6-4.6. 腕俯仰、w/8英寸夹具延伸装置
        腕俯仰装置通过两个5/16-18 x 4六角头螺栓与操纵肘相连。在将螺栓拆下之后，将该装置从肘节上拉出，并拔掉接线盒。
        a. 将腕俯仰电机从装置上拆下时，要拆掉四个M5 x 20 mm的SHCS（件47）和垫圈（采用成套工具箱内的公制通用板手）。将电机从装置上拉出并断开配线。
        b. 将夹具延伸执行器拆下时，要拆下两个螺钉（件46和件35）及锁紧垫圈，并断开配线。
        c. 拆下和更换武器端子时，要拆掉四个8/32 x 3/8英寸的内六角螺钉、将端子从腕俯仰装置上滑下并拔掉接线器。安装新的零件时，要将接线器插在一起，将端子滑动到位，并拧紧四个螺钉。

6-4.7. 臂装置
        包括肩部旋转装置的整个臂模块能够很容易的从车辆底盘上拆下。这需要将用于固定肩部旋转壳体的八个?-20x1 SHCS和垫圈拆下。然后就可以将该装置从底盘上提出来，底盘壳体内部的接线盒就能被断开了。应注意在拆臂装置时，除非需要减轻臂的重量，否则不需将腕俯仰和夹具装置拆下。
        在将腕俯仰延伸装置拆下后，通过拆下两个5/16-18 x 4螺栓和相关零件可完成对肘装置的拆除工作。将肘从下臂管上拉出并将配线断开。
        肘电机的拆除可通过将四个M5 x 20 mm SHCS和锁紧垫圈拆下来完成。
在将肘装置拆除之后，对下臂装置（件4）的拆除需要将两个螺栓（件13）和相关零件拆下。然后，与肩关节分开。在不将配线弄乱的情况下，不能将肩和肩旋转装置互相分开。

        华译网上海翻译公司曾经翻译过大量有关腕俯仰、w/8英寸夹具延伸装置资料文件，Beijing Chinese Subtitling Translation Service Agency has translated many technical documents about Wrist Pitch, w/8 Inch Grip Extend Assembly.

6-4.6.  Wrist Pitch, w/8 Inch Grip Extend Assembly.  The wrist pitch assembly is connected to the manipulator elbow by two (2) 5/16-18 x 4 hex head bolts.  After removing the bolts, the assembly is pulled off the elbow joint and the electrical connectors are unplugged.
 
a.  To remove Wrist Pitch Motor from the assembly, remove four (4) M5 x 20 mm SHCS (Item 47) and washers (use metric Allen wrench from the tool kit).  Pull the motor away from the assembly and disconnect wiring.
 
b.  To remove the Gripper Extend Actuator, remove the two screws (Item 46) and (Item 45) and lock washers and disconnect the wiring.
 
c.  To remove and replace the Weapons Terminal, remove four 8/32 x 3/8 inch socket head screws, slide the terminal out of the Wrist Pitch and unplug the connector.  To install the new part, plug the connector together, slide the terminal in place, and tighten the four screws.
 
6-4.7.  Arm Assembly. The complete arm module including the shoulder rotate assembly can be easily removed from the vehicle chassis.  It requires the removal of eight (8) ?-20x1 SHCS and washers that attach the shoulder rotate housing.  The assembly can then be lifted off the chassis and the electrical connectors inside the chassis housing are accessible to be disconnected.  It should be noted that the wrist pitch and gripper assembly do not have to be removed in order to remove the arm unless there is a need to reduce the weight of the arm.
 
After the Wrist Pitch Extend is removed, removal of the Elbow Assembly is accomplished by removing two 5/16-18 x 4 bolts and associated hardware.  Pull the elbow away from the lower arm tube and disconnect the wiring.
 
Elbow Motor removal is accomplished by removing four M5 x 20 mm SHCS and lock washers.
 
Removal of the Lower Arm Assembly (Item 4) after the Elbow Assembly is removed requires removal of two bolts (Item 13) and associated hardware.  Then, separate from the shoulder joint.  The shoulder and shoulder rotate cannot be separated from each other without major wiring complications.