This page lists all the tools, equipment, and consumables required for building and assembling the actuator modules. The tools range from basic hand tools to specialized machining equipment.
Hex Drivers
Wiha PicoFinish 42992 - Set with 6 hex drivers
- Supplier: Hoffmann 42992, Amazon
- Use: Rotor preparation and actuator module assembly
Wiha PicoFinish 42993 - Set with 6 ball head hex drivers
- Supplier: Conrad 2126966, Amazon
Screwdrivers
Wiha PicoFinish 42991 - Set with 7 Slotted and Phillips Screwdrivers
- Supplier: Conrad 2126940, Amazon
- Use: Encoder mounting and shell closing
Allen Keys
Wera 05022210001 - Set with 9 allen keys
- Supplier: RS 136-7121, Amazon
Power Drill
A standard power drill is required for various drilling operations.
Drill Bit Set
Metric Drill Bit Set with 0.1mm increments
- Range: 1mm - 5.9mm
- Supplier: Hahn+Kolb 11049011
- Important: A drill bit set with 0.1mm diameter increments is essential for adjusting 3D printed parts. The hole diameters must be increased in small steps to prevent cracking.
| Size | Part Number | Application |
|---|
| 2mm-3mm | Hahn+Kolb 51003200 | Shell preparation (cutting metric threads) |
| 3mm-4.5mm | Hahn+Kolb 51003205 | Rotor preparation (increasing bore diameter) |
| 4mm-6mm | Hahn+Kolb 51003210 | Encoder preparation |
Metric Taps
| Thread Size | Part Number | Application |
|---|
| M2.5 | Hoffmann 131300 M2.5 | Micro driver and IMU support |
| M3 | Hoffmann 131300 M3 | Shell preparation (cutting metric threads) |
| M4 | Hoffmann 131300 M4 | Vicon marker support |
- Part Number: Hoffmann 082800 M2.5
- Use: Shell preparation (installing helicoil inserts)
M3 Helicoil Tool Set (Tap, Insertion Tool, Tang Breakoff Tool)
- Part Number: Hoffmann 082800 M3
- Use: Output pulley preparation (installing helicoil thread inserts)
Helicoil Threaded Inserts
| Description | Length | Part Numbers | Suppliers |
|---|
| M2.5x3.75 | 1.5xD | Böllhoff 41890250375 | RS 470-856, Hoffmann 082812 M2.5 |
| M2.5x5 | 2xD | Böllhoff 41890250005 | RS 470-822, Hoffmann 082814 M2.5 |
| M3x4.5 | 1.5xD | Böllhoff 41890030045 | RS 470-838, Hoffmann 082812 M3 |
| M3x6 | 2xD | Böllhoff 41890030006 | RS 470-834, Hoffmann 082814 M3 |
Reamers
| Diameter | Part Number | Application |
|---|
| 3.98mm | Hahn+Kolb 11624398 | Rotor modification |
| 3.99mm | Hahn+Kolb 11624399 | Rotor modification |
| 4.00mm | Hahn+Kolb 11624400, Hoffmann 1601504 | Encoder mount adjustment |
- Part Number: Hahn+Kolb 11500041
- Use: Encoder modification
End Mills
| Diameter | Part Number | Application |
|---|
| 8mm | Hoffmann 2033208 | Shell preparation (adjusting bearing seats) |
| 25mm | Hoffmann 156730 1/25 | 12DOF quadruped hip AA support adjustment |
| 32mm | Hoffmann 156730 2/32 | Shell preparation (adjusting bearing seats) |
Files
Flat File Rough - Vallorbe Habilis
- Part Number: Hoffmann 527060
- Length: 215mm
Flat File Smooth - Vallorbe Habilis
- Part Number: Hoffmann 527070
- Length: 215mm
Collet
25mm Collet
- Part Number: Hahn+Kolb 23356450
- Use: Holding output pulley on a lathe for adjustment
Pin Punches and Hammer
Pin Punch Set - PB Swiss Tools PB 755.BL RB
