. Development of an underwater manipulator for use on a free-swimming unmanned submersible. Manipulators (Mechanism); Oceanographic submersibles. 44. Turn the motor unit in its mid- dle position (from the middle position, the motor unit can turn at least 120° in either direction without overstressing or overcompressing the coil on the inner housing). Then turn the shaft with a sharpened wooden pencil until you can po- sition the six socket-head screws to fasten the circular spline to the outer housing. Make sure that the motor unit stays in its middle position while you are turning the shaft.
. Development of an underwater manipulator for use on a free-swimming unmanned submersible. Manipulators (Mechanism); Oceanographic submersibles. 44. Turn the motor unit in its mid- dle position (from the middle position, the motor unit can turn at least 120° in either direction without overstressing or overcompressing the coil on the inner housing). Then turn the shaft with a sharpened wooden pencil until you can po- sition the six socket-head screws to fasten the circular spline to the outer housing. Make sure that the motor unit stays in its middle position while you are turning the shaft. If the shaft does not turn freely, or you hear a rabbling noise while turning the shaft, a problem exists. The brush springs are probably destroyed as a result of moving the motor armature out of the motor field during assembly steps 2 to 41 . 45. Slip the spacer over the shaft. 46. Press the angular contact ball bearing (FAG no ) into the housing so that it can take a thrust load sufficient to push the bearing out. Make sure not to transmit pressure or im- pact through the rolling ele- ments of the bearing while pressing it in. 47. Put a few drops of high-quality approved oil (see step 7) into the FAG ball bearing. 48. Place one finger spring washer (F1004-007, 0D mm) on the ball bear- ing (see section 48 of assembly procedure for motor unit I). 49. Solder the wires onto the solder points of the potentiometer (see section 49 of assembly procedure for motor unit I). 50. Bring the potentiometer to its middle position. That means turning the shaft until you measure 5-kfi resistance between 1 and 2 or 2 and 3 on the 51. Assemble the potentiometer without turning the shaft, seated correctly.) 'Be sure it is 52. Place finger spring washer (Fl830-016, 0D 47 mm) on the potentiometer (see section 52 of assembly procedure for motor unit I). 46. Please note that these images are extracted from scanned page images that may have been digitally enhanced for rea
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