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Assembly.md

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Assembly

Estimated time: 2 hours

Exact component placements can be visualized in the Fusion360 Online CAD

We assume you already have a SO-100 Arm built

1. Assemble Wheel Modules (3 per robot)

  1. Attach the drive motor to the motor mount using 4 m2x5 tap screws.

  2. Screw the drive motor mount onto the bottom base plate using 4 m3x12 machine screws.

  3. Attach the wheel hub to the omniwheel using 2 m4x12 machine screws.

  4. Attach the servo horn to the wheel hub using 2 m3x16 machine screws.

  5. Attach the servo horn to the drive motor using 1 m3x6 machine screw.

With all 3 modules attached to the bottom base plate:

2. Bottom Plate Assembly

  1. Insert m3 nuts into the mounts for the servo controller and battery mounts. Screw both onto the bottom base plate with 4 m3x12 machine screws.

  2. Add the servo driver and attach the wires to the 3 drive servos.

  3. Wiring Electronics

    • For the 12V version: Use the wago lever connectors to connect the ground and power battery wire leads to the leads of the 12v->5v converter and the dc barrel plug adapter. Screw on the 12v to 5v converter to the bottom base plate with 2 m3x16 machine screws and 2 m3 nuts.

    • For the 5V version: you can use the powerbamk holder to keep the powerbank in place 3DPrintMeshes/5v_specific/5v_power_bank_holder.stl. The powerbank can be mounted in the back on the lower plate.

      The cables can be connected according to following diagram:

3. Top plate Assembly

  1. Place the raspberry pi 5 into the pi case bottom and snap on the top part of the case.

  2. Attach the Pi to the top base plate using 2 m3x12 machine screws and mount the SO-100 arm with 4 m3x20 machine screws. Using our modified SO-100 base or the original will work as there are holes for both in the plate.

  • For the Wired version: you can print these two parts: 3DPrintMeshes/wired_specific/cable_holder v0.stl and 3DPrintMeshes/wired_specific/usb_connector_case v1.stl and assemble them like the images below. It is very important to plug the usb-c cable in the way like the images. Thus the UGreen logo on the same side as 20GBS, 240W logo side. And the 20GBS, 240W side on top into your laptop. If the usb-c extenstion cable can't find your camera's or motor controller board, the cable orientation is probably wrong and should be flipped 180 degrees!

    Add cable holder and usb hub holder like this:

    Attach cables for 2 camera's motor control board and usb-c extender like this (important!):

    Wired Step 1 Wired Step 2 Wired Step 3

4. Final Assembly

  1. Feed the servo controller usb-c to usb-a, 5v usb-c power, and so-100 servo wires through the hole in the top base plate.

  2. Mount the top base plate onto the motor mounts using 4 m3x12 machine screws.

5: Attach Cameras

Note: The mounts we designed are specific to the cameras we chose. They may need to be modified for different camera modules.

(Option 1) Mounting Arducam

For these camera's you can print these parts 1x 3DPrintMeshes/base_camera_mount.stl and 1x 3DPrintMeshes/wrist_camera_mount.stl.

  1. Screw the base camera mount onto the bottom base plate(attach the arducam 5MP wide angle camera to the mount with 2 m2.5x12 machine screws). The cable for the camera mount can also be fed through the cutout

  2. Screw the wrist camera mount to the static gripper using 4 m2x5 tap screws(attach the arducam 5MP wide angle camera to the mount with 2 m2.5x12 machine screws)

(Option 2) Mounting Webcam

For these camera's you can print these parts 1x 3DPrintMeshes/webcam_mount/webcam_mount.stl, 1x 3DPrintMeshes/webcam_mount/so100_gripper_cam_mount_insert.stl and 1x 3DPrintMeshes/webcam_mount/webcam_mount_wrist.stl. These can be used to attach a wrist and base camera to LeKiwi.

  1. Print the new gripper with insert for the M3 nut, and insert the nut. Then insert the motor and attach gripper.

  2. Now take the camera mount 3DPrintMeshes/webcam_mount/webcam_mount_wrist.stl, and add a M3x12mm bolt and screw it firmly until it locks with the M3 nut in the gripper. Then insert your camera in the mount and add 2x M3x35mm bolts in the back holes to lock the camera in place, use 2 nuts that you insert in the slots to lock the bolts.

  3. Do the same for the base camera 3DPrintMeshes/webcam_mount/webcam_mount.stl and attach it to the front of LeKiwi.

Plug everything in and its ready!

Power the electronics by plugging in the DC barrel plug adapter to the servo motor controller and the 5v usb-c connector to the raspberry pi 5. The usb cables from the servo controller and the cameras can directly be plugged in to the raspberry pi.