Echo: Hardware & Assembly Tutorial

Mechanical structure

Note: You can find all hardware files, pictures and 3D models in the Echo repository /Hardware folder.

Echo 3D model

Echo features a complex mechanical structure made up of hundreds of components. The setup includes two mechanical arms (though a single arm can be used), which are mounted to a table—we use a welding table—and supported by counterbalances on a framework of aluminum profiles. Each Echo arm is equipped with several standard joints and a joystick. The joint and joystick components are 3D-printed using PLA and TPU92A plastics and assembled with fasteners, couplings, and shafts. The 3D model of Echo uses a hierarchical numbering system to prevent confusion, ensure ease of use, and align with the component lists provided below. 3D model is available on GitHub in /Hardware/3D_models.

ECHO.001.000.000 — Echo right

Echo right exploded

No.	Component name	Quantity	Notes
1	ECHO.000.001.000 - Joint base	1
2	ECHO.000.002.000 - Joint short	3
3	ECHO.000.003.000 - Joint long	2
4	ECHO.000.004.000 - Joystick right	1
5	Shaft 1	1	Length: 50 mm
6	Shaft 2	1	Length: 44 mm
7	Shaft 3	1	Length: 50 mm
8	Shaft 4	1	Length: 56 mm
9	Shaft 5	1	Length: 50 mm
10	Shaft 6	1	Length: 48 mm
11	Shaft 7	1	Length: 20 mm
12	Screw M3x12 DIN 912	2
13	Screw M3x14 DIN 912	1
14	Screw M3x18 DIN 912	3

Each joint is connected to the others via a 4 mm metal shaft and can freely rotate around it. The Joint Base has a rotation limit of 300 degrees, while the other joints are limited to 260 degrees. In Echo, M3 screws serve as stoppers to restrict movement.

Note that in the Echo right and Echo left, the arrangement of the stopping screws on the two upper short joints is different.

Limit screws in the two upper short joints of the Echo right

Limit screws in the two upper short joints of the Echo left

Limit screw in the lower short joint

Limit screw in the lower long joint

Limit screw in the upper long joint

Limit screw in the joystick

ECHO.000.001.000 — Joint base

Joint base exploded

Joint base assembled

The fixed link is attached to the table. It includes the cylindrical ECHO.000.001.002 - Base, which connects to the ECHO.000.001.003 - Bracket. The ECHO.000.001.003 - Bracket is secured to the table using additional mounting hardware (or improvised tools like clamps), with the Commutation PCB mounted on it. The ECHO.000.001.002 - Base holds the ECHO.000.001.004 - Bracket, which serves as the mounting point for the Potentiometer PCB. The Potentiometer PCB is rotated by the ECHO.000.006.000 - Tongue, connected to a shaft. The shaft passes through two bearings inside the ECHO.000.001.005 - Bracket, with its vertical movement restricted by two shaft holders.

Tongue

The ECHO.000.006.000 - Tongue has a flexible TPU92A part, which is secured to the shaft by two plates using two M2 bolts. Finally, two ECHO.000.001.001 - Wall components cover the connector and wires after the Commutation PCB is connected.

No.	Component Name	Quantity
1	ECHO.000.001.001 - Wall	2
2	ECHO.000.001.002 - Base	1
3	ECHO.000.001.003 - Bracket	2
4	ECHO.000.001.004 - Bracket	1
5	ECHO.000.001.005 - Bracket	1
6	ECHO.000.006.000 - Tongue	1
7	ECHO.000.006.001 - Plate	1
8	ECHO.000.006.002 - Plate	1
9	ECHO.000.006.003 - Tongue	1
10	Commutation PCB	1
11	Bearing 4х7х2.5 MF74ZZ	2
12	Set screw M3x3 DIN 916	2
13	Nut M3 Nylon DIN 985	4
14	Nut M2 DIN 555	6
15	Screw DIN 7991 M2x10 DIN 912	2
16	Screw DIN 7991 M2x14 DIN 912	4
17	Screw DIN 7991 M2x16 DIN 912	2
18	Screw DIN 7991 M3x10 DIN 912	4
19	Screw DIN 7991 M3x12 DIN 912	8
20	Screw DIN 7991 M3x16 DIN 912	4
21	Screw DIN 7991 M3x22 DIN 912	4
22	Screw DIN 7991 M3x40 DIN 912	2
23	Screw M2x10 DIN 912	2
24	Screw M2x14 DIN 912	4
25	Screw M2x16 DIN 912	2
26	Shaft holder	2
27	Potentiometer PCB	1
28	Square nut М3 DIN 562	19
29	Washer 4х9х0.8 DIN 125	2

