{
  "revision": "rs06_r03_tooling_research",
  "checked_on": "2026-10-28",
  "status": "design_standard_and_candidates; CAD implementation is tracked by parent r03 verification",
  "scope": "mechanical assembly screw drive interfaces; excludes fabrication and electrical tools",
  "recommended_hex_sizes_mm": [
    2.5,
    3.0,
    4.0
  ],
  "bit_holder_interface": "1/4 inch HEX, DIN ISO 1173-D 6.3",
  "fastener_head_families": [
    {
      "thread": "M3x0.5",
      "head": "regular socket head cap",
      "hex_mm": 2.5,
      "head_diameter_mm": 5.5,
      "head_height_mm": 3.0,
      "uses": [
        "RS06 stator",
        "foot connection"
      ],
      "source": "https://kr.misumi-ec.com/pdf/press/2018_pr_997.pdf"
    },
    {
      "thread": "M4x0.7",
      "head": "regular socket head cap",
      "hex_mm": 3.0,
      "head_diameter_mm": 7.0,
      "head_height_mm": 4.0,
      "uses": [
        "RS06 output",
        "lower-link root"
      ],
      "source": "https://kr.misumi-ec.com/pdf/press/2018_pr_997.pdf"
    },
    {
      "thread": "M5x0.8",
      "head": "regular socket head cap CB/CBM",
      "hex_mm": 4.0,
      "head_diameter_mm": 8.5,
      "head_height_mm": 5.0,
      "uses": [
        "stock 2020 brackets",
        "body bracing"
      ],
      "source": "https://kr.misumi-ec.com/pdf/fa/2013/p1975.pdf"
    },
    {
      "thread": "M5x0.8",
      "head": "UNBRAKO button UBCB5X16",
      "hex_mm": 3.0,
      "head_diameter_mm": 9.5,
      "head_height_mm": 2.75,
      "uses": [
        "hip end-plate low-clearance locations"
      ],
      "source": "https://www.unbrakousa.com/images/pdf/Unbrako_Product_Guide.pdf",
      "purchase_url": "https://kr.misumi-ec.com/vona2/detail/221000552984/?HissuCode=UBCB5X16",
      "exception_adds_driver_size": false
    }
  ],
  "domestic_tool_candidates": [
    {
      "name": "Wera 840/1 Z H2.5x25",
      "manufacturer_part_number": "05056310001",
      "domestic_short_part_number": "056310",
      "hex_mm": 2.5,
      "seller": "MOATOOL",
      "seller_country": "KR",
      "brand_imported": true,
      "length_mm": 25,
      "purchase_url": "https://moatool.co.kr/product/%EB%B2%A0%EB%9D%BC8401-h25%C3%9725mm-1pcs-%EC%9C%A1%EA%B0%81%EB%B9%84%ED%8A%B8%EC%9C%A1%EA%B0%81%EB%B9%97%ED%8A%B8-056310-wera/3043/category/33/display/1/"
    },
    {
      "name": "Wera 840/1 Z H3x25",
      "manufacturer_part_number": "05056315001",
      "domestic_short_part_number": "056315",
      "hex_mm": 3.0,
      "seller": "MOATOOL",
      "seller_country": "KR",
      "brand_imported": true,
      "length_mm": 25,
      "purchase_url": "https://moatool.co.kr/product/%EB%B2%A0%EB%9D%BC8401-h3%C3%9725mm-1pcs-%EC%9C%A1%EA%B0%81%EB%B9%84%ED%8A%B8%EC%9C%A1%EA%B0%81%EB%B9%97%ED%8A%B8-056315-wera/3042/category/33/display/1/"
    },
    {
      "name": "Wera 840/1 Z H4x25",
      "manufacturer_part_number": "05056320001",
      "domestic_short_part_number": "056320",
      "hex_mm": 4.0,
      "seller": "MOATOOL",
      "seller_country": "KR",
      "brand_imported": true,
      "length_mm": 25,
      "purchase_url": "https://moatool.co.kr/product/%EB%B2%A0%EB%9D%BC8401-h4%C3%9725mm-1pcs-%EC%9C%A1%EA%B0%81%EB%B9%84%ED%8A%B8%EC%9C%A1%EA%B0%81%EB%B9%97%ED%8A%B8-056320-wera/3041/category/33/display/1/"
    },
    {
      "name": "Samjung Precision TW-5P T-wrench set",
      "seller": "ATEXTOOL",
      "seller_country": "KR",
      "origin_claim": "Korea, seller label",
