Merge pull request #24 from AlanWorkaholic/D405-holder

Add D405 holder, rod-fit test plate, and updated clamp/gear-rack assembly

Author: brnikita

README.md

@@ -137,11 +137,12 @@ Download STL files from [`models/parts/`](models/). Compatible with popular prin
 |------|:---:|----------|
 | Main frame (RB9.01.062.010) | 1 | 20% infill |
 | Clamp (RB9.01.062.020) | 2 | 20% infill |
-| Gear rack (RB9.01.062.030) | 2 | 30% infill |
-| Gear (RB9.01.062.040) | 1 | 30% infill |
+| Gear rack (RB9.01.062.030) | 2 | 100% infill |
+| Gear (RB9.01.062.040) | 1 | 100% infill |
 | Camera holder (RB9.01.060.074) | 1 | 20% infill |
 | Holder (RB9.01.060.080) | 1 | 20% infill |
 | Camera Spacer (RB9.01.060.090) | 1 | 20% infill |
+| D405 holder (RB9.01.060.110) | 1 | 20% infill |
 
 ### 2. Order Components (1-2 days)
 

assets/images/assembly/clamp+rack+nail.PNG

@@ -27,7 +27,7 @@ This guide provides step-by-step instructions for assembling the parallel grippe
 
 ---
 
-## Step 2: Servo Positioning
+## Step 2: Servo Positioning and Torque Limit
 
 ![Servo positioning](../assets/images/assembly/Feetech-Servo-Window.png)
 
@@ -42,24 +42,31 @@ This guide provides step-by-step instructions for assembling the parallel grippe
 5. Check the box to enable torque on servo.
 6. Move the slider to the left.
 
+![Max torque limit](../assets/images/assembly/max-torque-window.png)
+
+7. Switch the window to a tab "Programming".
+8. Choose parameter "Max Torque Limit", set it to 500 ans press "Save".
+
 ---
 
 ## Step 3: Clamps
 
-![Clamps](../assets/images/assembly/clamp+rack.png)
+![Clamps](../assets/images/assembly/clamp+rack+nail.PNG)
 
 **Components needed:**
-- 2x Clamps (RB9.01.062.020)
-- 2x Gear racks (RB9.01.062.030)
+- 2x Clamps (RB9.01.062.021)
+- 2x Gear racks (RB9.01.062.031)
+- 2x Nails (RB9.01.062.100)
 
 **Instructions:**
-1. Attach gear racks to clamps.
+1. Insert gear racks in clamps from side direction.
+2. Then insert nails from back direction.
 
 ---
 
 ## Step 4: Rods
 
-![Rods](../assets/images/assembly/rods+clamps.png)
+![Rods](../assets/images/assembly/rods+clamps.PNG)
 
 **Components needed:**
 - 2x Rods D6x125mm
@@ -145,5 +152,4 @@ This guide provides step-by-step instructions for assembling the parallel grippe
 Congratulations! Your SO-ARM101 is now assembled and ready for use.
 
 ### Next Steps
-- Configure servo parameters using the Feetech software
 - Test gripper operation before use

assets/images/assembly/max-torque-window.png

@@ -26,10 +26,14 @@ Get your Follower Gripper for SO-ARM101 up and running!
 1. Download STL files from `models/parts/`
 2. Print with recommended settings:
    - Layer height: 0.2mm
-   - Infill: 20% (frame/clamps), 30% (gears)
+   - Infill: 20% (frame/clamps), 100% (gears)
    - Material: PLA or PETG
 3. Remove supports
 
+![Test plate](../assets/images/assembly/rod-test-plate.PNG)
+
+To ensure the rods you purchase fit better into the clamps, you need to use a test piece. Print it and, working from the largest hole to the smallest, select the diameter that allows the rod to fit into the test part without difficulty and with minimal clearance. Then print clamps with the same hole diameter which is mentioned in stl file name (e.g. RB9.01.062.021 (D6.1) if you choose diameter 6.1 mm).
+
 **Compatible 3D Printers** (180×180mm+ bed):
 - Bambu Lab A1 mini
 - Prusa MINI / MINI+

assets/images/assembly/rod-test-plate.PNG

@@ -27,10 +27,15 @@ Located in the `parts/` folder:
 | RB9.01.060.074 | `Camera holder.STL` | 1 | Camera mounting bracket |
 | RB9.01.060.080 | `Holder.STL` | 1 | Mounting bracket without camera |
 | RB9.01.060.090 | `Camera spacer.STL` | 1 | Spacer for camera |
+| RB9.01.060.110 | `D405 holder.STL` | 1 | Holder for D405 camera |
 | RB9.01.062.010 | `Main frame.STL` | 1 | Main structural frame |
-| RB9.01.062.020 | `Clamp.STL` | 2 | Finger clamps |
-| RB9.01.062.030 | `Gear rack.STL` | 2 | Gear racks for linear motion |
+| RB9.01.062.021 (D6.0) | `Clamp.STL` | 2 | Finger clamps |
+| RB9.01.062.021 (D6.1) | `Clamp.STL` | 2 | Finger clamps |
+| RB9.01.062.021 (D6.2) | `Clamp.STL` | 2 | Finger clamps |
+| RB9.01.062.021 (D6.3) | `Clamp.STL` | 2 | Finger clamps |
+| RB9.01.062.031 | `Gear rack.STL` | 2 | Gear racks for linear motion |
 | RB9.01.062.040 | `Gear.STL` | 1 | Drive gear |
+| RB9.01.062.100 | `Nail.STL` | 2 | Nails |
 
 ## Print Settings
 
@@ -44,7 +49,12 @@ Located in the `parts/` folder:
 
 ## Notes
 
-- Print gears with higher infill (30%) for better strength
+- Print gears with higher infill (100%) for better strength
 - Main frame may require supports depending on orientation
 - Post-processing: light sanding may be needed for bearing fits
 - Individual parts can be printed on any standard FDM printer
+
+## Better rods fit
+![Test plate](../assets/images/assembly/rod-test-plate.PNG)
+
+To ensure the rods you purchase fit better into the clamps, you need to use a test piece. Print it and, working from the largest hole to the smallest, select the diameter that allows the rod to fit into the test part without difficulty and with minimal clearance. Then print clamps with the same hole diameter which is mentioned in stl file name (e.g. RB9.01.062.021 (D6.1) if you choose diameter 6.1 mm).