Assembly Instructions: Peg-in-Hole
==================================

This section provides step-by-step instructions for assembling the Peg-in-Hole task module of the Industrial Assembly Task Board. The module consists of a round peg and a splined shaft peg that need to be inserted into their respective holes.
In contrast to other boards such as the NIST peg-in-hole tasks the focus here is on tight tolerances and precise insertion of the pegs into the holes, 
rather than on complex peg and hole geometries.

.. image:: images/peg_in_hole_taskboard.png
    :alt: Peg-in-Hole Task Module
    :align: center
    :width: 400px


Task 1: Round Peg in Hole
-------------------------

Step 1: Prepare the Components
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

.. list-table::
    :header-rows: 1
    :widths: 50 50
    :align: center

    * - 3D-printed parts:
      - Purchased hardware:
    * - Taskboard x 1 (Material: PETG)
      - M8 Nut x 4
    * - Taskboard Foot x 4 (Material: PETG)
      - 30mm M8 Screw x 4



Step 2: Inserting the Plain Bearing into the Hole component
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

Push the Plain Bearing from the top with force to insert it into the Hole Round component.

.. image:: images/bearing_in_hole.png
    :alt: Inserting the Plain Bearing
    :align: center
    :width: 200px



Step 3: Manual Fixation of the Assembly on the Task-Board
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

Align the two side holes of the Assembly part with two suitable holes on the Taskboard. Then push two 30mm M8 screws through the aligned holes and secure them from the bottom of the Taskboard with two M8 nuts.


.. image:: images/round_peg_in_hole_assembly_on_taskboard.png
    :alt: Assembly on Taskboard
    :align: center
    :width: 400px

Step 4: Placing the Round Shaft
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

Place the Shaft standing on a flat surface next to the task board so that the robot can grasp it.

Task 2: Splined Shaft Peg in Hole
---------------------------------

Step 1: Prepare the Components
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
.. list-table::
   :header-rows: 1
   :widths: 50 50
   :align: center

   * - 3D-printed parts:
     - Purchased components:
   * - Hole Splined Shaft x 1 (PETG)
     - M8 Nut x 2
   * -
     - 30mm M8 Screw x 2
   * -
     - Splined Shaft Sleeve 64821500 x 1
   * -
     - Splined Shaft 64811510 x 1


Step 2: Inserting the Plain Bearing into the Hole component
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

Push the Splined Shaft Sleeve from the top with force to insert it into the Hole Splined Shaft component as shown in Task 1.

Step 3: Manual Fixation of the Assembly on the Task-Board
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

Align the two side holes of the Assembly part with two suitable holes on the Taskboard. 
Then push two 30mm M8 screws through the aligned holes and secure them from the bottom of the Taskboard with M8 Nuts.

Step 4: Placing the Splined Shaft
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

Place the Splined Shaft on a flat surface next to the Taskboard, so that the robot can grasp it.

Task 3: BNC Connector
---------------------

Step 1: Prepare the Components
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
.. list-table::
   :header-rows: 1
   :widths: 50 50
   :align: center

   * - 3D-printed parts:
     - Purchased components:
   * - Mounting BNC Connector x 1 (PETG)
     - M8 Nut x 2
   * -
     - 30mm M8 Screw x 2
   * -
     - BNC-Connector female BNC9025-BJ
   * -
     - BNC-Connector male BNC-LP-3DW

Step 2: Inserting the Female BNC-Connector into the Mounting Component
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

Push the Female BNC-Connector from the top with force to insert it vertically into the Hole on the Mounting BNC Connector component.

Step 3: Manual Fixation of the Assembly on the Task-Board
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

Align the two side holes of the Assembly part with two suitable holes on the Taskboard. 
Then push two 30mm M8 screws through the aligned holes and secure them from the bottom of the Taskboard with M8 nuts.

Step 4: Placing the Splined Shaft
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

Place the Male BNC-Connector on a flat surface next to the Taskboard, so that the robot can grasp it.