      "size_range_mm": [
        2.5,
        6.0
      ],
      "piece_count": 5,
      "status": "manual wrench alternative; exact included sizes to reconfirm before ordering",
      "purchase_url": "https://www.atextool.co.kr/goods/goods_view.php?goodsNo=1000004203"
    }
  ],
  "torque_driver_candidates": [
    {
      "name": "Wera 7440",
      "part_number": "05074700001",
      "range_Nm": [
        0.3,
        1.2
      ],
      "seller": "toolbaguni",
      "purchase_url": "https://www.toolbaguni.com/goods/goods_view.php?goodsNo=1000022369",
      "observed_availability": "sold out"
    },
    {
      "name": "Wera 7441",
      "part_number": "05074701001",
      "range_Nm": [
        1.2,
        3.0
      ],
      "seller": "toolbaguni",
      "purchase_url": "https://www.toolbaguni.com/goods/goods_view.php?goodsNo=1000022406",
      "observed_availability": "sold out"
    },
    {
      "name": "Wera 7440/41 set",
      "part_number": "05074738001",
      "combined_range_Nm": [
        0.3,
        3.0
      ],
      "handle_count": 2,
      "seller": "toolbaguni",
      "purchase_url": "https://www.toolbaguni.com/goods/goods_view.php?goodsNo=1000022422",
      "status": "domestic catalog listing; not selected until joint torques known"
    }
  ],
  "r03_integration_requirements": [
    {
      "item": "stock_corner_bracket",
      "part_number": "HBLFSN5-SET",
      "quantity": 8,
      "included_screw": "CBM5-10",
      "included_screw_quantity_total": 16,
      "driver_hex_mm": 4
    },
    {
      "item": "lower_root_screw",
      "r02_length_mm": 27,
      "candidate": "CB4-30",
      "purchase_url": "https://kr.misumi-ec.com/vona2/detail/110100141750/?HissuCode=CB4-30",
      "mating_design": "M4 tapped custom steel flange, nominal plate thickness 5 mm",
      "pending": [
        "effective complete thread length excluding chamfers",
        "stack length",
        "protrusion clearance",
        "driver access",
        "thread strength and tightening torque"
      ]
    },
    {
      "item": "foot_screw",
      "candidate": "CB3-20",
      "purchase_url": "https://kr.misumi-ec.com/vona2/detail/110100141750/?HissuCode=CB3-20",
      "nut_nominal_AF_mm": 5.5,
      "proposed_printed_pocket_AF_mm": 5.8,
      "pending": [
        "printing fit",
        "anti-rotation strength",
        "retention",
        "repeated assembly",
        "nut strength class and allowable load"
      ],
      "nut_candidate": "NATTO-3-5.5-2.4",
      "nut_purchase_url": "https://kr.misumi-ec.com/vona2/detail/110500137250/?HissuCode=NATTO-3-5.5-2.4",
      "nut_material": "iron, chromate finish; strength class and ISO4032/DIN934 conformity not specified on seller page",
      "nut_thickness_mm": 2.4,
      "nut_required_quantity": 8,
      "nut_pack_quantity": 10
    },
    {
      "item": "top_brace_2mm_spacer",
      "replace_quantity": 2,
      "replacement": "two WSI-SUS-M5 t1 washers per location",
      "additional_washer_quantity": 4,
      "pending": [
        "thickness tolerance stack",
        "joint seating"
      ]
    },
    {
      "item": "tray_fastener",
      "candidate": "CB5-14",
      "purchase_url": "https://kr.misumi-ec.com/vona2/detail/110100141750/?HissuCode=CB5-14",
      "domestic_exact_sku_verified": true,
      "driver_hex_mm": 4,
      "nominal_shank_length_mm": 14,
      "additional_washer_per_joint": 1,
      "additional_washer_thickness_mm": 1,
