Assemble the complete robot, module by module.

Prerequisites

NONE

Fabricated parts

F01_SOLE_CARRIER; F01_TOP_BRIDGE; F01_TOP_COVER

Axes and candidates

NONE

Equipment

EQ-F01-LOAD-11; EQ-F01-LOAD-12; EQ-F01-LOAD-21; EQ-F01-LOAD-22; EQ-F01-SOLE

Harness

HN-F01

Datum

Floor Z=0; L_ANKLE_ROLL @ (62.5, 0, 35) mm

Fabrication STEP · Integration-reference STEP

1. Inventory and identify

   Verify the 3 fabrication files, 0 axis allocations, 5 equipment items and 1 harness assemblies listed in the module kit; quarantine any identity or revision mismatch.

2. Build the unpowered structure

   Assemble only these fabrication candidates to the F01 fabrication STEP: F01_SOLE_CARRIER; F01_TOP_BRIDGE; F01_TOP_COVER. Do not drill, tap or substitute from envelope dimensions.

3. Install joint modules unpowered

   Install and manually articulate: NONE. The 0 located joint screws are geometry candidates only; exact product, torque, preload and locking remain SELECTION REQUIRED.

4. Locate equipment and service access

   Locate these registered items without connecting power: EQ-F01-LOAD-11; EQ-F01-LOAD-12; EQ-F01-LOAD-21; EQ-F01-LOAD-22; EQ-F01-SOLE. Preserve the registered mounting planes, service directions and connector boundaries.

5. Fit stationary routes and moving loops

   Fit these controlled harness assemblies with all conductors unselected and disconnected: HN-F01. Verify bend, sweep, retention and cover clearance manually.

6. Join to prerequisite module

   Join F01 only after prerequisite NONE is complete. Use datum Floor Z=0; L_ANKLE_ROLL @ (62.5, 0, 35) mm; upstream: L01 ankle-roll output; downstream: Replaceable sole/contact and force-sensing layers.

• All listed part/equipment/axis/harness identities and revisions match the controlled kit.
• Module is located from Floor Z=0; L_ANKLE_ROLL @ (62.5, 0, 35) mm; no envelope-only drilling or shimming.
• Every installed joint moves manually through the intended candidate range with no hard interference, cable snag or cover contact.
• Every installed fastener is present and witness-marked only after an exact product, torque and locking instruction is released.
• All fitted routes retain service loops, bend clearance, strain relief and connector keying; conductors remain disconnected.
• Measured module mass and local balance are recorded against the 0.436839 kg planning allocation.

Prerequisites

NONE

Fabricated parts

F02_SOLE_CARRIER; F02_TOP_BRIDGE; F02_TOP_COVER

Axes and candidates

NONE

Equipment

EQ-F02-LOAD-11; EQ-F02-LOAD-12; EQ-F02-LOAD-21; EQ-F02-LOAD-22; EQ-F02-SOLE

Harness

HN-F02

Datum

Floor Z=0; R_ANKLE_ROLL @ (-62.5, 0, 35) mm

Fabrication STEP · Integration-reference STEP

1. Inventory and identify

   Verify the 3 fabrication files, 0 axis allocations, 5 equipment items and 1 harness assemblies listed in the module kit; quarantine any identity or revision mismatch.

2. Build the unpowered structure

   Assemble only these fabrication candidates to the F02 fabrication STEP: F02_SOLE_CARRIER; F02_TOP_BRIDGE; F02_TOP_COVER. Do not drill, tap or substitute from envelope dimensions.

3. Install joint modules unpowered

   Install and manually articulate: NONE. The 0 located joint screws are geometry candidates only; exact product, torque, preload and locking remain SELECTION REQUIRED.

4. Locate equipment and service access

   Locate these registered items without connecting power: EQ-F02-LOAD-11; EQ-F02-LOAD-12; EQ-F02-LOAD-21; EQ-F02-LOAD-22; EQ-F02-SOLE. Preserve the registered mounting planes, service directions and connector boundaries.

5. Fit stationary routes and moving loops

   Fit these controlled harness assemblies with all conductors unselected and disconnected: HN-F02. Verify bend, sweep, retention and cover clearance manually.

6. Join to prerequisite module

   Join F02 only after prerequisite NONE is complete. Use datum Floor Z=0; R_ANKLE_ROLL @ (-62.5, 0, 35) mm; upstream: L02 ankle-roll output; downstream: Replaceable sole/contact and force-sensing layers.

