RoMeLa DARwIn OP User manual

DARwIn OP Assembly Manual

Principal authors:
Stephen Rouleau
Coleman Knabe
Matthew Stanford
Thanh Pham
Nolawe Woldesemayat
Mark Umansky
Justin Siegel
Austin Kim
Allison McCormack
Dante Branch
Viktor Orekhov
PERMISSION IS GRANTED TO COPY, DISTRIBUTE AND/OR MODIFY THIS DOCUMENT UNDER
THE TERMS OF THE CREATIVE COMMONS ATTRIBUTION-NONCOMMERCIAL-SHAREALIKE
3.0 UNPORTED LICENSE. TOVIEW ACOPY OF THIS LICENSE, VISIT
HTTP://CREATIVECOMMONS.ORG/LICENSES/BY-NC-SA/3.0/
DARwIn OPAssembly 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 Wiring Manual
DARwIn OP Fabrication Manual

3
Parts List 1 –Frame
Part
Number
Description Part Name
Qty.
1 Head Bracket PR13_B01_BRKT_CAM 1
2 Neck Bracket FR07_H104 1
3
Chest Actuator Connectors
FR07_X101 4
4 Upper Chest Bracket
PR13_B01_FRM_PCB_MAIN_T
1
5 Lower Chest Bracket
PR13_B01_FRM_PCB_MAIN_B
1
6 Mounting Bracket PR13_B_SPACER_PELV 2
7 Battery Bracket FR07_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 FR07_H133 2
18 Foot FR07_E160 2
32 Cable Holder
DC04_HOLDER_CABLE_PRM
10
1
2 3 4
10
9L
5
7
9R 6
13
18
11
12
17
16
14
8
15 32

4
Parts List 2 - Covers
21
40R
41R
41L
40L
37F 37B
38B
Part Number
Description Qty.
21 Head LED Cover
1
33
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
39L38B

5
Parts List 3 - Actuators
M2
M4
M6
M10
M14
M18
M16
M12
M15
M13
M11
M5
M3
M1
M20
M17
M7
M8
M9
M19
Actuator ID
Actuator Type Bearing Required
M1 Dynamixel MX-28 No
M2 Dynamixel MX-28 No
M3 Dynamixel MX-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 Yes

6
Parts List 4 - Electronics
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

7
Parts List 5 –Fasteners
Part Number
Description Qty.
S1 M1.4x4 6
S2 Button Head M2x4 2
S3 Phillips Head M2x4
22
S4 Phillips Head M2x5
16
S5 Phillips Head M2x6
20
S6
Phillips Head M2.5x4
12
S7
Phillips Head M2.5x6
4
S8 Phillips Head M3x4
8
S9 Phillips Head 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
S12 S13 S14 S15 S16 S17
SU1 N1 BC BG
ID MH TW
SU2 SU3
FL

8
0. Actuators
Dynamixel MX-28 Actuator ID’s are recommended to be set prior to assembly. Refer to ROBOTIS e-Manual to
set Actuator ID’s using Dynamixel Wizard.
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.

9
1. Upper Chest
Part Number Description Qty.
2 Neck Bracket 1
3
Chest Actuator Connector
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

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

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

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

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

14
2. Lower Chest
Part Number
Description Qty.
5 Lower Chest Bracket 1
6 Mounting Bracket 2
7 Battery Bracket 1
8 Battery Cover Bracket 1
9R
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

15
2. Lower Chest
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

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

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

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

19
3. Right Leg
Part Number
Description Qty.
13 U-Actuator Bracket 2
14 Actuator Mount 3
15 Actuator Connector 4
16 Thigh Bracket 1
17 Knee Bracket 1
18 Foot 1
22 FitPC 1
32 Cable Holder 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

20
3. Right Leg
3-1. Right lower leg
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