Shadow Robot Tehnical Contact:

Luke Moss luke@shadowrobot.com

Opening the hand

In order to open the hand, one must first check in the motor configuration image below what side should be open

In order to reach WR2 and WR1, the motors 6 (FF0), 7(FF4), 17(LF4) and 16 (LF0) must be removed - the front of the hand.

In order to reach TH4 and TH5, the motors 1 (MF4), 0(MF0), 10(RF4) and 11 (RF0) must be removed - the back of the hand.

Take out lid

1. Unscrew the 4 screws on the lid.
2. Remove the power connector for the fan.

Take out a motor

1. Using the green screw, first loosen the screw from the middle of the motor
2. Take out the connecting cable
3. Once the screw is loose, one can pull the motor up.

Take out the whole motor grid to reach inner motors

1. Using the yellow screwdriver, unscrew one side of the screws
2. Take out the holding case from one side
3. Loosen the screws on the other side
4. Carefully take out the whole block of motors. If tendons are tight, just carefully force the motors up.

Putting back one tendon

1. Once the motor is loose, unscrew the two screws from one side (the back screws)
2. Lift the motor up and carefully take out the white connector in the back by pressing with the orange screwdriver
3. One the side cover is off, carefully push the front cover from one side to the other by using the screw
4. Now the tendons should be visible
5. Always, the right tendon (first tendon) goes on top lock and left tendon (second tendon) on the bottom lock
6. Using the custom screwdriver, put the tendon back in place.
7. Using the blue from the top, tension a little the tendon (3-4 times)
8. Using the custom tool and the blue screw, separate the two parts in order to be able to mount the second tendon
9. For the second do the same.
10. Once the tendons are mounted, put back the face plate and put back the screws
11. Make sure that you put the tendon on the rolling device before putting back the motor

Tighten a tendon

1. First move the wrist in a position in which the tendon is tightest
2. Using the blue screwdriver and the custom tool start tightening the tendon
3. Unscrew top screw using blue
4. Tension the tendon
5. Screw back top screw
6. Reposition custom tool and so on.
7. Once you reached the limit, go back half a round
8. To test it, put in the blue screw and move motor to both limits. The same amount of force should be needed to move the motor in both directions.

Always take care of the position of the wrist during repairs