• All listed part/equipment/axis/harness identities and revisions match the controlled kit.
• Module is located from Floor Z=0; R_ANKLE_ROLL @ (-62.5, 0, 35) mm; no envelope-only drilling or shimming.
• Every installed joint moves manually through the intended candidate range with no hard interference, cable snag or cover contact.
• Every installed fastener is present and witness-marked only after an exact product, torque and locking instruction is released.
• All fitted routes retain service loops, bend clearance, strain relief and connector keying; conductors remain disconnected.
• Measured module mass and local balance are recorded against the 0.436839 kg planning allocation.

Prerequisites

F01

Fabricated parts

L01_SHIN_FRONT_COVER; L01_SHIN_REAR_COVER; L01_SHIN_SIDE_FRONT; L01_SHIN_SIDE_REAR; L01_SHIN_TIE_Z135; L01_SHIN_TIE_Z183; L01_SHIN_TIE_Z72; L01_THIGH_FRONT_COVER; L01_THIGH_REAR_COVER; L01_THIGH_SIDE_FRONT; L01_THIGH_SIDE_REAR; L01_THIGH_TIE_Z235; L01_THIGH_TIE_Z300; L01_THIGH_TIE_Z355

Axes and candidates

L_ANKLE_PITCH: ROBOTIS XM430-W350-R evaluation candidate; L_ANKLE_ROLL: ROBOTIS XM430-W350-R evaluation candidate; L_HIP_PITCH: ROBOTIS XH540-W270-R evaluation candidate; L_HIP_ROLL: ROBOTIS XH540-W270-R evaluation candidate; L_HIP_YAW: ROBOTIS XH540-W270-R evaluation candidate; L_KNEE_PITCH: ROBOTIS XH540-W270-R evaluation candidate

Equipment

EQ-FST-LEFT-LEG; EQ-HN01_L_LEG_DATA; EQ-HN01_L_LEG_POWER; EQ-WPS-RS-LLEG

Harness

HN-L01

Datum

L_HIP_PITCH @ (62.5, 0, 380) mm

Fabrication STEP · Integration-reference STEP

1. Inventory and identify

   Verify the 14 fabrication files, 6 axis allocations, 4 equipment items and 1 harness assemblies listed in the module kit; quarantine any identity or revision mismatch.

2. Build the unpowered structure

   Assemble only these fabrication candidates to the L01 fabrication STEP: L01_SHIN_FRONT_COVER; L01_SHIN_REAR_COVER; L01_SHIN_SIDE_FRONT; L01_SHIN_SIDE_REAR; L01_SHIN_TIE_Z135; L01_SHIN_TIE_Z183; L01_SHIN_TIE_Z72; L01_THIGH_FRONT_COVER; L01_THIGH_REAR_COVER; L01_THIGH_SIDE_FRONT; L01_THIGH_SIDE_REAR; L01_THIGH_TIE_Z235; L01_THIGH_TIE_Z300; L01_THIGH_TIE_Z355. Do not drill, tap or substitute from envelope dimensions.

3. Install joint modules unpowered

   Install and manually articulate: L_ANKLE_PITCH; L_ANKLE_ROLL; L_HIP_PITCH; L_HIP_ROLL; L_HIP_YAW; L_KNEE_PITCH. The 44 located joint screws are geometry candidates only; exact product, torque, preload and locking remain SELECTION REQUIRED.

4. Locate equipment and service access

   Locate these registered items without connecting power: EQ-FST-LEFT-LEG; EQ-HN01_L_LEG_DATA; EQ-HN01_L_LEG_POWER; EQ-WPS-RS-LLEG. Preserve the registered mounting planes, service directions and connector boundaries.

5. Fit stationary routes and moving loops

   Fit these controlled harness assemblies with all conductors unselected and disconnected: HN-L01. Verify bend, sweep, retention and cover clearance manually.

6. Join to prerequisite module

   Join L01 only after prerequisite F01 is complete. Use datum L_HIP_PITCH @ (62.5, 0, 380) mm; upstream: P01 left hip stack; downstream: F01 sole carrier at L_ANKLE_ROLL.

• All listed part/equipment/axis/harness identities and revisions match the controlled kit.
• Module is located from L_HIP_PITCH @ (62.5, 0, 380) mm; no envelope-only drilling or shimming.
• Every installed joint moves manually through the intended candidate range with no hard interference, cable snag or cover contact.
• Every installed fastener is present and witness-marked only after an exact product, torque and locking instruction is released.
• All fitted routes retain service loops, bend clearance, strain relief and connector keying; conductors remain disconnected.
• Measured module mass and local balance are recorded against the 2.037255 kg planning allocation.

