Instructions / Wrist Assembly (W1 + W2)

Wrist Assembly (W1 + W2)

active19 steps

Builds the Left and Right wrist assemblies (stations W1 & W2). Tools: T10 Torx Allen Wrench, Blue Loctite, Needle Nose Pliers, Alcohol Pads, Wet-Erase Marker, Press or Vice, Coupler Jig. Source: Notion – Axol Assembly Instructions (migrated 2026-07-14)

Wrist Assembly Leftbuilds Wrist Assembly LeftALM-000223

Parts used

1

Step 1

Press 6x DP-R-04-12 into 2x W2 with a TOWEL for paint protection and slide the 2x W2 Coupler on top. The coupler should be a loose fit.

edit step
2

Step 2

Press 4x NNY-M3 into the Left and Right W1 Spacer: the flat side of the nut faces out; press deep enough that the M3 hole is centered on the M3 nut.

edit step
3

Step 3

Install 2x CAN termination boards on the 2x Grippers. Note: the EtherCAT connection should face the outside — see the orientation and markings in the photo (grippers shown upside-down).

edit step
4

Step 4

Attach the Left and Right Gripper to 2x W2 with 8x BH-TX-M3-08 and Blue Loctite. Note: the flange on W2 should be on the opposite side of the EtherCAT port. WARNING: do not use excess Loctite — the mounting holes on the back of the gripper are open to the circuit board.

edit step
5

Step 5

Install 2x CAN termination boards on the 2x Grippers. Note: the EtherCAT connection should face the outside — see the orientation and markings in the photo (grippers shown upside-down).

edit step
6

Step 6

Attach the Left and Right Gripper to 2x W2 with 8x BH-TX-M3-08 and Blue Loctite. Note: the flange on W2 should be on the opposite side of the EtherCAT port. WARNING: do not use excess Loctite — the mounting holes on the back of the gripper are open to the circuit board.

edit step
7

Step 7

Wipe & mark the 8x BH-TX-M3-08 bolts on the Left and Right Gripper with an Alcohol Pad to remove any Blue Loctite, then mark with a Wet-Erase Marker.

edit step
8

Step 8

Attach 2x Yaw DM-J4310's to 2x W1's with 12x BH-TX-M3-06 and Blue Loctite. Remove the stickers from the motors.

edit step
9

Step 9

Fish 2x XT-30+2 Cables from the 2x Yaw DM-J4310's through 2x W1's pitch opening.

edit step
10

Step 10

Attach 2x Yaw DM-J4310's to 2x W1's with 12x BH-TX-M3-06 and Blue Loctite. Remove the stickers from the motors.

edit step
11

Step 11

Fish 2x XT-30+2 Cables from the 2x Pitch DM-J4310's through 2x W1's pitch opening.

edit step
12

Step 12

Attach 2x Pitch DM-J4310's to 2x W1's with 12x BH-TX-M3-06 and Blue Loctite.

edit step
13

Step 13

Install 2x W1 Printed Spacer 1 with 6x BH-TX-M3-14 to the Left and Right Assemblies.

edit step
14

Step 14

Install W1 Printed Spacer 2 L & W1 Printed Spacer 2 R with 8x BH-TX-M3-10 to the motors and 2x BH-TX-M3-06 on the sides.

edit step
15

Step 15

Install 2x W1 Printed Spacer 1 with 6x BH-TX-M3-14 to the Left and Right Assemblies.

edit step
16

Step 16

Install W1 Printed Spacer 2 L & W1 Printed Spacer 2 R with 8x BH-TX-M3-10 to the motors and 2x BH-TX-M3-06 on the sides.

edit step
17

Step 17

Wipe the assembly with an Alcohol Pad to remove any Loctite before it cures.

edit step
18

Step 18

Attach 2x W2 TPU Wire Cover to the Left and Right Assemblies with 4x BH-TX-M3-06.

edit step
19

Step 19

Wipe the assembly with an Alcohol Pad to remove any Loctite before it cures.

edit step
+ Add step

Quality checklist

  • The dowel pins are flush
  • The gripper is marked L or R
  • The flat side of the M3 Nuts face out
  • The wrist does not get stuck during full ROM
  • The wrist does not squeak during full ROM
  • The two wrist motors are touching (wires are not caught in between them)
  • The XT30 connectors are not touching the motor shells
  • There are 3 sets of XT30 wires coming out of the hole
  • All fasteners are marked with wet-erase marker
  • All fasteners are loctited
  • No paint damage
  • W1 Spacer is flat and flush
  • CAN IDs set for all parts of the wrist
  • Continuity checked for all CAN and power
Edit process details
Wrist Assembly Left