Reassemble #robot #shoulder #yaw joint

The procedure to reassemble the yaw joint of the shoulder. The joint is built around the gearbox of the yaw gearbox which has an outer diameter of 31.8mm. Very handily, this can run directly on a 32mm caged needle roller bearing making for an extremely compact and low cost bearing arrangement. To overcome the preload on the SEA spring the sliding carriage needs to be depressed and a slight torque applied to the motor as it is reinserted.