Prerequisites

F02

Fabricated parts

L02_SHIN_FRONT_COVER; L02_SHIN_REAR_COVER; L02_SHIN_SIDE_FRONT; L02_SHIN_SIDE_REAR; L02_SHIN_TIE_Z135; L02_SHIN_TIE_Z183; L02_SHIN_TIE_Z72; L02_THIGH_FRONT_COVER; L02_THIGH_REAR_COVER; L02_THIGH_SIDE_FRONT; L02_THIGH_SIDE_REAR; L02_THIGH_TIE_Z235; L02_THIGH_TIE_Z300; L02_THIGH_TIE_Z355

Axes and candidates

R_ANKLE_PITCH: ROBOTIS XM430-W350-R evaluation candidate; R_ANKLE_ROLL: ROBOTIS XM430-W350-R evaluation candidate; R_HIP_PITCH: ROBOTIS XH540-W270-R evaluation candidate; R_HIP_ROLL: ROBOTIS XH540-W270-R evaluation candidate; R_HIP_YAW: ROBOTIS XH540-W270-R evaluation candidate; R_KNEE_PITCH: ROBOTIS XH540-W270-R evaluation candidate

Equipment

EQ-FST-RIGHT-LEG; EQ-HN01_R_LEG_DATA; EQ-HN01_R_LEG_POWER; EQ-WPS-RS-RLEG

Harness

HN-L02

Datum

R_HIP_PITCH @ (-62.5, 0, 380) mm

Fabrication STEP · Integration-reference STEP

1. Inventory and identify

   Verify the 14 fabrication files, 6 axis allocations, 4 equipment items and 1 harness assemblies listed in the module kit; quarantine any identity or revision mismatch.

2. Build the unpowered structure

   Assemble only these fabrication candidates to the L02 fabrication STEP: L02_SHIN_FRONT_COVER; L02_SHIN_REAR_COVER; L02_SHIN_SIDE_FRONT; L02_SHIN_SIDE_REAR; L02_SHIN_TIE_Z135; L02_SHIN_TIE_Z183; L02_SHIN_TIE_Z72; L02_THIGH_FRONT_COVER; L02_THIGH_REAR_COVER; L02_THIGH_SIDE_FRONT; L02_THIGH_SIDE_REAR; L02_THIGH_TIE_Z235; L02_THIGH_TIE_Z300; L02_THIGH_TIE_Z355. Do not drill, tap or substitute from envelope dimensions.

3. Install joint modules unpowered

   Install and manually articulate: R_ANKLE_PITCH; R_ANKLE_ROLL; R_HIP_PITCH; R_HIP_ROLL; R_HIP_YAW; R_KNEE_PITCH. The 44 located joint screws are geometry candidates only; exact product, torque, preload and locking remain SELECTION REQUIRED.

4. Locate equipment and service access

   Locate these registered items without connecting power: EQ-FST-RIGHT-LEG; EQ-HN01_R_LEG_DATA; EQ-HN01_R_LEG_POWER; EQ-WPS-RS-RLEG. Preserve the registered mounting planes, service directions and connector boundaries.

5. Fit stationary routes and moving loops

   Fit these controlled harness assemblies with all conductors unselected and disconnected: HN-L02. Verify bend, sweep, retention and cover clearance manually.

6. Join to prerequisite module

   Join L02 only after prerequisite F02 is complete. Use datum R_HIP_PITCH @ (-62.5, 0, 380) mm; upstream: P01 right hip stack; downstream: F02 sole carrier at R_ANKLE_ROLL.

• All listed part/equipment/axis/harness identities and revisions match the controlled kit.
• Module is located from R_HIP_PITCH @ (-62.5, 0, 380) mm; no envelope-only drilling or shimming.
• Every installed joint moves manually through the intended candidate range with no hard interference, cable snag or cover contact.
• Every installed fastener is present and witness-marked only after an exact product, torque and locking instruction is released.
• All fitted routes retain service loops, bend clearance, strain relief and connector keying; conductors remain disconnected.
• Measured module mass and local balance are recorded against the 2.037255 kg planning allocation.

