# Details Mechanical Tools and Consumables

## Hex Drivers
<img src="../images/wiha_tools_1.jpg" width="300"> <br>*Wiha Hex Driver Set*

|Description|Details|Ordering Information|Comments|
|---|---|---|---|
|Wiha PicoFinish 42992|Set with 6 hex drivers|Hoffmann 42992<br>Amazon|[Rotor Preparation](details_motor_preparation.md#rotor-preparation)<br>[Actuator Module Assembly](details_actuator_module_assembly.md#mounting-the-stator)|

<img src="../images/wiha_tools_2.jpg" width="300"> <br>*Wiha Ball Head Hex Driver Set*

|Description|Details|Ordering Information|Comments|
|---|---|---|---|
|Wiha PicoFinish 42993|Set with 6 ball head hex drivers|Conrad  2126966<br>Amazon||

## Screw Drivers
<img src="../images/wiha_tools_3.jpg" width="300"> <br>*Wiha Slotted and Phillips Screw Driver Set*

|Description|Details|Ordering Information|Comments|
|---|---|---|---|
|Wiha PicoFinish 42991|Set with 7 Slotted and Phillips Screwdrivers|Conrad 2126940<br>Amazon|[Encoder Mounting](details_actuator_module_assembly.md#installing-the-encoder)<br>[Closing the Shell](details_actuator_module_assembly.md#closing-the-shell)|

## Power Drill
<img src="../images/power_drill.jpg" width="350"> <br>*Power Drill*

## Drill Bit Set
<img src="../images/drill_bits.jpg" width="350"> <br>*Metric Drill Bit Set*

|Description|Details|Ordering Information|Comments|
|---|---|---|---|
|Drill Bit Set|0,1mm increments|Hahn+Kolb 11049011|1mm - 5,9mm|

* a drill bit set with 0,1mm diameter increments is really useful for adjusting the 3d printed parts
* the diameters of the holes in 3d printed parts have to be increased in small steps
* increasing the hole diameters in large steps can cause the 3d printed parts to crack

## Tool Holders
<img src="../images/tool_holders.jpg" width="300"> <br>*Tool Holders*

|Description|Details|Ordering Information|Comments|
|---|---|---|---|
|Tool Holder 2mm-3mm||Hahn+Kolb 51003200|[Shell Preparation](details_shell_preparation.md#cutting-the-metric-threads)|
|Tool Holder 3mm-4,5mm||Hahn+Kolb 51003205|[Rotor Preparation](details_motor_preparation.md#increasing-the-rotor-bore-diameter)|
|Tool Holder 4mm-6mm||Hahn+Kolb 51003210|[Encoder Preparation](details_encoder_preparation.md#mechanical-modification-encoder)|

## Metric Taps
<img src="../images/tap_drills_1.jpg" width="300"> <br>*M2, M2,5 and M3 Taps*

|Description|Details|Ordering Information|Comments|
|---|---|---|---|
|M2,5 Tap||Hoffmann 131300 M2,5|[Micro Driver and IMU Support](../../quadruped_robot_12dof_v1/README.md#preparing-the-3d-printed-parts)|
|M3 Tap||Hoffmann 131300 M3|[Shell Preparation](details_shell_preparation.md#cutting-the-metric-threads)|
|M4 Tap||Hoffmann 131300 M4|[Vicon Marker Support](../../quadruped_robot_12dof_v1/README.md#preparing-the-3d-printed-parts)|

## Reamers
<img src="../images/reamers_3.jpg" width="300"> <br>*Reamers*

|Description|Details|Ordering Information|Comments|
|---|---|---|---|
|Reamer 3,98mm||Hahn+Kolb 11624398|[Rotor Modification](details_motor_preparation.md#increasing-the-rotor-bore-diameter)|
|Reamer 3,99mm||Hahn+Kolb 11624399|[Rotor Modification](details_motor_preparation.md#increasing-the-rotor-bore-diameter)|
|Reamer 4,00mm||Hahn+Kolb 11624400<br>Hoffmann 1601504|[Encoder Mount Adjustment](details_motor_shaft_preparation.md#bonding-the-codewheel)|

## Countersink Tool
<img src="../images/countersink_tool_1.jpg" width="300"> <br>*Countersink Tool*

|Description|Details|Ordering Information|Comments|
|---|---|---|---|
|Countersink Tool 90° 8mm||Hahn+Kolb 11500041|[Encoder Modification](details_encoder_preparation.md#mechanical-modification-encoder)|