ECHO.000.002.000 - Joint short

Short joint exploded — upview

Short joint exploded — view from below

Short joint assembled — upview

Short joint right assembled — view from below

Typical joint where the axes intersect at 90 degrees. One axis, connected via a coupling, rotates the potentiometer of the previous joint. The other axis, connected to the next joint (which can be a long joint, a joystick, or a short joint), passes through two bearings and rotates the potentiometer mounted on the ECHO.000.001.003 - Bracket using the ECHO.000.006.000 - Tongue.

No.	Component Name	Quantity
1	ECHO.000.002.001 - Bracket	1
2	ECHO.000.002.002 - Cap	1
3	ECHO.000.002.003 - Bracket	1
4	ECHO.000.006.000 - Tongue	1
5	ECHO.000.006.001 - Plate	1
6	ECHO.000.006.002 - Plate	1
7	ECHO.000.006.003 - Tongue	1
8	Bearing 4х7х2.5 MF74ZZ	2
9	Coupling	1
10	Set screw M3x3 DIN 916	2
11	Nut M3 Nylon DIN 985	4
12	Nut M2 DIN 555	6
13	Screw DIN 7991 M2x10	2
14	Screw DIN 7991 M2x16	2
15	Screw DIN 7991 M3x10	1
16	Screw DIN 7991 M3x22	4
17	Screw M2x10 DIN 912	2
18	Screw M2x16 DIN 912	2
19	Screw M2x18 DIN 912	4
20	Screw М3х45 DIN 912	2
21	Shaft holder	2
22	Potentiometer PCB	1
23	Square nut М3 DIN 562	6
24	Washer 4х9х0.8 DIN 125	2

ECHO.000.003.000 — Joint long

Joint long exploded

Joint long assembled

Typical joint where the axes are aligned at 180 degrees. One axis, connected via a coupling, rotates the potentiometer of the previous joint. The other axis, connected to the next joint (which can be a long joint or a short joint), passes through two bearings and rotates the potentiometer mounted on the ECHO.000.003.005 - Bracket using the ECHO.000.006.000 - Tongue.

No.	Component Name	Quantity
1	ECHO.000.003.001 - Bracket	1
2	ECHO.000.003.002 - Cup	1
3	ECHO.000.003.003 - Cup	1
4	ECHO.000.003.004 - Cup	1
5	ECHO.000.003.005 - Bracket	1
6	ECHO.000.006.000 - Tongue	1
7	ECHO.000.006.001 - Plate	1
8	ECHO.000.006.002 - Plate	1
9	ECHO.000.006.003 - Tongue	1
10	Bearing 4х7х2.5 MF74ZZ	2
11	Coupling	1
12	Set screw M3x3 DIN 916	2
13	Nut M3 Nylon DIN 985	4
14	Nut M2 DIN 555	6
15	Screw DIN 7991 M2x10	2
16	Screw DIN 7991 M2x16	2
17	Screw DIN 7991 M3x16	12
18	Screw DIN 7991 M3x8	1
19	Screw M2x10 DIN 912	4
20	Screw M2x16 DIN 912	2
21	Screw М3х18 DIN 912	1
22	Screw М3х45 DIN 912	2
23	Shaft holder	2
24	Potentiometer PCB	1
25	Square nut М3 DIN 562	15
26	Washer 4х9х0.8 DIN 125	2