Prerequisites

L01; L02

Fabricated parts

P01_PELVIS_FRONT_COVER; P01_PELVIS_PLATE_FRONT; P01_PELVIS_PLATE_REAR; P01_PELVIS_REAR_COVER; P01_RESTRAINT_BRIDGE; P01_WAIST_BRIDGE

Axes and candidates

WAIST_YAW: ROBOTIS XM540-W270-R candidate

Equipment

EQ-P01-AUX-CONVERTER; EQ-P01-EIGHT-BRANCH-DISTRIBUTOR; EQ-P01-IMU; EQ-P01-RESTRAINT-ANCHOR; EQ-P01-TETHER-INLET; EQ-WPS-RS-WAIST

Harness

HN-P01

Datum

PELVIS / WAIST datum @ Z=425 mm

Fabrication STEP · Integration-reference STEP

1. Inventory and identify

   Verify the 6 fabrication files, 1 axis allocations, 6 equipment items and 1 harness assemblies listed in the module kit; quarantine any identity or revision mismatch.

2. Build the unpowered structure

   Assemble only these fabrication candidates to the P01 fabrication STEP: P01_PELVIS_FRONT_COVER; P01_PELVIS_PLATE_FRONT; P01_PELVIS_PLATE_REAR; P01_PELVIS_REAR_COVER; P01_RESTRAINT_BRIDGE; P01_WAIST_BRIDGE. Do not drill, tap or substitute from envelope dimensions.

3. Install joint modules unpowered

   Install and manually articulate: WAIST_YAW. The 4 located joint screws are geometry candidates only; exact product, torque, preload and locking remain SELECTION REQUIRED.

4. Locate equipment and service access

   Locate these registered items without connecting power: EQ-P01-AUX-CONVERTER; EQ-P01-EIGHT-BRANCH-DISTRIBUTOR; EQ-P01-IMU; EQ-P01-RESTRAINT-ANCHOR; EQ-P01-TETHER-INLET; EQ-WPS-RS-WAIST. Preserve the registered mounting planes, service directions and connector boundaries.

5. Fit stationary routes and moving loops

   Fit these controlled harness assemblies with all conductors unselected and disconnected: HN-P01. Verify bend, sweep, retention and cover clearance manually.

6. Join to prerequisite module

   Join P01 only after prerequisite L01; L02 is complete. Use datum PELVIS / WAIST datum @ Z=425 mm; upstream: L01/L02 hip-yaw modules and external fall-restraint system; downstream: T01 waist output.

• All listed part/equipment/axis/harness identities and revisions match the controlled kit.
• Module is located from PELVIS / WAIST datum @ Z=425 mm; no envelope-only drilling or shimming.
• Every installed joint moves manually through the intended candidate range with no hard interference, cable snag or cover contact.
• Every installed fastener is present and witness-marked only after an exact product, torque and locking instruction is released.
• All fitted routes retain service loops, bend clearance, strain relief and connector keying; conductors remain disconnected.
• Measured module mass and local balance are recorded against the 1.550063 kg planning allocation.

Prerequisites

P01

Fabricated parts

T01_SHOULDER_CROSS_TUBE; T01_TORSO_FRONT_COVER; T01_TORSO_RAIL_L; T01_TORSO_RAIL_R; T01_TORSO_REAR_COVER

Axes and candidates

NONE

Equipment

EQ-FST-CENTRAL; EQ-HN01_TORSO_DATA_SPINE; EQ-HN01_TORSO_POWER_SPINE; EQ-T01-BATTERY-CASSETTE; EQ-T01-BATTERY-PACK; EQ-T01-BATTERY-PROTECTION; EQ-T01-BUS-CARRIER-A; EQ-T01-BUS-CARRIER-B; EQ-T01-MOTION; EQ-T01-PI5; EQ-T01-PI5-COOLER; EQ-T01-TTL-REG-HEAD; EQ-T01-TTL-REG-LDIST; EQ-T01-TTL-REG-RDIST; EQ-T01-WATCHDOG; EQ-WPS-RS-LARM; EQ-WPS-RS-RARM; EQ-WPS-TTL-HEAD; EQ-WPS-TTL-LDIST; EQ-WPS-TTL-RDIST

Harness

HN-C01; HN-E01; HN-S01; HN-X01

Datum

WAIST_YAW @ (0, 0, 425) mm

Fabrication STEP · Integration-reference STEP

1. Inventory and identify

   Verify the 5 fabrication files, 0 axis allocations, 20 equipment items and 4 harness assemblies listed in the module kit; quarantine any identity or revision mismatch.

