Step 7.2: Leader End-Effector Sub-Assembly

1. Attach J8_A to J8_B using 3 M3x6 bolts

2. Insert two M4x4 heat set inserts in the swivel_rotor_leader using a soldering iron.

3. Insert one M4x4 heat set insert in the right_pincer and left_pincer each using a soldering iron.

4. Insert 4 M3x6 heat set inserts in the rail_connector_leader using a soldering iron.

5. Carefully insert bearings MR126ZZ into swivel_link_leader. Note that two bearings need to be inserted from opposite directions.

6. Attach rail_connector_leader to the J8 motor using 4 M3x8 bolts as shown in the figure. Ensure that the flanges of rail_connector_leader are aligned to the two Power+CAN ports of J8

7. Insert two M3x15 bolts along the flanges to fasten rail_connector_leader to J8 motor.

8. Connect swivel_rotor_leader to the rotor of J8 using 4 M3x12 bolts.

9. Attach the two swivel_link_leader components to the swivel_rotor_leader using step bolts DBSY4-5-4. Make sure the bearings are oriented such that the fully exposed (open) side of each bearing faces toward the swivel_rotor_leader, as shown in the image. This orientation ensures proper alignment and freedom of movement for the linkages.

10. Attach the linear guide to rail_connector_leader using 4 M3x6 bolts.

11. Attach the left_pincer and right_pincer on the slider blocks using 2 M3x6 bolts each. Ensure that the heat set insert is towards the swivel_link_leader for both the pincers.

12. Attach the swivel_link_leader components to the left_pincer and the right_pincer using step bolts DBSY4-5-4.

13. Mount the subassembly created in Step 1 to the rear face of the J8 motor using four M3×10 bolts.

• When assembling the right arm, ensure the J8_A part is aligned with the right pincer.
• When assembling the left arm, align J8_A with the left pincer.

The alignment ensures proper mechanical coupling and correct orientation of the jaws during operation, as indicated by the arrows in the image.

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That concludes the Gripper Sub-Assembly