ECHO.000.004.000 — Joystick right

Joystick right exploded

Joystick right assembled

The right joystick has a button on its LED panel that adjusts ECHO's sensitivity. Inside, an axis extends from the joystick and rotates the potentiometer of the previous joint, while two triggers allow the operator to control the gripper. In the force feedback version by default, one trigger is mounted on a bearing for free movement, and the other is driven by a motor shaft. The motor, located in the handle, drives one of the triggers. The joystick also includes two TPU92A straps for the operator's fingers.

Joystick left

Joystick right

The left joystick has a button on its LED panel that initiates dataset recording. Its internal mechanism is identical to that of the right joystick.

No.	Component Name	Quantity
1	ECHO.000.004.001 - Bracket	1
2	ECHO.000.004.002 - Grip	1
3	ECHO.000.004.003 - Cap	1
4	ECHO.000.004.004 - Table sense	1
5	ECHO.000.004.005 - Cup	1
6	ECHO.000.004.006 - Plug	1
7	ECHO.000.004.007 - Wire protector	1
8	ECHO.000.004.008 - Wire channel	1
9	ECHO.000.004.009 - Wire channel	1
10	ECHO.000.024.004 - Bearing holder	1
11	ECHO.000.024.005 - Bearing holder	1
12	ECHO.000.006.000 - Tongue	1
13	ECHO.000.006.001 - Plate	1
14	ECHO.000.006.002 - Plate	1
15	ECHO.000.006.003 - Tongue	1
16	ECHO.000.014.000 - Trigger	1
17	ECHO.000.014.001 - Trigger	1
18	ECHO.000.024.000 - Trigger	1
19	ECHO.000.024.001 - Trigger	1
20	ECHO.000.024.002 - Bracket	1
21	ECHO.000.024.003 - Insert	1
22	ECHO.000.034.000 - Thimble	2
23	ECHO.000.034.001 - Thimble D22 mm	2
24	ECHO.000.034.002 - Insert	4
25	Commutation PCB	1
26	Bearing 45х58х7	1
27	Button PBS-15B	1
28	Coupling	3
29	Hand Commutation PCB	2
30	LED 3mm Red_step	3
31	Set screw M3x3 DIN 916	2
32	Nut M3 Nylon DIN 985	8
33	Nut M2 DIN 555	14
34	Maxon Motor	1
35	Screw DIN 7991 M2x10	2
36	Screw DIN 7991 M2x12	8
37	Screw DIN 7991 M2x14	4
38	Screw DIN 7991 M2x16	2
39	Screw DIN 7991 M2x6	4
40	Screw DIN 7991 M3x10	3
41	Screw DIN 7991 M3x12	2
42	Screw DIN 7991 M3x14	4
43	Screw DIN 7991 M3x16	5
44	Screw DIN 7991 M3x18	4
45	Screw DIN 7991 M3x25	2
46	Screw DIN 7991 M3x50	2
47	Screw M2x10 DIN 912	2
48	Screw M2x12 DIN 912	8
49	Screw M2x6 DIN 912	4
50	Screw М3х10 DIN 912	8
51	Screw М3х12 DIN 912	2
52	Screw М3х20 DIN 912	5
53	Screw М3х35 DIN 912	1
54	Screw М3х8 DIN 912	4
55	Shaft holder	2
56	Potentiometer PCB	1
57	Square nut М3 DIN 562	32
58	Washer 4х9х0.8 DIN 125	2