2. Build the unpowered structure

   Assemble only these fabrication candidates to the T01 fabrication STEP: T01_SHOULDER_CROSS_TUBE; T01_TORSO_FRONT_COVER; T01_TORSO_RAIL_L; T01_TORSO_RAIL_R; T01_TORSO_REAR_COVER. Do not drill, tap or substitute from envelope dimensions.

3. Install joint modules unpowered

   Install and manually articulate: NONE. The 0 located joint screws are geometry candidates only; exact product, torque, preload and locking remain SELECTION REQUIRED.

4. Locate equipment and service access

   Locate these registered items without connecting power: EQ-FST-CENTRAL; EQ-HN01_TORSO_DATA_SPINE; EQ-HN01_TORSO_POWER_SPINE; EQ-T01-BATTERY-CASSETTE; EQ-T01-BATTERY-PACK; EQ-T01-BATTERY-PROTECTION; EQ-T01-BUS-CARRIER-A; EQ-T01-BUS-CARRIER-B; EQ-T01-MOTION; EQ-T01-PI5; EQ-T01-PI5-COOLER; EQ-T01-TTL-REG-HEAD; EQ-T01-TTL-REG-LDIST; EQ-T01-TTL-REG-RDIST; EQ-T01-WATCHDOG; EQ-WPS-RS-LARM; EQ-WPS-RS-RARM; EQ-WPS-TTL-HEAD; EQ-WPS-TTL-LDIST; EQ-WPS-TTL-RDIST. Preserve the registered mounting planes, service directions and connector boundaries.

5. Fit stationary routes and moving loops

   Fit these controlled harness assemblies with all conductors unselected and disconnected: HN-C01; HN-E01; HN-S01; HN-X01. Verify bend, sweep, retention and cover clearance manually.

6. Join to prerequisite module

   Join T01 only after prerequisite P01 is complete. Use datum WAIST_YAW @ (0, 0, 425) mm; upstream: P01 waist bearing/output interface; downstream: N01 neck and A01/A02 shoulder interfaces.

• All listed part/equipment/axis/harness identities and revisions match the controlled kit.
• Module is located from WAIST_YAW @ (0, 0, 425) mm; no envelope-only drilling or shimming.
• Every installed joint moves manually through the intended candidate range with no hard interference, cable snag or cover contact.
• Every installed fastener is present and witness-marked only after an exact product, torque and locking instruction is released.
• All fitted routes retain service loops, bend clearance, strain relief and connector keying; conductors remain disconnected.
• Measured module mass and local balance are recorded against the 0.987371 kg planning allocation.

Prerequisites

T01

Fabricated parts

N01_NECK_TUBE

Axes and candidates

HEAD_PAN: ROBOTIS XC330-class compact X-series candidate; HEAD_TILT: ROBOTIS XC330-class compact X-series candidate

Equipment

NONE

Harness

HN-NH01

Datum

HEAD_PAN @ (0, 0, 650) mm

Fabrication STEP · Integration-reference STEP

1. Inventory and identify

   Verify the 1 fabrication files, 2 axis allocations, 0 equipment items and 1 harness assemblies listed in the module kit; quarantine any identity or revision mismatch.

2. Build the unpowered structure

   Assemble only these fabrication candidates to the N01 fabrication STEP: N01_NECK_TUBE. Do not drill, tap or substitute from envelope dimensions.

3. Install joint modules unpowered

   Install and manually articulate: HEAD_PAN; HEAD_TILT. The 8 located joint screws are geometry candidates only; exact product, torque, preload and locking remain SELECTION REQUIRED.

4. Locate equipment and service access

   Locate these registered items without connecting power: NONE. Preserve the registered mounting planes, service directions and connector boundaries.

5. Fit stationary routes and moving loops

   Fit these controlled harness assemblies with all conductors unselected and disconnected: HN-NH01. Verify bend, sweep, retention and cover clearance manually.

6. Join to prerequisite module

   Join N01 only after prerequisite T01 is complete. Use datum HEAD_PAN @ (0, 0, 650) mm; upstream: T01 shoulder crossmember / pan module; downstream: H01 tilt cradle.

• All listed part/equipment/axis/harness identities and revisions match the controlled kit.
• Module is located from HEAD_PAN @ (0, 0, 650) mm; no envelope-only drilling or shimming.
• Every installed joint moves manually through the intended candidate range with no hard interference, cable snag or cover contact.
• Every installed fastener is present and witness-marked only after an exact product, torque and locking instruction is released.
• All fitted routes retain service loops, bend clearance, strain relief and connector keying; conductors remain disconnected.
• Measured module mass and local balance are recorded against the 0.121151 kg planning allocation.