## Helicoil Tools
<img src="../images/helicoil_tools.jpg" width="300"> <br>*Helicoil Tools*

|Description|Details|Ordering Information|Comments|
|---|---|---|---|
|M2,5 Helicoil Tool Set|Helicoil Tap,<br>Insertion Tool,<br>Tang Breakoff Tool|Hoffmann 082800 M2,5|[Shell Preparation](details_shell_preparation.md#installing-the-helicoil-inserts)|
|M3 Helicoil Tool Set|Helicoil Tap,<br>Insertion Tool,<br>Tang Breakoff Tool|Hoffmann 082800 M3|[Output Pulley Preparation](details_output_pulley_preparation.md#installing-helicoil-thread-inserts)|

## Helicoils
<img src="../images/helicoils.jpg" width="300"> <br>*Helicoil Threaded Inserts*

|Description|Details|Ordering Information|Comments|
|---|---|---|---|
|M2,5x3,75 Helicoil Threaded Inserts|1,5xD<br>Böllhoff 41890250375|RS 470-856<br>Hoffmann 082812 M2,5||
|M2,5x5 Helicoil Threaded Inserts|2xD<br>Böllhoff 41890250005|RS 470-822<br>Hoffmann 082814 M2,5||
|M3x4,5 Helicoil Threaded Inserts|1,5xD<br>Böllhoff 41890030045|RS 470-838<br>Hoffmann  082812 M3||
|M3x6 Helicoil Threaded Inserts|2xD<br>Böllhoff 41890030006|RS 470-834<br>Hoffmann 082814 M3||

## End Mills
<img src="../images/end_mills_1.jpg" width="300"> <br>*End Mills*

|Description|Details|Ordering Information|Comments|
|---|---|---|---|
|End Mill 8mm||Hoffmann 2033208|[Shell Preparation](details_shell_preparation.md#adjusting-the-bearing-seats)|
|End Mill 25mm ||Hoffmann 156730 1/25 |[12dof Quadruped Hip AA Support Adjustment](../../quadruped_robot_12dof_v1#3d-printed-parts)|
|End Mill 32mm ||Hoffmann 156730 2/32 |[Shell Preparation](details_shell_preparation.md#adjusting-the-bearing-seats)|

## Files
<img src="../images/files.jpg" width="350"> <br>*Flat Files*

|Description|Details|Ordering Information|Comments|
|---|---|---|---|
|Flat File Rough |Vallorbe Habilis|Hoffmann 527060|Length 215mm|
|Flat File Smooth |Vallorbe Habilis|Hoffmann 527070|Length 215mm|

## Pin Punches
<img src="../images/pin_drivers.jpg" width="300"> <br>*Hammer and pin punch set*

|Description|Details|Ordering Information|Comments|
|---|---|---|---|
|Pin Punch Set|PB Swiss Tools<br>PB 755.BL RB|Hoffmann 7469306|Only 3mm pin punch required.<br>[Rotor Preparation](details_motor_preparation.md#rotor-preparation)|
|Pin Punch 3mm|PB Swiss Tools|Hoffmann 7469203|[Rotor Preparation](details_motor_preparation.md#rotor-preparation)|
|Hammer|Gedore|Hahn+Kolb 51184410|[Rotor Preparation](details_motor_preparation.md#rotor-preparation)|

## Vise
<img src="../images/vise.jpg" width="300"> <br>*Precision Vise*

|Description|Details|Ordering Information|Comments|
|---|---|---|---|
|Precision Vise|Röhm 60mm PL-G|Hahn+Kolb 28604060|Jaw width 60mm|

## Digital Calipers
<img src="../images/digital_calipers.jpg" width="400"> <br>*Digital Calipers*

|Description|Details|Ordering Information|Comments|
|---|---|---|---|
|Digital Calipers|Mitutoyo|Hoffmann 412632|Battery SR44|
|Coin battery|SR44|RS 593-423||

## Label Maker and Tape
<img src="../images/label_maker.jpg" width="400"> <br>*Label maker and different tape sizes*

|Description|Details|Ordering Information|Comments|
|---|---|---|---|
|Label Maker|Brother P-touch<br> PT H500|Conrad 1094473||
|Label Tape 6mm|TZe-211|Conrad 775819|black on white|
|Label Tape 9mm|TZe-221|Conrad 770248|black on white|
|Label Tape 12mm|TZe-231|Conrad 775843|black on white|
|Label Tape 18mm|TZe-241|Conrad 770230|black on white|
|Label Tape 24mm|TZe-251|Conrad 770299|black on white|

