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Details Mechanical Tools and Consumables

Hex Drivers


Wiha Hex Driver Set

Description Details Ordering Information Comments
Wiha PicoFinish 42992 Set with 6 hex drivers Hoffmann 42992
Amazon		 Rotor Preparation
Actuator Module Assembly


Wiha Ball Head Hex Driver Set

Description Details Ordering Information Comments
Wiha PicoFinish 42993 Set with 6 ball head hex drivers Conrad 2126966
Amazon

Screw Drivers


Wiha Slotted and Phillips Screw Driver Set

Description Details Ordering Information Comments
Wiha PicoFinish 42991 Set with 7 Slotted and Phillips Screwdrivers Conrad 2126940
Amazon		 Encoder Mounting
Closing the Shell

Power Drill


Power Drill

Drill Bit Set


Metric Drill Bit Set

Description Details Ordering Information Comments
Drill Bit Set 0,1mm increments Hahn+Kolb 11049011 1mm - 5,9mm
  • a drill bit set with 0,1mm diameter increments is really useful for adjusting the 3d printed parts
  • the diameters of the holes in 3d printed parts have to be increased in small steps
  • increasing the hole diameters in large steps can cause the 3d printed parts to crack

Tool Holders


Tool Holders

Description Details Ordering Information Comments
Tool Holder 2mm-3mm Hahn+Kolb 51003200 Shell Preparation
Tool Holder 3mm-4,5mm Hahn+Kolb 51003205 Rotor Preparation
Tool Holder 4mm-6mm Hahn+Kolb 51003210 Encoder Preparation

Metric Taps


M2, M2,5 and M3 Taps

Description Details Ordering Information Comments
M2,5 Tap Hoffmann 131300 M2,5 Micro Driver and IMU Support
M3 Tap Hoffmann 131300 M3 Shell Preparation
M4 Tap Hoffmann 131300 M4 Vicon Marker Support

Reamers


Reamers

Description Details Ordering Information Comments
Reamer 3,98mm Hahn+Kolb 11624398 Rotor Modification
Reamer 3,99mm Hahn+Kolb 11624399 Rotor Modification
Reamer 4,00mm Hahn+Kolb 11624400
Hoffmann 1601504		 Encoder Mount Adjustment

Countersink Tool


Countersink Tool

Description Details Ordering Information Comments
Countersink Tool 90° 8mm Hahn+Kolb 11500041 Encoder Modification

Helicoil Tools


Helicoil Tools

Description Details Ordering Information Comments
M2,5 Helicoil Tool Set Helicoil Tap,
Insertion Tool,
Tang Breakoff Tool		 Hoffmann 082800 M2,5 Shell Preparation
M3 Helicoil Tool Set Helicoil Tap,
Insertion Tool,
Tang Breakoff Tool		 Hoffmann 082800 M3 Output Pulley Preparation

Helicoils


Helicoil Threaded Inserts

Description Details Ordering Information Comments
M2,5x3,75 Helicoil Threaded Inserts 1,5xD
Böllhoff 41890250375		 RS 470-856
Hoffmann 082812 M2,5
M2,5x5 Helicoil Threaded Inserts 2xD
Böllhoff 41890250005		 RS 470-822
Hoffmann 082814 M2,5
M3x4,5 Helicoil Threaded Inserts 1,5xD
Böllhoff 41890030045		 RS 470-838
Hoffmann 082812 M3
M3x6 Helicoil Threaded Inserts 2xD
Böllhoff 41890030006		 RS 470-834
Hoffmann 082814 M3

End Mills


End Mills

Description Details Ordering Information Comments
End Mill 8mm Hoffmann 2033208 Shell Preparation
End Mill 25mm Hoffmann 156730 1/25 12dof Quadruped Hip AA Support Adjustment
End Mill 32mm Hoffmann 156730 2/32 Shell Preparation

Files


Flat Files

Description Details Ordering Information Comments
Flat File Rough Vallorbe Habilis Hoffmann 527060 Length 215mm
Flat File Smooth Vallorbe Habilis Hoffmann 527070 Length 215mm

Pin Punches


Hammer and pin punch set

Description Details Ordering Information Comments
Pin Punch Set PB Swiss Tools
PB 755.BL RB		 Hoffmann 7469306 Only 3mm pin punch required.
Rotor Preparation
Pin Punch 3mm PB Swiss Tools Hoffmann 7469203 Rotor Preparation
Hammer Gedore Hahn+Kolb 51184410 Rotor Preparation

Vise


Precision Vise

Description Details Ordering Information Comments
Precision Vise Röhm 60mm PL-G Hahn+Kolb 28604060 Jaw width 60mm