Prerequisites

N01

Fabricated parts

H01_HEAD_FRONT_BEZEL; H01_HEAD_REAR_COVER

Axes and candidates

NONE

Equipment

EQ-H01-AUDIO-AMP; EQ-H01-CAMERA-L; EQ-H01-CAMERA-R; EQ-H01-DISPLAY; EQ-H01-FAN; EQ-H01-MIC-ARRAY; EQ-H01-SPEAKER-L; EQ-H01-SPEAKER-R; EQ-HN01_HEAD_BRANCH; EQ-HN01_HEAD_POWER_BRANCH

Harness

NONE

Datum

HEAD_TILT @ (0, 0, 690) mm

Fabrication STEP · Integration-reference STEP

1. Inventory and identify

   Verify the 2 fabrication files, 0 axis allocations, 10 equipment items and 0 harness assemblies listed in the module kit; quarantine any identity or revision mismatch.

2. Build the unpowered structure

   Assemble only these fabrication candidates to the H01 fabrication STEP: H01_HEAD_FRONT_BEZEL; H01_HEAD_REAR_COVER. Do not drill, tap or substitute from envelope dimensions.

3. Install joint modules unpowered

   Install and manually articulate: NONE. The 0 located joint screws are geometry candidates only; exact product, torque, preload and locking remain SELECTION REQUIRED.

4. Locate equipment and service access

   Locate these registered items without connecting power: EQ-H01-AUDIO-AMP; EQ-H01-CAMERA-L; EQ-H01-CAMERA-R; EQ-H01-DISPLAY; EQ-H01-FAN; EQ-H01-MIC-ARRAY; EQ-H01-SPEAKER-L; EQ-H01-SPEAKER-R; EQ-HN01_HEAD_BRANCH; EQ-HN01_HEAD_POWER_BRANCH. Preserve the registered mounting planes, service directions and connector boundaries.

5. Fit stationary routes and moving loops

   Fit these controlled harness assemblies with all conductors unselected and disconnected: NONE. Verify bend, sweep, retention and cover clearance manually.

6. Join to prerequisite module

   Join H01 only after prerequisite N01 is complete. Use datum HEAD_TILT @ (0, 0, 690) mm; upstream: N01 tilt cradle at HEAD_TILT; downstream: Face screen, stereo vision, microphones and speakers.

• All listed part/equipment/axis/harness identities and revisions match the controlled kit.
• Module is located from HEAD_TILT @ (0, 0, 690) mm; no envelope-only drilling or shimming.
• Every installed joint moves manually through the intended candidate range with no hard interference, cable snag or cover contact.
• Every installed fastener is present and witness-marked only after an exact product, torque and locking instruction is released.
• All fitted routes retain service loops, bend clearance, strain relief and connector keying; conductors remain disconnected.
• Measured module mass and local balance are recorded against the 0.418231 kg planning allocation.

Prerequisites

T01

Fabricated parts

A01_FOREARM_FRONT_COVER; A01_FOREARM_LINK_FRONT; A01_FOREARM_LINK_REAR; A01_FOREARM_REAR_COVER; A01_UPPER_ARM_FRONT_COVER; A01_UPPER_ARM_LINK_FRONT; A01_UPPER_ARM_LINK_REAR; A01_UPPER_ARM_REAR_COVER

Axes and candidates

L_ELBOW_PITCH: ROBOTIS XM430-W350-R candidate; L_SHOULDER_PITCH: ROBOTIS XM430-W350-R candidate; L_SHOULDER_ROLL: ROBOTIS XM430-W350-R candidate; L_WRIST_ROTATION: ROBOTIS XC330-T288-T candidate

Equipment

EQ-FST-LEFT-ARM; EQ-HN01_L_ARM_DATA; EQ-HN01_L_ARM_POWER

Harness

HN-A01

Datum

L_SHOULDER pair @ (105, 0, 590) mm

Fabrication STEP · Integration-reference STEP

1. Inventory and identify

   Verify the 8 fabrication files, 4 axis allocations, 3 equipment items and 1 harness assemblies listed in the module kit; quarantine any identity or revision mismatch.