ECHO.000.044.000 — Joystick left

No.	Component Name	Quantity
1	ECHO.000.004.001 - Bracket	1
2	ECHO.000.004.002 - Grip	1
3	ECHO.000.004.003 - Cap	1
4	ECHO.000.044.001 - Table record	1
5	ECHO.000.004.005 - Cup	1
6	ECHO.000.004.006 - Plug	1
7	ECHO.000.004.007 - Wire protector	1
8	ECHO.000.004.008 - Wire channel	1
9	ECHO.000.004.009 - Wire channel	1
10	ECHO.000.024.004 - Bearing holder	1
11	ECHO.000.024.005 - Bearing holder	1
12	ECHO.000.006.000 - Tongue	1
13	ECHO.000.006.001 - Plate	1
14	ECHO.000.006.002 - Plate	1
15	ECHO.000.006.003 - Tongue	1
16	ECHO.000.014.000 - Trigger	1
17	ECHO.000.014.001 - Trigger	1
18	ECHO.000.024.000 - Trigger	1
19	ECHO.000.024.001 - Trigger	1
20	ECHO.000.024.002 - Bracket	1
21	ECHO.000.024.003 - Insert	1
22	ECHO.000.034.000 - Thimble	2
23	ECHO.000.034.001 - Thimble D22 mm	2
24	ECHO.000.034.002 - Insert	4
25	Commutation PCB	1
26	Bearing 45х58х7	1
27	Button PBS-15B	1
28	Coupling	3
29	Hand Commutation PCB	2
30	LED 3mm	1
31	Set screw M3x3 DIN 916	2
32	Nut M3 Nylon DIN 985	8
33	Nut M2 DIN 555	14
34	Maxon Motor	1
35	Screw DIN 7991 M2x10	2
36	Screw DIN 7991 M2x12	8
37	Screw DIN 7991 M2x14	4
38	Screw DIN 7991 M2x16	2
39	Screw DIN 7991 M2x6	4
40	Screw DIN 7991 M3x10	3
41	Screw DIN 7991 M3x12	2
42	Screw DIN 7991 M3x14	4
43	Screw DIN 7991 M3x16	5
44	Screw DIN 7991 M3x18	4
45	Screw DIN 7991 M3x25	2
46	Screw DIN 7991 M3x50	2
47	Screw M2x10 DIN 912	2
48	Screw M2x12 DIN 912	8
49	Screw M2x6 DIN 912	4
50	Screw М3х10 DIN 912	8
51	Screw М3х12 DIN 912	2
52	Screw М3х20 DIN 912	5
53	Screw М3х35 DIN 912	1
54	Screw М3х8 DIN 912	4
55	Shaft holder	2
56	Potentiometer PCB	1
57	Square nut М3 DIN 562	32
58	Washer 4х9х0.8 DIN 125	2

ECHO.000.024.000 — Trigger

Joystick trigger

Trigger

ECHO.000.124.000 - Trigger without a motor

Trigger without a motor

If force feedback is not required, you can assemble the Echo system without a motor. The only difference is in the design and assembly of the joystick triggers.

ECHO.000.007.000 — Connector protection

Connector protection exploded

Connector protection assembled

The connector protection consists of 3 parts that protect the wire soldering area from external influences and movements.

Note: This table lists components for 1 connector protection. You need 14 connector protections in total — 7 for each Echo arm.

No.	Component Name	Quantity
1	Connector MR30-FB	1
2	Screw M2x16	2
3	Nut M2 DIN 555	4
4	Screw M2x10 DIN965A	2
5	ECHO.000.007.001 - Protector	1
6	ECHO.000.007.002 - Protector	1
7	ECHO.000.001.003 - Protector	1

Total List of Components for Echo (Two Arms)

Note: The simplest way to create shafts is to cut M4×100 screws. The smooth part of the screw is suitable for use in Echo assembly. Alternatively, you can cut 4-mm steel rods.

