Willow Garage PR2 Replacement Manual

Toolkit Doc9 Bellows
June 4, 2010
Bellows, Front R/R
●
Bellows, Front, Removal ­ 2161
1. Raise the Spine at least 30cm
2. Remove the Front Bottom Panel
3. Remove the Center, Left, and Right Trim
4. Using the 7/32 socket together with the ¼
drive ratchet wrench, and remove the 2 nuts.
1332 (Fig 1)
Fig 1
Fig 4
Fig 1
5. Pull the Bellows by the lower plate forward
until the studs clear the slot. (Fig 2)
Fig 2
Fig 5
7. To remove the Bellows pull forward and
slightly up so that the tabs come out of
their slots. (Fig 4)
Fig 7
6. Using the 2mm bit together with the hex to ¼
adapter and the ¼ drive ratchet wrench,
remove the 3 Buttonhead screws on the top
edge of the Bellows. 2055­05 (Fig 3,4,5)
Fig 3
●
2
Bellows, Front, Install
1. Reverse the removal procedure making
sure the tabs on the rear of the Bellows
bottom plate is inserted into the slots on
the chassis.
2. Using Loctite 248, install the 3 screws
and torque to 0.34Nm using the Small
torque driver. Install the 2 nuts and torque
to 1.36Nm using the Large torque driver.
Bellows, Rear R/R
●
Bellows, Rear, Removal ­ 4287
1. Remove the Rear Bottom Panel
2. Remove the Top Rear Panel
3. Using the 3mm bit with the T­handle driver,
remove the 4 bottom screws. 3063­18 (Fig 1,2)
Fig 4
5. Squeeze the bellows together and lift up
and off the end of the Slide Rail as you
pull it gently out. (Fig 5,6)
Fig 1
Fig 5
Slide Rail
Fig 2
Fig 6
4. Using the 3mm bit with the T­handle driver,
remove the 4 top screws. (Fig 3,4)
Lift up and pull out
Fig 3
●
3
Bellows, Front, Install
1. Reverse the removal procedure.
2. Using Loctite 248, install the 4 top and 4
bottom screws and torque to 3.17Nm
using the Large torque driver.