Assembly Steps
Legs Module
This section shows the left leg assembly. The right leg is assembled the same way as a mirrored build, using the corresponding 500 mirrored part IDs.
The fastener tables and steps here cover the left leg only.
Mechanical parts list
| Part Number | Qty | Notes |
|---|---|---|
| ASV1_600_01B | 1 | SLM 316L, As Printed |
| ASV1_600_03C | 1 | MJF PA 12, Dyeing-Dyed Black |
| ASV1_600_04C | 1 | MJF PA 12, Dyeing-Dyed Black |
| ASV1_600_05A | 1 | Aluminum 7075, Bead Blasting + Anodizing (Brass) |
| ASV1_600_06A | 1 | Aluminum 7075, Bead Blasting + Anodizing (Brass) |
| ASV1_600_08A | 1 | Aluminum 7075, Bead Blasting + Anodizing (Brass) |
| ASV1_600_09A | 1 | Aluminum 7075, Bead Blasting + Anodizing (Brass) |
| ASV1_600_10C | 1 | MJF PA 12, Dyeing-Dyed Black |
| ASV1_600_12A | 1 | Aluminum 7075, Bead Blasting + Anodizing (Brass) |
| ASV1_600_13C | 1 | MJF PA 12, Dyeing-Dyed Black |
| ASV1_600_14C | 1 | MJF PA 12, Dyeing-Dyed Black |
| ASV1_600_17B | 1 | SLM 316L, As Printed |
| ASV1_600_18B | 1 | SLM 316L, As Printed |
| ASV1_600_23A_SS | 1 | Stainless Steel 316, As Machined |
| ASV1_600_24A_SS | 1 | Stainless Steel 316, As Machined |
| ASV1_600_25A | 1 | Aluminum 7075, Bead Blasting + Anodizing (Brass) |
| ASV1_600_26B | 1 | SLM 316L, As Printed |
| ASV1_600_36A | 1 | Aluminum 7075, Bead Blasting + Anodizing (Brass) |
| ASV1_600_37C | 1 | MJF PA 12, Dyeing-Dyed Black |
| ASV1_600_38C | 1 | MJF PA 12, Dyeing-Dyed Black |
| ASV1_600_39C | 1 | MJF PA 12, Dyeing-Dyed Black |
| ASV1_600_40C | 1 | MJF PA 12, Dyeing-Dyed Black |
| ASV1_600_11X | 1 | Flanged Ball Bearing, 4390N159, McMaster |
| ASV1_600_19X | 1 | Ball Joint Rod End (Right Hand), 59935K42, McMaster |
| ASV1_600_20X | 1 | Ball Joint Rod End (Right Hand), 59935K42, McMaster |
| ASV1_600_21X | 1 | Ball Joint Rod End (Right Hand), 59935K42, McMaster |
| ASV1_600_22X | 1 | Ball Joint Rod End (Right Hand), 59935K42, McMaster |
| ASV1_600_27X | 1 | 12mm Bore 1-Side, 2-Post Pillow Block, 1602-0032-0012, GoBilda |
| ASV1_600_28X | 1 | 12mm Bore 1-Side, 2-Post Pillow Block, 1602-0032-0012, GoBilda |
| ASV1_600_29X | 1 | 12mm Bore 1-Side, 2-Post Pillow Block, 1602-0032-0012, GoBilda |
| ASV1_600_30X | 1 | 12mm Bore 1-Side, 2-Post Pillow Block, 1602-0032-0012, GoBilda |
| ASV1_600_31X | 1 | 6mm D-Shaft Stainless Steel, 2101-0006-0060, GoBilda |
| ASV1_600_32X | 1 | Steel Set-Screw Collar 6mm, 2920-0001-0006, GoBilda |
| ASV1_600_33X | 1 | Steel Set-Screw Collar 6mm, 2920-0001-0006, GoBilda |
| ASV1_600_34X | 1 | 6mm Bore 1-Side, 2-Post Pillow Block, 1602-0032-0006, GoBilda |
| ASV1_600_35X | 1 | 6mm Bore 1-Side, 2-Post Pillow Block, 1602-0032-0006, GoBilda |
| ASV1_600_41X | 1 | Self-Closing Spring Hinge, 1481A14, McMaster |
Electronics list
| Part Number | Qty | Notes |
|---|---|---|
| ASV1_600_02X | 1 | ENCOS Motor, EC-A3814-H14-107, used for left_hip_yaw_joint (Motor ID 3) |
| ASV1_600_07X | 1 | ENCOS Motor, EC-A4315-P2-36, used for left_knee_joint (Motor ID 4) |
| ASV1_600_15X | 1 | ENCOS Motor, EC-A4310-P2-36, used for left_ankle_pitch_joint (Motor ID 5) |
| ASV1_600_16X | 1 | ENCOS Motor, EC-A4310-P2-36, used for left_ankle_roll_joint (Motor ID 6) |
Fasteners list
| Item | Qty |
|---|---|
| M3 x 10 flat head screws | 18 |
| M3 x 12 flat head screws | 30 |
| M3 x 4 socket head screws | 2 |
| M3 x 6 socket head screws | 2 |
| M3 x 18 socket head screws | 6 |
| M3 x 20 socket head screws | 2 |
| M4 x 12 flat head screws | 12 |
| M4 x 10 socket head screws | 8 |
| M4 x 12 socket head screws | 3 |
| M4 x 14 socket head screws | 29 |
| M4 x 16 socket head screws | 9 |
| M4 x 25 socket head screws | 11 |
| M5 x 25 socket head screws | 5 |
| M3 inserts | 26 |
| M4 inserts | 46 |
| M4 nylon locknuts | 2 |
| M3 washers | 2 |
| M3 thread tap | 1 |
| Loctite 222 thread locker | As needed |
Assembly Steps
Step 1-2: Route the cable from the Hip Yaw motor shaft through the hip body, then pull it out from the bottom opening for later connection.
Step 3-2: Connect the pre-cut XT30(2+2) cable from the Hip Yaw motor to the Knee motor port.
Step 11-2: Connect the XT30(2+2) cable from the Knee motor to the Ankle motors in sequence. Plug in the ankle cables first, then install the connected ankle motors together.
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