Assembly Steps
Pelvis Module
Mechanical parts list
| Part Number | Qty | Notes |
|---|---|---|
| ASV1_200_01C | 1 | MJF PA 12, Dyeing-Dyed Black |
| ASV1_200_02A | 1 | Aluminum 7075, Bead Blasting + Anodizing (Brass) |
| ASV1_200_03A | 1 | Aluminum 7075, Bead Blasting + Anodizing (Brass) |
| ASV1_200_04B | 1 | SLM 316L, As Printed |
| ASV1_200_05B | 1 | SLM 316L, As Printed |
| ASV1_200_06C | 1 | MJF PA 12, Dyeing-Dyed Black |
| ASV1_200_07C | 1 | MJF PA 12, Dyeing-Dyed Black |
| ASV1_200_08C | 1 | MJF PA 12, Dyeing-Dyed Black |
| ASV1_200_09C | 1 | MJF PA 12, Dyeing-Dyed Black |
| ASV1_200_15C | 1 | MJF PA 12, Dyeing-Dyed Black |
| ASV1_200_16A | 1 | Aluminum 7075, Bead Blasting + Anodizing (Brass) |
Electronics list
| Part Number | Qty | Notes |
|---|---|---|
| ASV1_200_10X | 1 | ENCOS Motor, EC-A6416-P2-25, used for left_hip_pitch_joint (Motor ID 1) |
| ASV1_200_11X | 1 | ENCOS Motor, EC-A6416-P2-25, used for right_hip_pitch_joint (Motor ID 7) |
| ASV1_200_12X | 1 | ENCOS Motor, EC-A6416-P2-25, used for waist_yaw_joint (Motor ID 23) |
| ASV1_200_13X | 1 | ENCOS Motor, EC-A5013-H17-100, used for left_hip_roll_joint (Motor ID 2) |
| ASV1_200_14X | 1 | ENCOS Motor, EC-A5013-H17-100, used for right_hip_roll_joint (Motor ID 8) |
| IMU | 1 | 6-axis IMU |
Fasteners list
| Item | Qty |
|---|---|
| M3 x 8 flat head screws | 4 |
| M4 x 10 flat head screws | 24 |
| M4 x 16 flat head screws | 16 |
| M4 x 6 socket head screws | 12 |
| M4 x 8 socket head screws | 6 |
| M4 x 12 socket head screws | 12 |
| M4 x 16 socket head screws | 6 |
| M4 x 18 socket head screws | 8 |
| M3 inserts | 4 |
| M4 inserts | 6 |
| M4 nylon-insert locknuts | 16 |
| M4 square nuts | 8 |
| Loctite 222 thread locker | As needed |
Assembly Steps
Step 3-2: Plug the three pre-cut XT30(2+2) cable branches into the Left Hip Pitch, Right Hip Pitch, and Waist Yaw motor ports. Route the cables out through the designated gaps in the cover, leaving the ends accessible for later connection.
Step 5-2: Hip Pitch to Hip Roll motor wiring: Connect the pre-cut XT30(2+2) cable from the Left Hip Pitch motor to the back port of the Left Hip Roll motor. After plugging it into the back port, route the cable through the Hip Roll motor shaft and guide it out from the motor. Repeat the same process for the right leg.
How is this guide?