bracket to them.

🟦 Take six of the M4 screws and put a dot of threadlocker on them.

🟩 Use the six screws to attach the joint bracket to the joint. Tighten the screws in small increments with the 3mm Allen key in a star pattern to ensure even pressure.

🟨 Take the T-slot and insert two of the T-slot nuts into each single slot side with a spacer in between them.

🟧 Put threadlocker on the four remaining screws and use them to attach the joint bracket to the T-slot using the 3mm Allen key.

Gather the following:

🟪 Joint Motor

🟦 Joint Motor Mount

🟩 Distal Joint Top plate

🟨 Distal Joint Bottom plate

🟧 Strain wave joint and wave generator

🟥 4x M4x35mm screws

🔲 4x M3x10mm screws

• This is a repeat of step 3 since this part of the two joints is identical.

🟪 Take the strain wave generator out of the bag. This part is covered in grease. Keep this part as clean as possible from dust and other debris.

🟩 Put the wave generator on the motor shaft with the set screw side facing the motor. Align one of the set screws with the flat face of the motor shaft and tighten it slightly with the 1.5mm Allen key.

🟦 Take the joint motor mount and place it over the motor shaft. Look at the wave generator in relation to the top face of the motor mount. The bottom edge of the bearing should be approximately level with the top face of the mount, or slightly below it. Reposition the wave generator to this position and tighten one of the set screws enough to hold it in place.

🟧 Take out the other set screw and put a tiny drop of threadlocker on it, you don’t want to have excess on the bearing. put this set screw back in and fully tighten it.

• Remove the other set screw and put threadlocker on it as well.

🟥 Take a paper towel and wipe off any excess on the bearing. There should be no threadlocker on the outer surface.

🟪 Take the motor mount and put it in the square hole of the top mount plate.

🟦 With both pieces together, put the motor mount over the motor shaft.

🟩 After putting threadlocker on the four M3 screws, mount the motor mount to the motor with the 2.5mm Allen key.

🟨 Take the joint, and line up the elliptical gear in the joint with the wave generator bearing.

• Slide the joint onto the bearing.

🟧 Take the four M4 screws and put threadlocker on them.

• Take the bottom mount plate and put the large round hole over the joint.
• Thread the M4 screws through the stack of four parts from the motor side into the bottom mount plate.
• Just hand tighten them for now.

• Gather:

🟪 8x M4x10mm screws

🟦 9x M4 T-slot nuts

🟩 4x 10mm spacers.

🟪 Taking the other end of the T-slot already attached to the other joint, insert one nut in each slot of the top and bottom of the extrusion, followed by a spacer, then another nut.

🟦 Put the ninth t slot nut in the right side rail.

🟩 Put threadlocker on all 8 screws.

🟨 Slide the distal joint plates around the T-slot with both joint motors facing the same way.

🟧 Taking four of the screws attach one of the distal plates to the T-slot. Don’t fully tighten the screws yet.

• Flip over the arm and attach the other distal plate to the other side of the T-slot.

🟥 Push the distal joint against the end of the T-slot, make sure the joint and motor mount are flush with the end of the extrusion.

• Now tighten the eight screws with the 3mm Allen key.

• Gather

🟪 1x Joint mount

🟦 10x M4x10mm screws

🟩 4x M4 T-slot nuts

🟨 2x 20mm spacers.

🟪 Sit the joint bracket on the distal joint and align the six holes with the six screw holes in the joint.

🟦 Put a dot of threadlocker on all 10 screws.

🟩 Using six of the screws, attach the joint bracket to the joint by tightening the M4 screws with the 3mm Allen key in a star pattern.

🟨 Take the distal arm with the toolhead.

• On the two one-slot sides of the extrusion, put two T-slot nuts with a 20mm spacer in between them.

🟧 With the Nozzle facing upwards, take the distal arm and put the T-slot into the joint mount.

• Attach the arm to the joint bracket with the remaining four M4 screws.

• Take a moment and gently turn both the proximal and distal joints. They should turn smoothly and shouldn’t feel bumpy or like they are catching on something.

🟪 Take a moment and compare your progress with the picture, note the direction the two motors and the toolhead are facing.

🟦 Gently rotate the distal joint to fold the arm.

🟩 Take the arm over to the previously constructed assembly.

• remove the four M4 screws attaching the proximal motor to the joint.

🟨 Put threadlocker on the four screws.

🟧 holding the arm up by the proximal arm T-slot, lift the proximal joint into the square slot in the Z-carriage.

🟥 Take two of the M4 screws and thread them through the joint and motor mount to the Z-carriage by hand to the two accessible holes.

• Gently rotate the arm around the proximal joint to access the other two holes, keeping the arm supported with one hand.
• Thread the other two screws in.
• Fully tighten the two accessible screws with the 3mm Allen key, rotate the arm back, and tighten the other two.

🔲 Take a moment and gently turn both the proximal and distal joints again. They should turn smoothly and shouldn’t feel bumpy or like they are catching on something.

• Congratulations!🎉 The arm is complete. The bulk of the assembly is done now.

🟪 Rotate the arm similar to the picture, with the distal joint to the right side of the printer and the toolend somewhat centered.

• Next is to run the wiring to the components.