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47 

8. Full Assembly 

8-2. Legs to body assembly 

8-3. Arms to body assembly  

 

8-2-1.   3-3   and   4-3   to   8-1   assembly 

8-3-1.   5-1  and   6-1   to   8-1   assembly 

- 2 EA 

S4  - 4 EA 

- 4 EA 

- 8 EA 

4-3 

- 10 EA 

8-1 

8-1 

6-1 

5-1 

S12 

S11 

S14 

32 

M9 horn orientation  

 

M10 horn orientation  

 

M3 horn orientation  

 

M4 horn orientation  

 

- 8 EA 

S14 

3-3 

Summary of Contents for DARwIn OP

Page 1: ...DARwIn OP Assembly Manual ...

Page 2: ...HIS DOCUMENT UNDER THE TERMS OF THE CREATIVE COMMONS ATTRIBUTION NONCOMMERCIAL SHAREALIKE 3 0 UNPORTED LICENSE TO VIEW A COPY OF THIS LICENSE VISIT HTTP CREATIVECOMMONS ORG LICENSES BY NC SA 3 0 DARwIn OP Assembly Manual Created by RoMeLa at Virginia Tech Version 1 0 1 Created 5 3 2011 Modified 7 26 2011 THIS ASSEMBLY MANUAL IS TO BE USED IN CONJUNCTION WITH THE FOLLOWING DOCUMENTS DARwIn OP Wirin...

Page 3: ..._E130 1 8 Battery Cover Bracket PR13_B_FRM_CVR_BAT_ASM 1 9L Back Left Pelvic Bracket PR13_B_BRKT_PELV_L 1 9R Back Right Pelvic Bracket PR13_B_BRKT_PELV_R 1 10 Angled Actuator Bracket FR07_H102 4 11 Arm Actuator Mount FR07_SC101 2 12 Hand FR07_E180 2 13 U Actuator Bracket FR07_H120 4 14 Leg Actuator Mount FR07_S101 6 15 Actuator Connector FR07_X102 8 16 Thigh Bracket FR07_H132 2 17 Knee Bracket FR0...

Page 4: ...Arm Cover Upper 2 34 Arm Cover Lower 2 35 Thigh Cover 2 36 Leg Cover 2 37B Back Head Cover 1 37F Front Head Cover 1 38B Back Chest Cover 1 38F Front Chest Cover 1 39L Left Foot Cover 1 39R Right Foot Cover 1 40L Left Eye Cover 1 40R Right Eye cover 1 41L Left Pupil 1 41R Right Pupil 1 33 35 36 34 39L 38B ...

Page 5: ...28 Yes M4 Dynamixel MX 28 Yes M5 Dynamixel MX 28 Yes M6 Dynamixel MX 28 Yes M7 Dynamixel MX 28 No M8 Dynamixel MX 28 No M9 Dynamixel MX 28 No M10 Dynamixel MX 28 No M11 Dynamixel MX 28 Yes M12 Dynamixel MX 28 Yes M13 Dynamixel MX 28 Yes M14 Dynamixel MX 28 Yes M15 Dynamixel MX 28 Yes M16 Dynamixel MX 28 Yes M17 Dynamixel MX 28 No M18 Dynamixel MX 28 No M19 Dynamixel MX 28 No M20 Dynamixel MX 28 Ye...

Page 6: ...ronics Part Number Description Qty 19 Camera 1 20 Head PCB 1 22 FitPC 1 23 CM730 1 24 Antenna 1 25 Antenna Connector 1 26 Fan 2 27 Back Cover PCB 1 29 Speaker 1 30 Power Switch 1 31 Battery 1 19 20 22 23 24 25 26 27 30 29 ...

Page 7: ...M3x6 8 S10 Flat Head M2 5x4 4 S11 Hex Head M2x3 28 S12 Hex Head M2x4 143 S13 Hex Head M2 5x3 8 S14 Hex Head M2 5x4 48 S15 Hex Head M2 5x6 112 S16 Hex Head M2 5x8 33 S17 Hex Head M2 5x10 8 SU1 Spacer M2 5x6 4 SU2 Spacer M2 5x10 3 SU3 Spacer M3x11 4 N1 Nut M2 5 92 BC Bearing Cap 15 BG Bearing 15 FL Flange Bearing 4 ID Bearing Idler 15 MH Horn 20 TW Thrust Washer 20 S1 S2 S3 S4 S5 S6 S7 S8 S9 S10 S11...

