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C00002 00002		NOTES FOR ASSEMBLY OF STANFORD ARM KIT COMPONENTS
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	NOTES FOR ASSEMBLY OF STANFORD ARM KIT COMPONENTS
		by VICTOR SCHEINMAN- VICARM
			MARCH 20, 1975

	The Stanford arm kit of components consists of all the parts mentioned
in the purchased parts list plus all the custom manufactured parts denoted with
an "S" in the set of arm drawings supplied with the kit.  In addition, all modifications
to the purchased parts, if necessary are completed by Vicarm.  

	The kit is shipped in 3 or four separate shipments.  The first shipment is 
the bearing shipment.  Not all bearings are shipped, as some are used in the
subassemblies supplied later.  The bearing shipment should allow the user to 
assemble most of the basic arm components.  Joints 1,2,3,4,5, and 6 can all be
connected together for fitting purposes.  

	Notes on the installation of bearings.  

Joint 1: First slip the clamp ring (9-9a) onto the drive tube(9-5)
.  (The drive tube should
have the screw access holes already drilled, as noted in the latest drawing set.
Then the upper
bearing - KA-040-XP0 is slipped on the drive tube.  Then the retaining ring (9-     )
is  slipped  on.    Using  machinists  clamps,  clamp  the  retaining
ring-bearing  -drive tube flange  together tightly and  dowel pin the
retaining ring in place. Mark the ring and tube so it can be removed and replaced in the
same spot in the future.   
 The lower bearing ( KB-040-XP0 )is tipped sideways and dropped into the main tube.
It should be a light slip fit on both the main column and the drive tube. 
Seat the bearing at the bottom of its seating diameter.  Then drop the main tube 
into the column.  The clamp ring is screwed down with socket head screws inserted thru
the access holes in the top of the drive tube. If the arm is going to be used in an upright position, it is probably not necessary to retain bottom bearing, but this can easily be done by slipping on another retaining
fore putting on the bottom bearing and dowel pinning it in place.  The exact position
can be determined by squashing the ring a bit so it sticks the the drive tube. Then when the tube is inserted, the
earing will push the retaining ring up to the right point.  carefully removing the tube will keep the ring at the
t point until it can be dowel pinned in place.  Some bearing preload can be added
 by putting an O-ring between the retaining ring and the bearing with about .015
O-riing squash to act as a spring.  Don't put anyy more preload than .015 with this method.  If in doubt- just forget the O-ring and leave at .005 clearance between retainer and bearing.  The bearings are of the type which 
quires little or no preload anyhow.

	The second joint is assembled in a similar manner.  In this case, the rear
(motor end) bearing acts as a pilot for the motor mount plate.  

	
Joint #3-
	The square tube boom rides on 16 rollers. Only about 6 rollers are actually 
needed to guide the tube, so dont worry if all dont contact at the same time. The
rollers are made up from the 34KDD bearings supplied and phenolic rings.  Epoxy the
rings to the bearings with two bands of cement - one one each side.  The rollers
are sttached to the shafts with Locktite adhesive.  Use  Locktite #35 or #40 adhesive
(available from bearing supply firms),and place one of the roller clamps in the 
center.  The spacing of the rollers should be about 2.30 outside to outside.  This will
insure that there is no interference with other rollers.  The boom should fit
tight enough so that it springs the rollers out a bit.  If it fits very loosly, shimm the roller 
blocks with shim stock.  

Joint 4, 5 and 6.  The installation of the main shaft bearings is self explainatory.
It is advisable to make some simple plugs to install and remove these bearings, as
acrewdriver blades and knives are not good for the bearings or the parts.  DO NOT hammer
bearings into place- press them in, on a drill press if an arbor press is not available.   Also, plan on having tooling for removal before ining the bearing.

Installation of the small shaft bearings on the R6 joint and Hand wil be discussed later
int he section on main assembly.  For the present, its good enough to check that all the
main drive shafts fit together, and the arm shructure assembles properly.  



Shipment #2.

	This consists of most of the purchased components and critical assemblies.
The only mechanical parts not included are those with an electrical function.
(Such as the drive gear on the #6 joint, and the #3 encoder or pot.]

	You will probably want to assemble joint #1 first.  
Test fit the motor assembly in the column.  It should drop into place.  It should
also slip into the drive tube.  You will note that because of the coaxial nature of the
assembly, it is not possible to just fit everything together and bolt it into place later.  You must screw things together while assembling arm.