. Development of an underwater manipulator for use on a free-swimming unmanned submersible. Manipulators (Mechanism); Oceanographic submersibles. 44. Turn the motor unit in its middle position (from the middle posi- tion, the motor unit can turn at least 120° in either direction without overstretching or over- compressing the coil on the inner housing). Then turn the shaft with a sharpened wooden pencil until you can position the six socket-head screws to fasten the circular spline with the outer housing. Make sure that the motor unit stays in its middle position while you are turning the shaf
. Development of an underwater manipulator for use on a free-swimming unmanned submersible. Manipulators (Mechanism); Oceanographic submersibles. 44. Turn the motor unit in its middle position (from the middle posi- tion, the motor unit can turn at least 120° in either direction without overstretching or over- compressing the coil on the inner housing). Then turn the shaft with a sharpened wooden pencil until you can position the six socket-head screws to fasten the circular spline with 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 because of moving the motor arm- ature out of the motor field during assembly steps 25 to 44. 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 impact through the rolling elements of the bearing while pressing it Please note that these images are extracted from scanned page images that may have been digitally enhanced for readability - coloration and appearance of these illustrations may not perfectly resemble the original Bosse, Peter; Heckman, P. J; Naval Ocean Systems Center (U. S. ). San Diego, Calif. : Naval Ocean Systems Center ; Alexandria, Va. : distributed by Defense Technical Information Center
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