No.	Component Name	Total Quantity
1	ECHO.000.000.010 - Bracket to the welding table	2
2	ECHO.000.001.001 - Wall	4
3	ECHO.000.001.002 - Base	2
4	ECHO.000.001.003 - Bracket	4
5	ECHO.000.001.003 - Protector	7
6	ECHO.000.001.004 - Bracket	2
7	ECHO.000.001.005 - Bracket	2
8	ECHO.000.002.001 - Bracket	6
9	ECHO.000.002.002 - Cap	6
10	ECHO.000.002.003 - Bracket	6
11	ECHO.000.003.001 - Bracket	4
12	ECHO.000.003.002 - Cup	4
13	ECHO.000.003.003 - Cup	4
14	ECHO.000.003.004 - Cup	4
15	ECHO.000.003.005 - Bracket	4
16	ECHO.000.004.001 - Bracket	2
17	ECHO.000.004.002 - Grip	2
18	ECHO.000.004.003 - Cap	2
19	ECHO.000.004.004 - Table sense	1
20	ECHO.000.004.005 - Cup	2
21	ECHO.000.004.006 - Plug	2
22	ECHO.000.004.007 - Wire protector	2
23	ECHO.000.004.008 - Wire channel	2
24	ECHO.000.004.009 - Wire channel	2
25	ECHO.000.006.001 - Plate	14
26	ECHO.000.006.002 - Plate	14
27	ECHO.000.006.003 - Tongue	14
28	ECHO.000.007.001 - Protector	14
29	ECHO.000.007.002 - Protector	14
30	ECHO.000.014.001 - Trigger	2
31	ECHO.000.024.001 - Trigger	2
32	ECHO.000.024.002 - Bracket	2
33	ECHO.000.024.003 - Insert	2
34	ECHO.000.024.004 - Bearing holder	2
35	ECHO.000.024.005 - Bearing holder	2
36	ECHO.000.034.001 - Thimble D22 mm	4
37	ECHO.000.034.002 - Insert	8
38	ECHO.000.044.001 - Table record	1
39	Screw DIN 7991 M2x6	8
40	Screw DIN 7991 M2x10	24
41	Screw DIN 7991 M2x12	16
42	Screw DIN 7991 M2x14	16
43	Screw DIN 7991 M2x16	34
44	Screw DIN 7991 M3x8	8
45	Screw DIN 7991 M3x10	19
46	Screw DIN 7991 M3x12	20
47	Screw DIN 7991 M3x14	8
48	Screw DIN 7991 M3x16	65
49	Screw DIN 7991 M3x18	8
50	Screw DIN 7991 M3x22	32
51	Screw DIN 7991 M3x25	4
52	Screw DIN 7991 M3x35	2
53	Screw DIN 7991 M3x40	4
54	Screw DIN 7991 M3x50	4
55	Screw M2x10 DIN 912	20
56	Screw M2x12 DIN 912	16
57	Screw M2x14 DIN 912	8
58	Screw M2x16 DIN 912	16
59	Screw M2x18 DIN 912	24
60	Screw M2x6 DIN 912	8
61	Screw М3х10 DIN 912	16
62	Screw М3х12 DIN 912	4
63	Screw М3х18 DIN 912	4
64	Screw М3х20 DIN 912	10
65	Screw М3х35 DIN 912	2
66	Screw М3х45 DIN 912	20
67	Screw М3х8 DIN 912	8
68	Screw M2x10 DIN965A	14
69	Washer 4х9х0.8 DIN 125	26
70	Bearing 4х7х2.5 MF74ZZ	24
71	Bearing 45х58х7	2
72	Button PBS-15B	2
73	Commutation PCB	4
74	Connector MR30-FB	7
75	Coupling	13
76	Hand Commutation PCB	4
77	LED 3mm	1
78	Maxon Motor	2
79	Nut M2 DIN 555	114
80	Nut M3 Nylon DIN 985	56
81	Potentiometer PCB	14
82	Set screw M3x3 DIN 916	20
83	Shaft holder	28
84	Square nut М3 DIN 562	201

Name	Standard	Link
Screw	DIN 912	Aliexpress
Screw	DIN 7991	Aliexpress
Set screw	DIN 916	Aliexpress
Nut M2, M3	DIN 555	Aliexpress
Nut square	DIN 562	Aliexpress
Nut Neylon	DIN 985	Aliexpress
Coupling	-	Aliexpress
Thread locker	-	Aliexpress
Washer	DIN 125	Aliexpress
Shaft holder	-	Aliexpress

Force Finger

Robotiq 2F-85 with force finger

For gripping and force feedback, we integrated an RP-C7.6-LT force sensor into a custom-designed gripper finger on the Robotiq 2F-85. This setup provides force feedback across the entire end effector surface while improving adaptability and protecting the sensor.

