Trossen Robotics WidowX MKII User manual

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WidowX MKII Robot Arm
Guide Version
This Guide is for the WidowX Robot Arm MK-II. The assembly guide for the original WidowX
Robot Arm MK-I can be found here
Tools Needed
1.5mm Hex Key (Included)

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2mm Hex Key (Included)
2.5mm Hex Key (Included)
Small Flat Head Screw Driver
Parts List
Note: Some of the parts in some assemblies come packaged in separate smaller bags because
they come with a bracket or other various parts. Please review the entire parts list to ensure you
have all necessary components. Some kits will have spare bolts, nuts, or screws included.
2 X 2 X 2 X
1 X 1 X 1 X
1 X 2 X 2 X
2 X 1 X

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1 X 1 X 1 X
1 X 1 X 1 X
1 X 1 X 1 X
2 X 2 X 1 X

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1 X 1 X 2 X
1 X 1 X 1 X
1 X 1 X 1 X
2 X

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10 X 8 X 22 X 10 X
14 X 32 X 8 X
4 X 10 X 16 X 24 X
18 X 40 X 12 X
6 X 1 X 4 X 9 X
8 X 9 X 24 X 8 X

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NOTE: The M2 X 4, M2.5 X 4, and M2.5 X 6 listed here are included in the ROBOTIS bracket
and horn packs you have recieved with your arm. Keep that in mind when checking your part
counts.
Assembly Tips
Pre Step: Peel Your Plastic
Some of your plastic pieces will have paper
masking on one or both sides. Peel the masking
paper off before getting started.
There also may be some dust on your parts.
This is from the laser cutting manufacturing
process. It is harmless and can be cleaned up by
wiping with a rag or being washed with water.
ASSEMBLY TIP: Using Turbo Fuse
Your kit comes with Turbo Fuse. The type
provided is non-permanent and plastic safe.
Turbo Fuse is used to keep nuts and bolts in place
on robots since they move and shake around a lot.
To use your Turbo Fuse, squirt a small amount
into a plastic spoon. As you build, before
screwing a bolt into your robot, dip the tip of
each bolt into the Turbo Fuse and brush the

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excess off onto the side of the spoon.
Building with Turbo Fuse & Turbo Lock
Horn Installation
Mount one each of the HN05-N102 Servo Horn to the two MX-64 servos using a Hex Socket
Head M3 x 8mm bolt. There is a notch on the spline, indicating the position of the servo. Make
sure this is facing up (centered position) and that the single dot on the horn is aligned with the
notch, as shown. NOTE: there is a plastic washer that you will place between the horn and the
servo.

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Mount one each of the Servo Horn to MX-28 servos using the included bolt. There is a notch on
the spline, indicating the position of the servo. Make sure this is facing up (centered position) and
that the single dot on the horn is aligned with the notch, as shown. NOTE: there is a plastic washer
that you will place between the horn and the servo.
Mount the HN07-I101 Idler Bearing on the back of one of the MX-28 Servos and the HN05-I101
Idler Bearing on both of your MX-64 Servos. Pay attention to the idler stack, and make sure you

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assemble it as shown.
ID The Servos Before Assembly
You will need to ID your servos before building.
If you have not done so yet, go to the DynaManager Guide and ID your servos.
You will need to ID each one of your servos with the appropriate ID shown below, and set their
Baud rate to 1mbps from the default of 57600. Information on how to do this can be found in our
Arbotix Documentation section of learn.trossenrobotics.com.

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Pre Step: Sand your Gripper Rails
AX Parallel Gripper: Fine Tuning
For proper functionality of your gripper, please pay attention to this guide. The gripper rails are
designed tightly, and you may cause irreversible damage to your gripper if you do not sand it in
advance.

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Build the Base
Mount Standoffs to the bottom side of the Middle
Base.
8 x 8 x
Mount Standoffs for the ArbotiX Board to the
bottom side of the Middle Base.
4 x 4 x
Mount Standoff Sets to the top side of the Middle
Base.
6 x 6 x
24 x 6 x

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Mount the MX-28T Actuator with ID #1 to the top
side of the Middle Base.
*Insert nuts first in their respective positions for
mounting.
8 x 8 x
Mount the ArbotiX Board to the standoffs on the
bottom side of the Middle Base.
*Note the ArbotiX orientation when mounting.
Ensure Barrel Jack is facing towards the rear of the
base.
4 x
Connect a 200mm cable from the left side of ID #1
to the ArbotiX Board, through the cut out on the
Middle Base.
1 x
(Bottom View of cable connection to the ArbotiX
Board)

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Mount the Bottom Base to the standoffs on the
bottom side of the Middle Base.
8 x
Apply the Rubber Feet to the bottom side of the
Bottom Base.
8 x
Pay close attention to the orientation of the plates. Misaligning the plates can cause your arm to
be at the wrong angle when centered.

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Mount the Bottom and Top Spacer Plates to the
horn of ID #1.
8 x
Mount the Pan Plate to the inside ring of the
Bearing.
*Note the Pan Plate orientation when mounting.
6 x 6 x
Mount the FR05-H101 Hinge Frame to the top side
of the Pan Plate. Mounting holes on the frame are
tapped and do not require nuts.
4 x
Mount the Bearing Assembly to the Top Spacer
Plate.
Nuts will position into hex-shaped holes in the
Bottom Spacer.
*Note the Bearing Assembly orientation when
mounting.
6 x 6 x

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Mount the Pan Cover to the outer ring of the
Bearing and into the standoff assemblies from the
Middle Base.
*Note the Pan Cover orientation when mounting.
6 x
Build the Arm
Mount the MX-64T Actuator ID #2 to the Hinge
Frame.
*Note the ID #2 orientation when mounting.
*Use the M2.5x4mm Bolts from the HN05-N102
and HN05-I101 packages.
10 x
Run the cable from the back side of ID #2 to the
right side of ID #1 through the cut out in the Pan
Plate.

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1 x
Insert the M2.5 nuts in the appropriate sockets and
mount the two Shoulder Plates to the Shoulder
Servo ID #2 & Elbow Servo ID #3 as shown.
Repeat for other side.
16x 16 x
Combine the 15mm M-F & 20mm FF Standoffs.
Attach between shoulder plates as shown. Bolt them
in on each side.
6x 3 x
3 x

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Picture shown for reference (ignore forearm section
for now). Run a 200mm cable from the Shoulder
servo to the Elbow servo.
1x
Next we will build the forearm portion of the arm.
Stack Forearm Spacers 3, 4, 5 (2x), as shown and
bolt together with the FR07-S101K Frame.
4 x 4 x
Stack Forearm Spacers 1 (2x), 2, 3, as shown and
bolt together to the X-Long Bracket & forearm
assembly from previous step.
4 x 4 x

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=
Attach the X-Long Bracket & Forearm assembly to
Elbow Servo ID #3 as shown. You will use the 2x
clear spacers included with the bracket assembly.
*Note the ID #3 orientation when mounting. The
servo should be centered and the forearm should be
mounted at 90 degrees from the shoulder.
10 x
Connect a cable to the bottom side of ID #3.
*Note the ID #3 orientation when mounting. The
servo should be centered and the forearm should be
mounted at 90 degrees from the shoulder.
1x

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Seat 4x M2.5 nuts in the bottom sockets of the ID #
4 servo and attach it to the FR07-S101K Frame as
shown.
4 x
4 x
Connect the cable coming from Servo ID # 3 to
Servo ID #4. Picture shown for reference, arrows
reference bolts in prior step.
Build the Wrist
Mount the Bottom Reverse Bracket to FR07-H101
Hinge Frame.
2 x 2 x