Step 8: Install the Neck Pitch Actuator and Head Base
Attach bracket 700_02B to neck yaw actuator ID 24, install neck pitch actuator ID 25, and secure the prepared head assembly through head base 700_03C.
Parts needed
| Part | Count |
|---|---|
| Integrated assembly from Step 7 | 1 |
| 1 | |
| 1 | |
| Head assembly from Head Compute Unit Setup ( head base with head carrier) | 1 |
| (ID 25) | 1 |
| 200 mm double-ended XT30 (2+2) cable, connected to neck yaw (ID 24) | 1 |
| 5 | |
| 2 | |
| 6 | |
| Threadlocker | As needed |
Instructions
Position Torso Assembly in a straight manner such that we can see its neck, as now we will be working on installing the head module.
Take part and align the 5 holes on it with the neck actuator shaft.
Take 5 of and lightly tighten them into the 5 holes on part
After the parts are aligned:
- remove 5 of one at a time in a star formation,
- apply threadlocker,
- then tighten them back to secure Part and the actuator together.
Take (ID 25) and slot it through the arch of part . Make sure that the two ports are perfectly parallel to part .
Connect the free connector of the 200 mm double-ended XT30 (2+2) cable from neck yaw (ID 24) to the specified port on neck pitch (ID 25).
Take part and align the 2 holes with part .
Take 2 of , apply threadlocker to each of them and tighten them into the 2 holes on part to secure it to part
Take the head assembly from Head Compute Unit Setup and align part with the (ID 25) such that the 6 holes on the side of the part is aligned with the 6 holes on the actuator shaft. While doing this you can also routed all the wire that is exposed from the back of the head to route it through the port cutout on part .
Take 6 of and lightly tighten into the 6 holes on part to align it with the actuator.
After the parts are aligned:
- remove 6 of one at a time in a star formation,
- apply threadlocker,
- then tighten them back to secure Part and the actuator together.
Check that the head cables connected in Head Compute Unit Setup are still seated: the USB-A to JST-ZHR4 cable (highlighted in yellow) between the camera module and the , the 100 mm USB-C to USB-A cable (highlighted in purple) between the and the , and the 200 mm JST-XH to JST-XH cable (highlighted in green) between the and the . The 1000 mm XT30-Male to XT30-Female power cable (highlighted in red) and the 300 mm single-ended JST-XH cable (highlighted in orange) from the stay unconnected at their free ends until Step 9.
How is this guide?
Step 7: Install the RPU and Connect Its Cable Connectors
Mount the RPU in the torso and connect the pelvis, shoulder, and neck cable connectors to their labeled ports on the RPU.
Step 9: Complete the Head Enclosure
Route the head Ethernet and power cables to the RPU, connect the speaker cable, and install the three head covers.