      "proposed_grip_mm": 8.5,
      "nominal_frame_insertion_mm": 5.5,
      "HNTT5_thickness_mm": 4.1,
      "status": "catalog screw verified; assembled stack and tip clearance require parent CAD verification"
    }
  ],
  "standard_part_candidates": [
    {
      "item": "root locating pin",
      "current_mm": {
        "diameter": 4,
        "length": 12
      },
      "candidate": "SHEMEKS M11301 ISO2338 SUS304 h8, diameter4 length12 option",
      "purchase_url": "https://www.eshopshemeks.com/shop/shopdetail.html?GfDT=bm58W1k%3D&branduid=768657&current_category=016002007&mcode=002&scode=007&search=&sort=order&type=X&xcode=016",
      "status": "dimensions cataloged; fit/retention/shear suitability not validated"
    },
    {
      "item": "root compression sleeve",
      "current_mm": {
        "OD": 6,
        "ID": 4.3,
        "L": 20
      },
      "screened_family": "SP-S4",
      "screened_dimensions_mm": {
        "OD": 8,
        "ID": 4.2
      },
      "drop_in_compatible": false,
      "status": "retain custom sleeve until exact stocked candidate or geometry redesign"
    },
    {
      "item": "foot compression sleeve",
      "current_mm": {
        "OD": 5,
        "ID": 3.3,
        "L": 17
      },
      "screened_family": "SP-S3",
      "screened_dimensions_mm": {
        "OD": 6,
        "ID": 3.2
      },
      "drop_in_compatible": false,
      "status": "retain custom sleeve until exact stocked candidate or geometry redesign"
    }
  ],
  "constraints": [
    "Do not replace RS06 M3 or M4 motor threads to unify thread diameter.",
    "Keep stock bracket supplied CBM5 cap screws unless an equivalent connection has been qualified.",
    "r02 end-plate counterbore OD9.8 depth3 accepts the referenced UNBRAKO M5 button, not a MISUMI HFBCM5 OD10 button.",
    "M5 regular cap height5 protrudes2 from a depth3 pocket; existing nominal arm clearance1 is insufficient.",
    "No numerical tightening torque is released; motor female threads, plastic creep and supplier joint limits are unresolved.",
    "The same bit interface does not guarantee one torque handle covers every required torque.",
    "Three hex sizes do not prove all robot assembly needs no other tool; knee retention thread and nut tool remain unresolved.",
    "Fabrication, tapping, print cleanup and electrical termination tools are outside this assembly screw-drive standard.",
    "Stock/price/leadtime must be reconfirmed before ordering; no purchase was made."
  ],
  "primary_sources": {
    "cap_dimensions": "https://kr.misumi-ec.com/pdf/press/2018_pr_997.pdf",
    "frame_screw_dimensions": "https://kr.misumi-ec.com/pdf/fa/2013/p1975.pdf",
    "unbrako_button_dimensions": "https://www.unbrakousa.com/images/pdf/Unbrako_Product_Guide.pdf",
    "button_reduced_loadability": "https://www.iso.org/standard/78699.html",
    "bit_dimensions": "https://hybris-media.wera.de/download/pdfgenerator-datasheets/en/05056310001.pdf",
    "torque_tool_ranges": "https://hybris-media.wera.de/download/pdfgenerator-datasheets/ko/05074739001.pdf",
    "spacer_dimensions": "https://kr.misumi-ec.com/pdf/el/2013t/4169_4170.pdf",
    "spacer_domestic_family": "https://kr.misumi-ec.com/vona2/detail/110500138040/",
    "m3_nut_dimensions": "https://kr.misumi-ec.com/vona2/detail/110500137250/?HissuCode=NATTO-3-5.5-2.4",
    "cb5_14_domestic_sku": "https://kr.misumi-ec.com/vona2/detail/110100141750/?HissuCode=CB5-14"
  }
}