## Loctite
<img src="../images/loctite.jpg" width="300"> <br>*Loctite superglue and retaining compound*

|Description|Details|Ordering Information|Comments|
|---|---|---|---|
|Loctite 406<br>Superglue|20g bottle|RS 517-7458|[Code Wheel Bonding](details_motor_shaft_preparation.md#bonding-the-codewheel)|
|Loctite 648<br>Retaining Compound|10ml bottle<br>50ml bottle|RS 258-5991<br>RS 373-1498|[Motor Pulley Bonding](details_motor_shaft_preparation.md#bonding-the-pulley-to-the-motor-shaft)|

## Collet
<img src="../images/collet_1.jpg" width="300"> <br>*25mm collet to hold the output pulley on a lathe*

|Description|Details|Ordering Information|Comments|
|---|---|---|---|
|Collet 25mm|| Hahn+Kolb 23356450|[Output Pulley Adjustment](details_output_pulley_preparation.md#adjusting-the-output-shaft-diameters)|

## Allen Keys
<img src="../images/allen_keys_1.jpg" width="300"> <br>*Allen Key Set from Wera*

|Description|Details|Ordering Information|Comments|
|---|---|---|---|
|Allen Key Set |Wera 05022210001|RS 136-7121<br>Amazon|Set with 9 allen keys|

## Tube Cutter
<img src="../images/tube_cutter_2.jpg" width="300"> <br>*Tube Cutter*

|Description|Details|Ordering Information|Comments|
|---|---|---|---|
|Tube Cutter|Legris 3000 71 00|RS 722-198|Cuts 4mm to 14 mm diameter tubes.|


## Nitril Gloves
<img src="../images/tools_misc_2.jpg" width="350"> <br>*Nitril Gloves*

|Description|Details|Ordering Information|Comments|
|---|---|---|---|
|Disposable Gloves |Ansell 92-600/075|RS 261-6736|Nitril|

## Work Gloves
<img src="../images/work_gloves.jpg" width="350"> <br>*Work Gloves*

|Description|Details|Ordering Information|Comments|
|---|---|---|---|
|Work Gloves |Holex<br>Size 7|Hoffmann 0942417|Sizes 6-11 available|

## Weight Scales
<img src="../images/weight_scales.jpg" width="350"> <br>*Weight Scales*

|Description|Details|Ordering Information|Comments|
|---|---|---|---|
|Precision Weight Scale|Holex|Hoffmann 479442 500|500g range<br>0,1g scale divisions<br>AAA batteries|
|Weight Scale|Kern|Hoffmann 4794502200|2200g range<br>1g scale divisions<br>AA batteries|

## Digital Angle Meter
<img src="../images/angle_meter.jpg" width="350"> <br>*Digital Angle Meter*

|Description|Details|Ordering Information|Comments|
|---|---|---|---|
|Digital Angle Meter|56mm x 56mm x 31mm|Hoffmann 467564|9V Battery|
|9V Battery|6LR61 / PP3|RS 386-9997||

## Velcro
<img src="../images/velcro_1.jpg" width="350"> <br>*Velcro Tapes*

|Description|Details|Ordering Information|Comments|
|---|---|---|---|
|Monacor Hook and Loop Tape|Monacor CS-10/SW|Conrad 1331453|Double sided<br>"back-to-back" - the band top adheres to the band bottom|
|Velcro Loop Tape|20mm x 5m|RS 251-4309|Loop Side<br>Adhesive Backing|
|Velcro Hook Tape|20mm x 5m|RS 549-921|Hook Side<br>Adhesive Backing|

## Rubber Feet
<img src="../images/rubber_feet.jpg" width="400"> <br>*Rubber Feet*

|Description|Details|Ordering Information|Comments|
|---|---|---|---|
|Rubber Feet Round|Ø 12.7mm x 3,5mm|[RS 236-509](https://de.rs-online.com/web/p/dampfungspads/0236509/)|adhesive-backed polyurethane|
|Rubber Feet Square|20,6mm x 20,6mm x 7,6mm|[RS 173-5948](https://de.rs-online.com/web/p/dampfungspads/1735948/)|adhesive-backed polyurethane|

