Even more tear-down progress pics

Both shoulder satellite motors stripped down to the bearings.



Bare frame in all its glory.

More tear-down progress pics

Parts is parts.



New "Spherical Wheel" 4-inch ball casters for the center foot, procured from McMaster-Carr. I've consulted with the web information posted by Allen Jackson and Monty McGraw to disassemble the casters in prep for modding them to fit in the JAG center foot.

Complete Tear-down

I have R2-G4 completely disassembled, down to the bare frame at the moment. I'm swapping out JAG ankles and removing scooter drives in prep for the soon-to-arrive NPC/JAG foot drives. Also stripping the shoulder satellite motors in prep for a 2-3-2 attempt, and replacing center foot 2" ball casters with 4" versions, which requires rebuilding the casters themselves. Gonna have all 3 feet sandblasted and re-primered to get rid of some rust spots. Also will have to mod the feet and battery boxes to accept the NPC motors, and decide where to relocate the batteries.

Repairing C4 ankle damage

I managed to split an ankle during transport to C4. This is my quick fix until I can replace the ankle.

I had R2 in his travel case for the trip. The case is designed for him to stand in 2-leg mode. His outer feet are then secured to the base of the travel case, and a strap goes around the top ring area just below the dome to keep him from tipping forward.

When the case was put in the trailer, it was oriented such that R2 was facing the side of the trailer instead of the front. So this meant that all acceleration/deceleration/braking momentum were applied to him transversely through the line of the shoulders, resulting in tremendous repetitive forces on the ankles. Remember we drove 4600 miles across desert and mountains, and he was in a cargo trailer with leaf spring suspension.

The choice to pack him this way was mine and only mine. I chose poorly.

Now I know better.