User manual

Barrett Technology, Inc.
BA4-310 System User Manual Version 1.1
49
5.6.2 1
st
Stage
[ ] 1. Place joint 3 in the middle of its joint range if not already in this position. To begin,
joint 4 should still be positioned so that the elbow is folded flat against the inner arm
link as shown in Figure 24.
Figure 24 - Elbow Position for 1
st
-Stage Cabling
[ ] 2. Place one brass lug of the 1778mm 1
st
-stage cable into the sidewall termination of the
left 1
st
-stage pulley.
TIP: It is helpful to apply a piece of tape over the lug to prevent it from slipping out of the termination before pre-tensioning is
complete.
[ ] 3. Guide the cable onto the 1
st
-stage pulley surface and carefully wrap 7 turns with a tight,
right-hand pitch (Figure 25).