Page 8: ...d Horn attachment Actuator bearing attachment NOTE All actuators require horn NOTE M1 M2 M7 M8 M9 M10 M17 M18 M19 do NOT require a bearing Alignment of motor horn on actuator shaft TW MH S16 ID BG BC S16 WARNING Horns must align with actuator shaft as shown Damage to actuators and or robot may occur if horn is not properly aligned when attached to actuator ...

Page 9: ...4 4 Upper Chest Bracket 1 10 Angled Actuator Bracket 2 23 CM730 1 24 Antenna 1 25 Antenna Connector 1 M1 Dynamixel MX 28 1 M2 Dynamixel MX 28 1 M19 Dynamixel MX 28 1 S8 Phillips Head M3x4 8 S12 Hex Head M2x4 21 S15 Hex Head M2 5x6 24 S16 Hex Head M2 5x8 3 N1 Nut M2 5 16 SU3 Spacer M3x11 4 ...

Page 10: ...10 1 Upper Chest 1 1 Upper chest actuator assembly 1 1 1 Actuator connectors to M19 1 1 2 M1 and M2 to actuator connectors 8 EA 8 EA 4 EA 4 EA 3 4 EA M19 N1 S15 S15 M2 M1 S15 ...

Page 11: ...11 1 Upper Chest 1 1 Upper chest actuator assembly 1 1 3 Upper chest bracket assembly 1 1 S12 21 EA 10 2 EA 2 M1 horn orientation M19 horn orientation M2 horn orientation ...

Page 12: ...1 Upper Chest 1 2 Upper chest electronics assembly 1 2 1 Antenna to upper chest bracket 1 2 3 Circuit board to upper chest bracket 1 2 2 FitPC to upper chest bracket 1 2 4 EA 4 EA 4 EA 24 4 25 23 SU3 S8 S8 ...

Page 13: ...13 1 Upper Chest 1 3 Upper chest unit assembly 1 3 1 1 1 to 1 2 assembly Front View Back View 1 3 S15 4 EA N1 4 EA 4 EA 4 EA N1 S15 1 2 1 1 ...

Page 14: ...R Back Right Pelvic Bracket 1 9L Back Left Pelvic Bracket 1 22 FitPC 1 30 Power Switch 1 31 Battery 1 M7 Dynamixel MX 28 1 M8 Dynamixel MX 28 1 S6 Phillips Head M2 5x4 8 S10 Flat Head M2 5x4 4 S14 Hex Head M2 5x4 10 S15 Hex Head M2 5x6 10 S16 Hex Head M2 5x8 2 S17 Hex Head M2 5x10 8 N1 Nut M2 5 10 SU1 Spacer M2 5x6 4 SU2 Spacer M2 5x10 3 ...

Page 15: ...est 2 1 Switch assembly 2 2 Lower chest unit assembly 2 1 1 Power switch spacer assembly 2 2 1 FitPC spacer assembly 2 1 2 Switch to back right pelvic bracket 2 1 3 EA 3 EA 3 EA 4 EA 4 EA 30 9R 22 SU1 SU2 S14 S14 S6 ...

Page 16: ...16 2 Lower Chest 2 2 Lower chest unit assembly 2 2 2 FitPC to lower chest bracket 2 2 3 M7 and M8 to lower chest bracket 4 EA 2 EA 4 EA S6 5 6 4 EA S17 S17 M8 M7 2 2 1 ...

Page 17: ...17 2 Lower Chest 2 2 Lower chest unit assembly 2 2 4 FitPC to lower chest bracket 2 2 5 Battery bracket to lower chest bracket S10 4 EA S14 4 EA 2 1 2 9L 7 ...

