Willow Garage PR2 Operating and safety instructions

Toolkit Doc9 Bellows
June 4, 2010

2
Bellows, Front R/R
●Bellows, Front, Removal - 2161
.1Raise the Spine at least 30cm
.2Remove the Front Bottom Panel
.3Remove the Center, Left, and Right Trim
.4Using the 7/32 socket together with the ¼
drive ratchet wrench, and remove the 2 nuts.
1332 (Fig 1)
.5Pull the Bellows by the lower plate forward
until the studs clear the slot. (Fig 2)
.6Using the 2mm bit together with the hex to ¼
adapter and the ¼drive ratchet wrench,
remove the 3 Buttonhead screws on the top
edge of the Bellows. 2055-05 (Fig 3,4,5)
Fig 4
.7To remove the Bellows pull forward and
slightly up so that the tabs come out of
their slots. (Fig 4)
●Bellows, Front, Install
.1Reverse the removal procedure making
sure the tabs on the rear of the Bellows
bottom plate is inserted into the slots on
the chassis.
.2Using 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.
Fig 1
Fig 2
Fig 5
Fig 7
Fig 1
Fig 3

3
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 T-handle driver,
remove the 4 bottom screws. 3063-18 (Fig 1,2)
4. Using the 3mm bit with the T-handle driver,
remove the 4 top screws. (Fig 3,4)
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)
●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.
Fig 1
Fig 2
Fig 6
Fig 4
Fig 3
Fig 5
Slide Rail
Lift up and pull out