Mechanical
Forearm Casting
Provides the rigid structural link between the elbow and wrist while housing the J4 reducer and cable routing.
The forearm casting runs from the elbow joint to the wrist unit, carrying the J4 axis reducer for forearm rotation and routing motor and feedback cables from the arm base out to the wrist motors.
This casting is engineered to be stiff in bending while keeping mass low, since anything added to the forearm's weight directly increases the torque demand on every joint behind it.
Internal cable routing through this casting is a common access point during wrist service, since technicians often need to pull cable through the forearm to reach the wrist unit.
Related components
Common questions
- What does the Forearm Casting do?
- Provides the rigid structural link between the elbow and wrist while housing the J4 reducer and cable routing.
- How does the Forearm Casting fail?
- Common failure modes: Cracking or deformation from a collision, Damaged internal cable routing from wear or pinching, Loosened J4 reducer mounting interface, Surface corrosion in harsh environments.