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 RPI + Head Board Setup ( head base with head carrier) | 1 |
| EC-A4310-P2-36 actuator (ID 25) | 1 |
| Double-ended XT30 (2+2) cable - 200mm, connected to neck yaw actuator ID 24 | 1 |
| M3x12 flat bolts | 5 |
| M3x12 socket bolts | 2 |
| M3x20 socket bolts | 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 - M3x12 flat bolts and lightly tighten it into the 5 holes on part
After the parts are aligned:
- remove each of the 5 – M3x12 flat bolts in a star formation,
- apply threadlocker,
- then tighten them back to secure Part and the actuator together.
Take actuator EC-A4310-P2-36 (ID 25) and slot it through the arch of part
Connect the free connector of the 200 mm double-ended XT30 (2+2) cable from neck yaw actuator ID 24 to the specified port on neck pitch actuator ID 25.
Take part and align the 2 holes with part .
Take 2 - M3x12 socket bolts, 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 RPI + Head Board Setup and align part with the actuator 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 - M3x20 socket bolts and lightly tighten into the 6 holes on part to align it with the actuator.
After the parts are aligned:
- remove each of the 6 – M3x20 socket bolts in a star formation,
- apply threadlocker,
- then tighten them back to secure Part and the actuator together.
Check that the head cables connected in RPI + Head Board Setup are still seated: the USB-A to JST-ZHR4 cable (yellow) between the camera module and the RPI, the USB-C to USB-A 100mm cable (purple) between the Head Board and the RPI, and the JST-XH to JST-XH 120mm cable (green) between the Media Hat Board and the Head Board. The XT30 1000mm cable (red) and the single-ended JST-XH 300mm cable (orange) from the Head Board 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 RPU ports.
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.