With the circuit board exposed, I happened to notice one of the links touching another component.... I re-positioned the link wire, and guess what.... The link was feeding into the direction control logic for the gripper stepper motor. Hopefully a slight tweak was all that's needed to fix the problem!
The blueprints included flat washers on the PCB mounts which I added as mine was missing these...
I know... I've had bad experiences following the blueprints to the letter, but in this case, I see no reason why these washers would not help spread the load from the fastenings. They are M3 flat washers, purchased from a local model shop.
Finally, I could replace the missing bolt on the side plate having retrieved that wild nut...
Connected the hand controller and powered up with my new power supply for bench testing....
A couple of video clips, firstly, the Gripper action now working:
In this clip - you'll see a problem with the Shoulder and Upper arms having tight spots causing a lot of judder. I can see we're rubbing on the side plates at times, but I need to look at this again with fresh eyes to figure out what to do about it....
So, re-positioning that link certainly solved the problem with the direction control. I don't really like these circuit boards with unshielded links running everywhere, if you have any problems in this area, I would recommend checking your not touching any neighboring components.
On the whole, I would say we're making good progress.
I'm still missing a few fastenings, so another weekend I intend to pop to a local Nut & Bolt stockist to remedy that situation.
Not a bad pose in these pictures...
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