Page 18: ...18 2 Lower Chest 2 2 Lower chest unit assembly 2 2 6 Lower chest unit assembly 5 EA N1 5 EA S15 5 EA S15 N1 5 EA 2 2 8 ...

Page 19: ...older 4 M11 Dynamixel MX 28 1 M13 Dynamixel MX 28 1 M15 Dynamixel MX 28 1 M17 Dynamixel MX 28 1 M19 Dynamixel MX 28 1 S3 Phillips Head M2x4 2 S4 Phillips Head M2x5 6 S11 Hex Head M2x3 8 S12 Hex Head M2x4 41 S13 Hex Head M2 5x3 4 S14 Hex Head M2 5x4 4 S15 Hex Head M2 5x6 28 S16 Hex Head M2 5x8 10 N1 Nut M2 5 20 BC Bearing Cap 2 BG Bearing 2 FL Flange Bearing 2 ID Bearing Idler 2 ...

Page 20: ...3 1 1 Lower leg actuator mount assembly 3 1 3 M15 to lower leg actuator mount 3 1 2 Lower leg actuator mount bearing assembly 3 1 4 Actuator connectors to M15 3 1 4 14 4EA S15 4 EA 4 EA ID BC BG 2 EA 4 EA 4 EA M15 FL N1 S16 S11 15 S15 N1 ...

Page 21: ... 3 Right Leg 3 1 Right lower leg 3 1 5 U actuator bracket to foot 3 1 7 3 1 4 to U actuator bracket 3 1 6 M17 to U actuator bracket S13 4 EA 13 18 5 EA S12 5 EA S15 4 EA M17 3 1 4 M17 horn orientation S12 ...

Page 22: ...22 3 Right Leg 3 1 Right lower leg 3 1 8 Knee bracket to foot 3 1 17 S12 5 EA 2 EA 2 EA 2 EA 32 S12 2 EA M15 horn orientation S3 S4 ...

Page 23: ...3 2 1 Upper leg actuator mount assembly 3 2 3 M11 to upper leg actuator mount 3 2 2 Upper leg actuator mount bearing assembly 3 2 4 Actuator connectors to M11 3 2 4 14 S11 4EA ID BC BG S16 N1 4 EA S15 4 EA 2 EA 4 EA S15 15 4 EA N1 M11 FL ...

Page 24: ...24 3 Right Leg 3 2 Right upper leg 3 2 5 M9 to U actuator bracket 3 2 6 3 2 4 to 3 2 5 assembly 3 2 5 3 2 6 S15 4 EA S12 5 EA S12 5 EA 3 2 4 M9 M9 horn orientation 13 ...

Page 25: ...25 3 Right Leg 3 2 Right upper leg 3 2 7 Thigh bracket to actuator mount 3 2 8 M13 to actuator mount 3 2 8 16 14 4 EA 4 EA N1 4 EA M13 S14 S15 ...

Page 26: ...26 3 Right Leg 3 2 Right upper leg 3 2 9 3 2 6 to 3 2 8 assembly 3 2 5 EA 2 EA 2 EA S12 3 2 6 3 2 8 M11 horn orientation S4 S12 32 ...

Page 27: ...27 3 Right Leg 3 3 Right leg unit assembly 3 3 1 3 1 to 3 2 assembly 3 3 3 2 3 1 S12 5 EA 32 S12 2 EA S4 2 EA M13 horn orientation ...

Page 28: ...older 4 M10 Dynamixel MX 28 1 M12 Dynamixel MX 28 1 M14 Dynamixel MX 28 1 M16 Dynamixel MX 28 1 M18 Dynamixel MX 28 1 S3 Phillips Head M2x4 2 S4 Phillips Head M2x5 6 S11 Hex Head M2x3 8 S12 Hex Head M2x4 41 S13 Hex Head M2 5x3 4 S14 Hex Head M2 5x4 4 S15 Hex Head M2 5x6 28 S16 Hex Head M2 5x8 10 N1 Nut M2 5 20 BC Bearing Cap 2 BG Bearing 2 FL Flange Bearing 2 ID Bearing Idler 2 ...