2. Build the unpowered structure

   Assemble only these fabrication candidates to the A01 fabrication STEP: A01_FOREARM_FRONT_COVER; A01_FOREARM_LINK_FRONT; A01_FOREARM_LINK_REAR; A01_FOREARM_REAR_COVER; A01_UPPER_ARM_FRONT_COVER; A01_UPPER_ARM_LINK_FRONT; A01_UPPER_ARM_LINK_REAR; A01_UPPER_ARM_REAR_COVER. Do not drill, tap or substitute from envelope dimensions.

3. Install joint modules unpowered

   Install and manually articulate: L_ELBOW_PITCH; L_SHOULDER_PITCH; L_SHOULDER_ROLL; L_WRIST_ROTATION. The 24 located joint screws are geometry candidates only; exact product, torque, preload and locking remain SELECTION REQUIRED.

4. Locate equipment and service access

   Locate these registered items without connecting power: EQ-FST-LEFT-ARM; EQ-HN01_L_ARM_DATA; EQ-HN01_L_ARM_POWER. Preserve the registered mounting planes, service directions and connector boundaries.

5. Fit stationary routes and moving loops

   Fit these controlled harness assemblies with all conductors unselected and disconnected: HN-A01. Verify bend, sweep, retention and cover clearance manually.

6. Join to prerequisite module

   Join A01 only after prerequisite T01 is complete. Use datum L_SHOULDER pair @ (105, 0, 590) mm; upstream: T01 left shoulder crossmember; downstream: G01 palm at L_WRIST_ROTATION.

• All listed part/equipment/axis/harness identities and revisions match the controlled kit.
• Module is located from L_SHOULDER pair @ (105, 0, 590) mm; no envelope-only drilling or shimming.
• Every installed joint moves manually through the intended candidate range with no hard interference, cable snag or cover contact.
• Every installed fastener is present and witness-marked only after an exact product, torque and locking instruction is released.
• All fitted routes retain service loops, bend clearance, strain relief and connector keying; conductors remain disconnected.
• Measured module mass and local balance are recorded against the 0.690052 kg planning allocation.

Prerequisites

T01

Fabricated parts

A02_FOREARM_FRONT_COVER; A02_FOREARM_LINK_FRONT; A02_FOREARM_LINK_REAR; A02_FOREARM_REAR_COVER; A02_UPPER_ARM_FRONT_COVER; A02_UPPER_ARM_LINK_FRONT; A02_UPPER_ARM_LINK_REAR; A02_UPPER_ARM_REAR_COVER

Axes and candidates

R_ELBOW_PITCH: ROBOTIS XM430-W350-R candidate; R_SHOULDER_PITCH: ROBOTIS XM430-W350-R candidate; R_SHOULDER_ROLL: ROBOTIS XM430-W350-R candidate; R_WRIST_ROTATION: ROBOTIS XC330-T288-T candidate

Equipment

EQ-FST-RIGHT-ARM; EQ-HN01_R_ARM_DATA; EQ-HN01_R_ARM_POWER

Harness

HN-A02

Datum

R_SHOULDER pair @ (-105, 0, 590) mm

Fabrication STEP · Integration-reference STEP

1. Inventory and identify

   Verify the 8 fabrication files, 4 axis allocations, 3 equipment items and 1 harness assemblies listed in the module kit; quarantine any identity or revision mismatch.

2. Build the unpowered structure

   Assemble only these fabrication candidates to the A02 fabrication STEP: A02_FOREARM_FRONT_COVER; A02_FOREARM_LINK_FRONT; A02_FOREARM_LINK_REAR; A02_FOREARM_REAR_COVER; A02_UPPER_ARM_FRONT_COVER; A02_UPPER_ARM_LINK_FRONT; A02_UPPER_ARM_LINK_REAR; A02_UPPER_ARM_REAR_COVER. Do not drill, tap or substitute from envelope dimensions.

3. Install joint modules unpowered

   Install and manually articulate: R_ELBOW_PITCH; R_SHOULDER_PITCH; R_SHOULDER_ROLL; R_WRIST_ROTATION. The 24 located joint screws are geometry candidates only; exact product, torque, preload and locking remain SELECTION REQUIRED.

4. Locate equipment and service access

   Locate these registered items without connecting power: EQ-FST-RIGHT-ARM; EQ-HN01_R_ARM_DATA; EQ-HN01_R_ARM_POWER. Preserve the registered mounting planes, service directions and connector boundaries.

5. Fit stationary routes and moving loops

   Fit these controlled harness assemblies with all conductors unselected and disconnected: HN-A02. Verify bend, sweep, retention and cover clearance manually.

