20. Screw in, as shown, two temporary 

 pins (to make sure that, during the 

 handling of this unit, the armature 

 cannot slip out of the field in the 

 direction of the harmonic drive 

 gearing). 



21a. Write rotate: Twist three 

 Teflon-insulated, 22-gauge 

 wires together and build a 

 coil with about 20 turns. 

 Strengthen and protect the 

 part of the wires which go 

 through the hole of the 

 housing and through the fit- 

 ting with pieces of heat- 

 shrinkable tubing. Put that 

 coil, as shown, on the inner 

 housing and secure the coil 

 temporarily. Twist two 

 Teflon-insulated, 22-gauge 

 wires together and thread 

 them through the fitting. 

 Secure these wires with 

 heat-shrinkable tubing so 

 that they don't come out of 

 the housing if the wire 

 comes under tension from 

 outside the motor unit (see 

 picture on opposite page). 



21b. Elbow pivot, upper claw, lower 

 claw: Twist two Teflon- 

 insulated, 22-gauge wires to- 

 gether and build a coil with 

 about 25 turns. Strengthen 

 and protect the part of the 

 wires which go through the 

 hole into the inner part of 

 the inner housing with pieces 

 of heat-shrrinkable tubing. 

 Put that coil on the inner 

 housing and secure the coil 

 temporarily. 



40 



