For detailed assembly instructions see Remotion drawing nr.: 123337 

The Gear & Bearing Assembly module accommodates the output shaft of the drive unit. The output shaft bears both the internal loads created by the motor / gear and the external loads of the drive chain from the wheels of the robot. Therefore the output shaft is exposed to extensive wear and needs to be controlled regularly. 

To manage the loads a pair of ball bearings is supporting the shaft. Against the atmospheric pressure and water ingress, a custom designed simmering is sealing around the rotating shaft. This simmering has a lubrication channel which can be filled with grease through the grease nipple. The grease need to be replaced regularly and the pressed out grease needs to be checked for eventual water contamination. 

On the rear of the output shaft the flexi spline part of the strain wave gear set is mounted on. The flexi spline needs to be lubricated regularly acc. to the specifications presented in the: 
Assembly Instructions Gear Component Sets by Harmonic Drives