### Aluminum profiles
<img src="images/aluminum_profile_1.jpg" width="300"> <br> *Item Aluminum profile*
* Item aluminum profiles - Size 8 - 40mm x 40mm
* [Item 7.0.000.09](https://product.item24.de/en/products/product-catalogue/productdetails/products/line-8-construction-profiles-1001042794/profile-8-40x40-e-natural-7000009/)

### Angle brackets
<img src="images/item_angle_connector_40mm.jpg" width="300"> <br> *Item 90 degree angle bracket 40mm*
* 90 degree 40mm angle brackets - Item part number: 0.0.411.15

### End caps
<img src="images/item_end_caps.jpg" width="300"> <br> *Item end caps*
* end caps - size 8 - Item part number: 0.0.026.01

### T-slot nuts
<img src="images/t_slot_nuts_1.jpg" width="300"> <br> *Item M5 t-slot nuts*
* T-slot nuts M4 - Item part number: 0.0.480.57
* T-slot nuts M5 - Item part number: 0.0.480.54
* T-slot nuts M6 - Item part number: 0.0.480.50


## Miscellaneous Tools
<img src="../images/tools_misc_1.jpg" width="350"> <br>*Miscellanious tools - tooth brush, q-tipps and tooth picks*

---
## Step-by-Step Instructions

| Motor Preparation  | Motor Shaft Preparation | Encoder Preparation |Center Pulley Preparation|
| --- | --- | --- | --- |
| <a href="details_motor_preparation.md#details-motor-preparation"><img src="../images/motor_mod_1_1.jpg" width="200"></a>| <a href="details_motor_shaft_preparation.md#details-motor-shaft-preparation"><img src="../images/motor_shaft_preparation_18.jpg" width="200"></a>  | <a href="details_encoder_preparation.md#details-encoder-preparation"><img src="../images/encoder_1.jpg" width="200"></a>  |<a href="details_center_pulley_preparation.md#details-center-pulley-preparation"><img src="../images/pulley_preparation_1_1.jpg" width="200"></a> |

| Output Pulley Preparation | Shell Preparation | Actuator Module Assembly |Actuator Module Testing|
| --- | --- | --- | --- |
| <a href="details_output_pulley_preparation.md#details-output-pulley-preparation"><img src="../images/output_pulley_preparation_9.jpg" width="200"></a>| <a href="details_shell_preparation.md#details-shell-preparation"><img src="../../leg_2dof_v1/images/shells_1.jpg" width="200"></a>  | <a href="details_actuator_module_assembly.md#details-actuator-module-assembly"><img src="../images/actuator_module_open_1.jpg" width="200"></a>  |<a href="details_actuator_module_testing.md#details-actuator-module-testing"><img src="../images/actuator_module_1.png" width="200"></a> |

---
## More Details
| Details 3d Printed Parts | Details Machined Parts | Mechanical Tools and Consumables |Electronic Components and Tools|
| --- | --- | --- | --- |
|<a href="details_3d_printed_parts.md#details-3d-printed-parts"><img src="../images/3d_printed_parts_2.jpg" width="200"></a>|<a href="details_machined_parts.md#details-machined-parts"><img src="../images/machined_parts_1.jpg" width="200"></a>|<a href="details_tools.md#details-mechanical-tools-and-consumables"><img src="../images/tools_1.jpg" width="200"></a>|<a href="../../../electronics/details/details_components.md#details-electronic-components-and-tools"><img src="../../../electronics/images/components_tools_1.jpg" width="200"></a>|

---
## More Information
[Open Dynamic Robot Initiative - Webpage](https://open-dynamic-robot-initiative.github.io)  
[Open Dynamic Robot Initiative - YouTube Channel](https://www.youtube.com/channel/UCx32JW2oIrax47Gjq8zNI-w)   
[Open Dynamic Robot Initiative - Forum](https://odri.discourse.group/categories)  
[Open Dynamic Robot Initiative - Paper](https://arxiv.org/pdf/1910.00093.pdf)  
[Hardware Overview](../../../README.md#open-robot-actuator-hardware)  
[Software Overview](https://github.com/open-dynamic-robot-initiative/open-dynamic-robot-initiative.github.io/wiki)  
[Back to Actuator Module](../README.md)  
[Back to Top of Page](#details-mechanical-tools-and-consumables)

---
## Authors
Felix Grimminger

## License
BSD 3-Clause License

## Copyright
Copyright (c) 2019-2020, Max Planck Gesellschaft and New York University