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Tendons and replacement

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Tendons

Tendons can be seen as mechanical fuses: when stressed with high forces, they break so as to prevent other (more serious) damages to motors, gearboxes and other parts.

You can find a list of all tendons length in the section: Assembly instructions.

In the present page we describe how to create new cables and suggest the proper tools to use.

Building a tendon (replacement or spare)

There are three main types of tendons in the iCub. The first type of tendons are used in the bigger joints and are characterized by two crimps on the two ends of the cable. They are typically used in the brushless motor (shoulders, elbows, torso and legs). The second type of tendons are much smaller and characterized by the fact that they slide insdide a tube coated with teflon. They are used to actuate the hand degrees of freedom. A third type of tendon is used to actuate the wrist.

Shoulder Tendons: material and instructions

  • Difficulty: EASY
  • ATTENTION: YOU SHOULD NEVER HAVE TO REMOVE THE SHOULDER IN ORDER TO CHANGE BROKEN TENDONS

Please write any question to the robotcub-hackers mailing list.

Replacing a brushless tendon with a new one is not that complicated and can be done by a "non-necessarily-skilled" person. The following is needed:

  • a little bit of training (if you have an iCub then you have a skilled technician which has been trained at the IIT)
  • an hydraulic press ( min. 5 ton. pressure)
  • crimps:
RC_TLR_003_P_101       RC_TLR_005_P_101      RC_IIT_010_P_064
  • coated steel wires:
    • Producer: Carlstahl. Code: U7191215 stainless steel microcable, costr. 7x19, dia 1,2/1,5 mm PA 12 trasparent coated.
    • Producer: Carlstahl. Code: U7191517 stainless steel microcable, costr. 7x19, dia 1,5/1,75 mm PA 12 trasparent coated.
  • crimping tool:
RC_TLR_999_A_002       RC_TLR_999_A_003

If you already have a spare tendon, please check the instructions on how to replace these tendons: shoulderWiring.

Hand Tendons: material and instructions

  • Difficulty: HARD

Replacing an hand tendon is quite complicated and in order to perform a good replacement a lot of practice is required. The following is needed:

  • coated steel wires:
    • Producer: Carlstahl. Code: CG077063 stainless steel microcable, costr. 0,63 mm, not coated Carlstahl
    • Producer: Carlstahl. Code: U7194561 stainless steel microcable, costr. 7x19, dia 0,45/0,61 mm PA 12 trasparent coated.
  • teflon tube:
    • Producer: Angst-pfister. Product: TEFLON_SHEATH, Sheath teflon Zeus.
  • tube to be used as a guide for the tendon:
    • Producer: Mollificio Astigiano. SHEATH FINGERS CABLES SHEATHS

Instructions on how to replace hand tendons can be found here:

tendonsHand

Wrist Tendons: Material and instructions

  • Difficulty: MEDIUM

Replacing an wrist tendon is modestly complicated. The following is needed:

  • coated steel wires:
    • Producer: Carlstahl. Code: CG077063 stainless steel microcable, costr. 0,63 mm, not coated Carlstahl

Instructions on how to replace wrist tendons can be found here:

Waist Tendons (V1 and V2): Material and instructions

  • Difficulty: MEDIUM

Please refer to the linked document for the list of needed material and assembly instruction: Waist Yaw Tendon #13

Head V2 Tendons: Material and instructions

  • Difficulty: MEDIUM

Please refer to the linked document for the list of needed material and assembly instruction: Head_V2_Cabling

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