Digital Calipers


Digital Calipers

Description Details Ordering Information Comments
Digital Calipers Mitutoyo Hoffmann 412632 Battery SR44
Coin battery SR44 RS 593-423

Label Maker and Tape


Label maker and different tape sizes

Description Details Ordering Information Comments
Label Maker Brother P-touch
PT H500		 Conrad 1094473
Label Tape 6mm TZe-211 Conrad 775819 black on white
Label Tape 9mm TZe-221 Conrad 770248 black on white
Label Tape 12mm TZe-231 Conrad 775843 black on white
Label Tape 18mm TZe-241 Conrad 770230 black on white
Label Tape 24mm TZe-251 Conrad 770299 black on white

Loctite


Loctite superglue and retaining compound

Description Details Ordering Information Comments
Loctite 406
Superglue		 20g bottle RS 517-7458 Code Wheel Bonding
Loctite 648
Retaining Compound		 10ml bottle
50ml bottle		 RS 258-5991
RS 373-1498		 Motor Pulley Bonding

Collet


25mm collet to hold the output pulley on a lathe

Description Details Ordering Information Comments
Collet 25mm Hahn+Kolb 23356450 Output Pulley Adjustment

Allen Keys


Allen Key Set from Wera

Description Details Ordering Information Comments
Allen Key Set Wera 05022210001 RS 136-7121
Amazon		 Set with 9 allen keys

Tube Cutter


Tube Cutter

Description Details Ordering Information Comments
Tube Cutter Legris 3000 71 00 RS 722-198 Cuts 4mm to 14 mm diameter tubes.

Nitril Gloves


Nitril Gloves

Description Details Ordering Information Comments
Disposable Gloves Ansell 92-600/075 RS 261-6736 Nitril

Work Gloves


Work Gloves

Description Details Ordering Information Comments
Work Gloves Holex
Size 7		 Hoffmann 0942417 Sizes 6-11 available

Weight Scales


Weight Scales

Description Details Ordering Information Comments
Precision Weight Scale Holex Hoffmann 479442 500 500g range
0,1g scale divisions
AAA batteries
Weight Scale Kern Hoffmann 4794502200 2200g range
1g scale divisions
AA batteries

Digital Angle Meter


Digital Angle Meter

Description Details Ordering Information Comments
Digital Angle Meter 56mm x 56mm x 31mm Hoffmann 467564 9V Battery
9V Battery 6LR61 / PP3 RS 386-9997

Velcro


Velcro Tapes

Description Details Ordering Information Comments
Monacor Hook and Loop Tape Monacor CS-10/SW Conrad 1331453 Double sided
"back-to-back" - the band top adheres to the band bottom
Velcro Loop Tape 20mm x 5m RS 251-4309 Loop Side
Adhesive Backing
Velcro Hook Tape 20mm x 5m RS 549-921 Hook Side
Adhesive Backing

Rubber Feet


Rubber Feet

Description Details Ordering Information Comments
Rubber Feet Round Ø 12.7mm x 3,5mm RS 236-509 adhesive-backed polyurethane
Rubber Feet Square 20,6mm x 20,6mm x 7,6mm RS 173-5948 adhesive-backed polyurethane

Aluminum profiles


Item Aluminum profile

Angle brackets


Item 90 degree angle bracket 40mm

  • 90 degree 40mm angle brackets - Item part number: 0.0.411.15

End caps


Item end caps

  • end caps - size 8 - Item part number: 0.0.026.01

T-slot nuts


Item M5 t-slot nuts

  • T-slot nuts M4 - Item part number: 0.0.480.57
  • T-slot nuts M5 - Item part number: 0.0.480.54
  • T-slot nuts M6 - Item part number: 0.0.480.50

Miscellaneous Tools


Miscellanious tools - tooth brush, q-tipps and tooth picks

Step-by-Step Instructions

Motor Preparation Motor Shaft Preparation Encoder Preparation Center Pulley Preparation
Output Pulley Preparation Shell Preparation Actuator Module Assembly Actuator Module Testing

More Details

Details 3d Printed Parts Details Machined Parts Mechanical Tools and Consumables Electronic Components and Tools

More Information

Open Dynamic Robot Initiative - Webpage
Open Dynamic Robot Initiative - YouTube Channel
Open Dynamic Robot Initiative - Forum
Open Dynamic Robot Initiative - Paper
Hardware Overview
Software Overview
Back to Actuator Module
Back to Top of Page

Authors

Felix Grimminger

License

BSD 3-Clause License

Copyright

Copyright (c) 2019-2020, Max Planck Gesellschaft and New York University