Page 29: ...4 1 1 Lower leg actuator mount assembly 4 1 3 M16 to lower leg actuator mount 4 1 2 Lower leg actuator mount bearing assembly 4 1 4 Motor bracket assembly 4 1 4 S11 4 EA BG 4 EA N1 4 EA 4 EA 4 EA 2 EA S16 FL 14 S15 15 BC S15 M16 N1 ID ...

Page 30: ...0 4 Left Leg 4 1 Left lower leg 4 1 7 4 1 4 to U actuator bracket 4 1 6 M18 to U actuator bracket 4 EA S12 5 EA S15 4 EA S12 5 EA 13 M18 4 1 4 18 S13 M18 horn orientation 4 1 4 U actuator bracket to foot ...

Page 31: ...31 4 Left Leg 4 1 Left lower leg 4 1 8 Knee bracket to foot 4 1 2 EA S4 2 EA 32 2 EA S12 2 EA S12 5 EA S3 M16 horn orientation ...

Page 32: ...2 1 Upper leg actuator mount assembly 4 2 3 M12 to upper leg actuator mount 4 2 2 Upper leg actuator mount bearing assembly 4 2 4 Actuator connectors to M12 4 2 4 4 EA ID 4 EA 4 EA 4 EA 4 EA 2 EA S11 S16 N1 M12 BC 15 75 FL 14 S15 S15 BG ...

Page 33: ...33 4 Left Leg 4 2 Left upper leg 4 2 5 M9 to U actuator bracket 4 2 6 4 2 4 to 4 2 5 assembly 4 2 5 4 2 6 S12 5 EA S15 4 EA M10 13 5 EA S12 4 2 4 4 2 5 M10 horn orientation ...

Page 34: ...34 4 Left Leg 4 2 Left upper leg 4 2 7 Thigh bracket to actuator mount 4 2 8 M14 to actuator mount 4 2 8 4 EA S15 4 EA N1 4 EA 14 16 M14 S14 ...

Page 35: ...35 4 Left Leg 4 2 Left upper leg 4 2 32 4 2 6 2 EA S12 2 EA 5 EA 4 2 8 S12 S4 M12 horn orientation 4 2 9 4 2 6 to 4 2 8 assembly ...

Page 36: ...36 4 Left Leg 4 3 Left leg unit assembly 4 3 1 4 1 to 4 2 assembly 4 3 32 S4 2 EA 2 EA S12 5 EA 4 1 S12 4 2 M14 horn orientation ...

Page 37: ...RIPTION QTY 10 Angled Actuator Bracket 1 11 Actuator Mount 1 12 Hand 1 M3 Dynamixel MX 28 1 M5 Dynamixel MX 28 1 S11 Hex Head M2x3 4 S12 Hex Head M2x4 10 S14 Hex Head M2 5x4 4 S15 Hex Head M2 5x6 8 S16 Hex Head M2 5x8 4 N1 Nut M2 5 8 ...

Page 38: ...38 5 Right Arm 5 1 Right arm unit assembly 5 1 1 Angled actuator bracket to hand 4 EA 5 1 1 M5 to angled actuator bracket 4 EA S12 10 EA M5 S14 M5 horn orientation 10 12 S11 ...

Page 39: ...39 5 Right Arm 5 1 Right arm unit assembly 5 1 3 Actuator mount to M5 5 1 4 M3 to actuator mount 5 1 4 EA N1 4 EA N1 4 EA 4 EA M3 S15 11 S15 ...

Page 40: ...IPTION QTY 10 Angled Actuator Bracket 1 11 Actuator Mount 1 12 Hand 1 M4 Dynamixel MX 28 1 M6 Dynamixel MX 28 1 S11 Hex Head M2x3 4 S12 Hex Head M2x4 10 S14 Hex Head M2 5x4 4 S15 Hex Head M2 5x6 8 S16 Hex Head M2 5x8 4 N1 Nut M2 5 8 ...

Page 41: ...41 6 Left Arm 6 1 Left arm unit assembly 6 1 1 Angled actuator bracket to hand 6 1 2 M6 to angled actuator bracket 10 EA S11 4 EA 4 EA M6 S12 S14 M6 horn orientation 10 12 ...