- Part Number: Hoffmann 7469306
- Note: Only 3mm pin punch required for rotor preparation
Pin Punch 3mm - PB Swiss Tools
- Part Number: Hoffmann 7469203
Hammer - Gedore
- Part Number: Hahn+Kolb 51184410
Vise
Precision Vise - Röhm 60mm PL-G
- Part Number: Hahn+Kolb 28604060
- Jaw Width: 60mm
Tube Cutter
Legris 3000 71 00
- Part Number: RS 722-198
- Capacity: Cuts 4mm to 14mm diameter tubes
Digital Calipers
Mitutoyo Digital Calipers
- Part Number: Hoffmann 412632
- Battery: SR44
- Replacement Battery: RS 593-423
Digital Angle Meter
Digital Angle Meter (56mm x 56mm x 31mm)
- Part Number: Hoffmann 467564
- Battery: 9V (6LR61/PP3)
- Replacement Battery: RS 386-9997
Weight Scales
Precision Weight Scale - Holex
- Part Number: Hoffmann 479442 500
- Range: 500g
- Resolution: 0.1g
- Battery: AAA
Weight Scale - Kern
- Part Number: Hoffmann 4794502200
- Range: 2200g
- Resolution: 1g
- Battery: AA
Label Maker
Brother P-touch PT H500
- Part Number: Conrad 1094473
Label Tape Options:
| Width | Part Number | Supplier | Color |
|---|
| 6mm | TZe-211 | Conrad 775819 | Black on white |
| 9mm | TZe-221 | Conrad 770248 | Black on white |
| 12mm | TZe-231 | Conrad 775843 | Black on white |
| 18mm | TZe-241 | Conrad 770230 | Black on white |
| 24mm | TZe-251 | Conrad 770299 | Black on white |
Adhesives and Bonding Materials
Loctite Products
Loctite 406 Superglue
- Package: 20g bottle
- Part Number: RS 517-7458
- Use: Code wheel bonding to motor shaft
Loctite 648 Retaining Compound
- Package: 10ml or 50ml bottle
- Part Numbers: RS 258-5991 (10ml), RS 373-1498 (50ml)
- Use: Motor pulley bonding to motor shaft
Consumables and Fasteners
Velcro and Mounting
Monacor Hook and Loop Tape - CS-10/SW
- Part Number: Conrad 1331453
- Type: Double sided “back-to-back” (band top adheres to band bottom)
Velcro Loop Tape (20mm x 5m)
- Part Number: RS 251-4309
- Type: Loop side with adhesive backing
Velcro Hook Tape (20mm x 5m)
- Part Number: RS 549-921
- Type: Hook side with adhesive backing
Rubber Feet
Round Rubber Feet
- Size: Ø 12.7mm x 3.5mm
- Part Number: RS 236-509
- Material: Adhesive-backed polyurethane
Square Rubber Feet
- Size: 20.6mm x 20.6mm x 7.6mm
- Part Number: RS 173-5948
- Material: Adhesive-backed polyurethane
Protective Equipment
Gloves
Nitril Disposable Gloves - Ansell 92-600/075
- Part Number: RS 261-6736
- Material: Nitril
Work Gloves - Holex Size 7
- Part Number: Hoffmann 0942417
- Available Sizes: 6-11
Structural Components
Aluminum Profiles
Item Aluminum Profile Size 8 (40mm x 40mm)
Angle Brackets
90 Degree Angle Bracket 40mm
- Part Number: Item 0.0.411.15
End Caps
End Caps Size 8
- Part Number: Item 0.0.026.01
T-Slot Nuts
| Thread Size | Part Number |
|---|
| M4 | Item 0.0.480.57 |
| M5 | Item 0.0.480.54 |
| M6 | Item 0.0.480.50 |
- Tooth brush (for cleaning)
- Q-tips (for precision cleaning)
- Tooth picks (for detail work)
Important Notes
When using drill bits to adjust 3D printed parts, always increase hole diameters in small increments (0.1mm steps). Large diameter increases can cause parts to crack.
Always wear appropriate protective equipment (gloves, safety glasses) when using power tools and adhesives.