ORA-3. Assembly Manual
This post contains the step-by-step guide on how to assemble the 3d printed robotic actuator ORA-3. It covers only the mechanical operation, electronic components soldering and programming are not covered here.
3D Printed Parts List
# | Part Name | Image | Quantity |
---|---|---|---|
1 | ORA-3 Body | ![]() |
1 |
2 | ORA-3 Cover | ![]() |
1 |
3 | ORA-3 2:1 Gear | ![]() |
1 |
4 | ORA-3 Small Gear | ![]() |
1 |
5 | ORA-3 5:1 Gear | ![]() |
1 |
6 | ORA_3 Main Gear | ![]() |
1 |
7 | ORA-3 Main Shaft | ![]() |
1 |
8 | ORA-3 Flange | ![]() |
1 |
9 | ORA-3 AS5600 Holder | ![]() |
1 |
Non-3D Printed Parts List
# | Part Name | Image | Quantity |
---|---|---|---|
1 | 6002 Bearing | ![]() |
1 |
2 | 6809 Bearing | ![]() |
1 |
3 | MR83ZZ Bearing | ![]() |
4 |
4 | M3x35 Screw | ![]() |
2 |
5 | M4x20 Screw | ![]() |
8 |
6 | M4x35 Screw | ![]() |
4 |
7 | M3x8 Screw | ![]() |
8 |
8 | M3 Washer | ![]() |
2 |
9 | M4 Split Washer | ![]() |
12 |
10 | M3 Split Washer | ![]() |
4 |
11 | M3 Nut | ![]() |
4 |
12 | M4 Threaded Rivet | ![]() |
20 |
13 | Lithium Grease |
Electronics
# | Part Name | Image | Quantity |
---|---|---|---|
1 | Nema17 Stepper Motor |
![]() |
1 |
2 | AS5600 Absolute Position encoder |
![]() |
1 |
Assembly Guide
1. Push 6002 Bearing into the ORA-3 Body
![](https://www.telemetrybalkan.com/content/images/2023/05/step-1-1.png)
2. Push 2xMR83ZZ Bearings into the ORA-3 Body
![](https://www.telemetrybalkan.com/content/images/2023/05/step-2-1.png)
3. Push 6809 Bearing into the ORA-3 Cover
![](https://www.telemetrybalkan.com/content/images/2023/05/step-3-1.png)
4. Push 2xMR83ZZ Bearings into the ORA-3 Cover
![](https://www.telemetrybalkan.com/content/images/2023/05/step-4-1.png)
5. Insert 4xM4 threaded rivets into the front side of the Main Shaft
![](https://www.telemetrybalkan.com/content/images/2023/05/step-5-1.png)
6. Insert 4xM4 threaded rivets into the rear side of the Main Shaft
![](https://www.telemetrybalkan.com/content/images/2023/05/step-6-1.png)
7. Insert 8xM4 threaded rivets into the front side of the ORA-3 Body
![](https://www.telemetrybalkan.com/content/images/2023/05/step-7-1.png)
8. Insert 4xM4 threaded rivets into the rear side of the ORA-3 Body
![](https://www.telemetrybalkan.com/content/images/2023/05/step-8-1.png)
9. Mount Main Gear on the Main Shaft
Use 4xM4x20 Screws and 4xM4 Split Washers
![](https://www.telemetrybalkan.com/content/images/2023/05/step-9-1.png)
10. Push the Encoder Magnet into the Main Shaft
![](https://www.telemetrybalkan.com/content/images/2023/05/step-10-1.png)
11. Mount 5:1 Gear into ORA-3 Body
Use M3x35 Screw as a shaft for 5:1 Gear
![](https://www.telemetrybalkan.com/content/images/2023/05/step-11-1.png)
12. Mount Main Gear + Main Shaft into ORA-3 Body
![](https://www.telemetrybalkan.com/content/images/2023/05/step-12-1.png)
13. Mount 2:1 Gear into ORA-2 Body
Use M3x35 Screw as a shaft for 2:1 Gear
![](https://www.telemetrybalkan.com/content/images/2023/05/step-13-1.png)
14. Mount Nema17 Motor with M3x8 screws
![](https://www.telemetrybalkan.com/content/images/2023/05/step-14-1.png)
15. Mount Small Gear on Nema 17 Shaft
![](https://www.telemetrybalkan.com/content/images/2023/05/step-15-1.png)
16. Apply Lithium Grease to all Gears
17. Mount ORA-3 Cover
Use 4xM4x35 Screws and 4xM4 Split Washers as shown on the picture.
![](https://www.telemetrybalkan.com/content/images/2023/05/step-17-1.png)
18. Mount ORA-3 Flange
Use 4xM4x20 Screws and 4xM4 Split Washers as shown on the picture.
![](https://www.telemetrybalkan.com/content/images/2023/05/step-18-1.png)
19. Mount AS5600 Encoder into the AS5600 Holder
Use 4xM3x8 screws and 4xM3 Split Washers
![](https://www.telemetrybalkan.com/content/images/2023/05/step-19-1.png)
20. Mount AS5600 Holder into ORA-3 Body
![](https://www.telemetrybalkan.com/content/images/2023/05/step-20-2.png)