The working principle of our mechanism involves a rod, integrated into the pad structure, pressing against the RP-C7.6-LT force sensor through a rubber sheet. Springs return the pad to its original position once the force is released, while guide screws secure it to the structure. The Soft-Touch Anti-Slip Silicone Pad is made from two-component silicone using a 3D-printed PLA mold. This pad prevents slipping, ensures uniform force distribution, and allows gentle gripping of objects. The 3D model of the mold is available on GitHub.

Force finger exploded

Force finger working principle

Note: This table lists components for one force-sensing finger. You need four fingers in total—two for each gripper. A force sensor is required in only one finger per gripper, while the second finger is assembled without a force sensor.

No.	Component Name	Quantity	Link
1	2222.001.000.000 - Force-Sensing Finger
2	2222.001.000.001 - Plate	1
3	2222.001.000.002 - Spacer	1
4	2222.001.000.003 - Bracket	1
5	2222.001.000.004 - Plate	1
6	2222.001.000.005 - Plate	1
7	2222.001.001.000 - Pad	1
8	2222.001.001.001 - Pressure Plate	1
9	2222.001.001.002 - Pad	1
10	2222.001.001.003 - Plate	1
11	Screw DIN 7991 M3x12	6
12	Screw DIN 7991 M3x18	6
13	Screw DIN 7991 M3x20	4
14	Screw DIN 7991 M3x35	6
15	Square nut М3	22
16	force_sensor 20g-1.5kg	1
17	Spring 6х10х0,4	4
18	Smooth-On Dragon Skin™ FX-Pro™ Platinum Rubber Silicone	1	Amazon
19	RP-C7.6-LT force sensor	1	Aliexpress
20	Compressed spring	4	Aliexpress

Balancer

Balancer

Balancer in operation — view from the left

Balancer in operation — view from the right

No.	Component Name	Quantity	Link
1	TECNA 9311 (any 0.6-1.5 kg spring balancer will suffice)	4	Aliexpress

ECHO.000.000.010 - Bracket to the welding table

Bracket to the welding table

1111.200.000 - Bracket for camera

Bracket for camera

Electronics Assembly

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Part 1 - Handle switchboard soldering

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Part 2 - Potentiometer soldering

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Part 3 - 14pin flat cable crimp for ADC commutation PCB

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Part 4 - Connector soldering and assembling

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Part 5 - Base switchboard soldering

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Part 6 - Installing the switchboard in the base

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Mechanics Assembly

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Part 1 — Assembling the tongue with shaft and shaft holders

1. Temporarily connect the part and TPU using screws.

2. Insert the rod between the plastic part and the TPU component.

3. Clamp the nuts with pliers and tighten the bolts firmly. The rod must not rotate when pressure is applied manually.

4. Slide the shaft holders onto the shaft—one flush against the plastic parts, and the other left loose. Then, lightly tighten the set screws.

Note: Each Echo left/right assembly requires 7 of these tongues (14 per pair) . The dimensions are shown in the 3D model and specifications above.

Part 2 — Installation of square nuts in parts of Joint base — ECHO.000.001.000

Insert the square nuts into their corresponding slots in the parts.

In some areas, you may use small pliers for installation. In others, you can press the nuts down against a flat table surface. For flat sections, bench vises can also be used.

Alternative method:

Hold the nut in place using your fingers, pliers, or tweezers
Begin threading the screw from the opposite side of the part
Remove the screw afterwards

We recommend securing the nuts with adhesive (I used cyanoacrylate with activator), as they may fall out of their slots during assembly.

