After thirty-some filthy, intimate hours, there are twenty-five, flex-rated electrical conductors and a pneumatic hose running through Abe's center.
These cables will allow us to connect power, data, pressure, and vacuum to the end effector of the robot, while never having to worry about them becoming tangled during complex movements.
When robots leave the factory with these things pre-wired, the cables are placed while each massive axis is connected to the next. We dreamt about these scenarios, working at 4am, when our shoulders ached from contorting to reach cables our fingers could barely touch, and our hands bled from untrimmed flashing while struggling with deeply hidden bolts.
Above, you can barely see our green multi-conductor cable progressing through the some of the last steps of Abe's labyrinth. In a productive use of the middle finger, I'm helping our cable take the radius of the its carrier. Eventually, we succeeded in routing the cables through, and the (trying) labor seemed worth the several thousand dollars we would have spent having this done by the manufacturer.