Page 42: ...42 6 Left Arm 6 1 Left arm unit assembly 6 1 3 Actuator mount to M6 6 1 4 M4 to actuator mount N1 4 EA 4 EA 4 EA 4 EA 6 1 11 S15 M4 S15 N1 ...

Page 43: ...43 7 Head Part Number DESCRIPTION QTY 1 Head Bracket 1 20 Head PCB 1 S3 Phillips Head M2x4 2 S15 Hex Head M2 5x6 6 N1 Nut M2 5 6 ...

Page 44: ...44 7 Head 7 1 Head unit assembly 7 1 1 Head bracket to M20 7 1 2 Head PCB to head bracket 7 1 6 EA S3 2 EA N1 6 EA M20 20 1 S15 ...

Page 45: ...45 8 Full Assembly Part Number Description Qty 32 Cable Holder 2 S4 Phillips Head M2x5 4 S11 Hex Head M2x3 4 S12 Hex Head M2x4 20 S14 Hex Head M2 5x4 22 ...

Page 46: ...46 8 Full Assembly 8 1 Chest unit assembly 8 1 1 1 1 to 2 1 assembly 8 1 1 1 2 1 6 EA S14 ...

Page 47: ...3 Arms to body assembly 8 2 1 3 3 and 4 3 to 8 1 assembly 8 3 1 5 1 and 6 1 to 8 1 assembly 2 EA S4 4 EA 4 EA 8 EA 4 3 10 EA 8 1 8 1 6 1 5 1 S12 S11 S14 32 M9 horn orientation M10 horn orientation M3 horn orientation M4 horn orientation 8 EA S14 3 3 ...

Page 48: ...48 8 Full Assembly 8 4 Head to body assembly 8 4 1 7 1 to 8 1 assembly 8 4 10 EA 7 1 8 1 S12 M19 horn orientation ...

Page 49: ... Leg Cover 2 37B Back Head Cover 1 37F Front Head Cover 1 38B Back Chest Cover 1 38F Front Chest Cover 1 39L Left Foot Cover 1 39R Right Foot Cover 1 40L Left Eye Cover 1 40R Right Eye Cover 1 41L Left Pupil 1 41R Right Pupil 1 S1 M1 4x4 6 S2 Button Head M2x4 2 S3 Phillips Head M2x4 16 S5 Phillips Head M2x6 20 S6 Phillips Head M2 5x4 4 S7 Phillips Head M2 5x6 4 S9 Phillips Head M3x6 8 ...

Page 50: ...50 9 Covers 9 1 Head covers 9 1 1 Head led cover to front head cover 9 1 3 Camera to front head cover 9 1 2 Eyes assembly 9 1 3 21 37F 41L 2 EA 4 EA 40R 40L 41R S1 19 S1 ...

Page 51: ...51 9 Covers 9 1 Head covers 9 1 4 Front head cover location on head 9 1 5 Front head cover to back head cover assembly 9 1 8 4 9 1 3 4 EA 37B S5 Section View ...

Page 52: ...52 9 Covers 9 2 Chest covers 9 2 1 Back cover PCB to back chest cover 9 2 2 Fans to back cover assembly 9 2 2 38B 27 4 EA 2 EA 8 EA S5 S9 26 ...

Page 53: ...53 9 Covers 9 2 Chest covers 9 2 3 Speaker to front cover 9 2 4 9 2 2 and 9 2 3 to 8 4 assembly 9 2 3 9 2 3 4 EA 2 EA S5 8 4 9 2 2 38F 29 S2 ...

Page 54: ...54 9 Covers 9 3 Thigh and foot covers 9 4 Shin covers 9 3 1 Thigh covers and foot covers assembly 9 4 1 Shin covers assembly 2 EA S6 2 EA 4 EA 4 EA 36 2 EA 39R 35 39L S3 S3 S3 4 EA S3 4 EA S6 2 EA ...

Page 55: ...55 9 Covers 9 5 Arm covers 9 5 1 Arm covers assembly 9 2 EA 2 EA 2 EA 4 EA 34 S7 S5 33 S7 2 EA 4 EA S5 ...

Page 56: ......

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