Part 3 — Mounting the potentiometer PCB - ECHO.000.001.000

Mount the Potentiometer PCB to the bracket using screws and nuts, with a screwdriver and pliers.

Part 4 — Installation of bearing in bracket of Joint base — ECHO.000.001.000s

1. Mount two bearings – one on each side of the bracket's hole. Secure them with adhesive.

2. Insert the tongue-equipped rod through the bearings.

3. Ensure the flexible tongue aligns with the potentiometer's hole.

4. Ensure the tongue rotates freely in the potentiometer when the two brackets are aligned. Do not tighten the bracket screws at this stage.

Part 5 — Assembling Joint Base — ECHO.000.001.000

1. Install the Rod:

Insert the rod through the bearings.
Place a washer before each bearing.
Evenly tighten the set screws while maintaining minimal clearance and ensuring free rotation of the rod.

2. Mount the Potentiometer Bracket: insert the bracket (with potentiometer) into the base and secure with screws.

3. Connect the Brackets: align the bearing bracket’s tongue with the hole in the Potentiometer PCB verifying smooth rotation before securing with two screws.

4. Place the base onto the flat bracket and tighten all screws.

5. Assemble the walls: attach both side panels with screws without full tightening. Confirm correct alignment before final assembly.

Part 6 — Assembling Joint Short — ECHO.000.002.000

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Part 7 — Assembling Joint Long — ECHO.000.003.000

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Part 8 — Installation of square nuts in parts of Joystick — ECHO.000.004.000

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Part 9 — Assembling Trigger — ECHO.000.024.000

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Part 10 — Assembling Joystick — ECHO.000.004.000

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Part 11 — Assembling Echo joints together

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3. Description coming soon

4. Description coming soon

5. Description coming soon

Contact

If you have any questions, please feel free to contact Artem Bazhenov (Telegram | artbazh95@gmail.com) or Sergei Satsevich (Telegram | sazewar@gmail.com).

Echo: Hardware & Assembly Tutorial

IROS 2025

Mechanical structure

ECHO.001.000.000 — Echo right

ECHO.000.001.000 — Joint base

ECHO.000.002.000 - Joint short

ECHO.000.003.000 — Joint long

ECHO.000.004.000 — Joystick right

ECHO.000.044.000 — Joystick left

ECHO.000.024.000 — Trigger

ECHO.000.124.000 - Trigger without a motor

ECHO.000.007.000 — Connector protection

Total List of Components for Echo (Two Arms)

Force Finger

Balancer

ECHO.000.000.010 - Bracket to the welding table

1111.200.000 - Bracket for camera

Electronic components

Main PCB

Force sensor PCB

Potentiometers SMD (Encoders)

Electronics Assembly

Part 1 - Handle switchboard soldering

Part 2 - Potentiometer soldering

Part 3 - 14pin flat cable crimp for ADC commutation PCB

Part 4 - Connector soldering and assembling

Part 5 - Base switchboard soldering

Part 6 - Installing the switchboard in the base

Mechanics Assembly

Part 1 — Assembling the tongue with shaft and shaft holders

Part 2 — Installation of square nuts in parts of Joint base — ECHO.000.001.000

Part 3 — Mounting the potentiometer PCB - ECHO.000.001.000

Part 4 — Installation of bearing in bracket of Joint base — ECHO.000.001.000s

Part 5 — Assembling Joint Base — ECHO.000.001.000

Part 6 — Assembling Joint Short — ECHO.000.002.000

Part 7 — Assembling Joint Long — ECHO.000.003.000

Part 8 — Installation of square nuts in parts of Joystick — ECHO.000.004.000

Part 9 — Assembling Trigger — ECHO.000.024.000

Part 10 — Assembling Joystick — ECHO.000.004.000

Part 11 — Assembling Echo joints together

Contact