6. Join to prerequisite module

   Join A02 only after prerequisite T01 is complete. Use datum R_SHOULDER pair @ (-105, 0, 590) mm; upstream: T01 right shoulder crossmember; downstream: G02 palm at R_WRIST_ROTATION.

• All listed part/equipment/axis/harness identities and revisions match the controlled kit.
• Module is located from R_SHOULDER pair @ (-105, 0, 590) mm; no envelope-only drilling or shimming.
• Every installed joint moves manually through the intended candidate range with no hard interference, cable snag or cover contact.
• Every installed fastener is present and witness-marked only after an exact product, torque and locking instruction is released.
• All fitted routes retain service loops, bend clearance, strain relief and connector keying; conductors remain disconnected.
• Measured module mass and local balance are recorded against the 0.690052 kg planning allocation.

Prerequisites

A01

Fabricated parts

G01_FINGER_NEGATIVE; G01_FINGER_POSITIVE; G01_GUIDE_ROD_FRONT; G01_GUIDE_ROD_REAR; G01_MANUAL_RELEASE_HUB; G01_PAD_NEGATIVE; G01_PAD_POSITIVE; G01_PALM_BOTTOM_BRIDGE; G01_PALM_FRONT_PLATE; G01_PALM_REAR_PLATE; G01_PALM_TOP_BRIDGE; G01_PINION; G01_RACK_NEGATIVE; G01_RACK_POSITIVE; G01_STOP_NEGATIVE; G01_STOP_POSITIVE; G01_WRIST_MOUNT_PLATE

Axes and candidates

L_GRIPPER: ROBOTIS XC330-class compact candidate

Equipment

EQ-G01-INBOARD-PAD; EQ-G01-OUTBOARD-PAD

Harness

HN-G01

Datum

L_GRIPPER @ (140, 0, 252) mm

Fabrication STEP · Integration-reference STEP

1. Inventory and identify

   Verify the 17 fabrication files, 1 axis allocations, 2 equipment items and 1 harness assemblies listed in the module kit; quarantine any identity or revision mismatch.

2. Build the unpowered structure

   Assemble only these fabrication candidates to the G01 fabrication STEP: G01_FINGER_NEGATIVE; G01_FINGER_POSITIVE; G01_GUIDE_ROD_FRONT; G01_GUIDE_ROD_REAR; G01_MANUAL_RELEASE_HUB; G01_PAD_NEGATIVE; G01_PAD_POSITIVE; G01_PALM_BOTTOM_BRIDGE; G01_PALM_FRONT_PLATE; G01_PALM_REAR_PLATE; G01_PALM_TOP_BRIDGE; G01_PINION; G01_RACK_NEGATIVE; G01_RACK_POSITIVE; G01_STOP_NEGATIVE; G01_STOP_POSITIVE; G01_WRIST_MOUNT_PLATE. Do not drill, tap or substitute from envelope dimensions.

3. Install joint modules unpowered

   Install and manually articulate: L_GRIPPER. The 4 located joint screws are geometry candidates only; exact product, torque, preload and locking remain SELECTION REQUIRED.

4. Locate equipment and service access

   Locate these registered items without connecting power: EQ-G01-INBOARD-PAD; EQ-G01-OUTBOARD-PAD. Preserve the registered mounting planes, service directions and connector boundaries.

5. Fit stationary routes and moving loops

   Fit these controlled harness assemblies with all conductors unselected and disconnected: HN-G01. Verify bend, sweep, retention and cover clearance manually.

6. Join to prerequisite module

   Join G01 only after prerequisite A01 is complete. Use datum L_GRIPPER @ (140, 0, 252) mm; upstream: A01 supported wrist shaft; downstream: Two broad fingers and replaceable compliant pad lands.

• All listed part/equipment/axis/harness identities and revisions match the controlled kit.
• Module is located from L_GRIPPER @ (140, 0, 252) mm; no envelope-only drilling or shimming.
• Every installed joint moves manually through the intended candidate range with no hard interference, cable snag or cover contact.
• Every installed fastener is present and witness-marked only after an exact product, torque and locking instruction is released.
• All fitted routes retain service loops, bend clearance, strain relief and connector keying; conductors remain disconnected.
• Measured module mass and local balance are recorded against the 0.212874 kg planning allocation.

Prerequisites

A02

Fabricated parts

G02_FINGER_NEGATIVE; G02_FINGER_POSITIVE; G02_GUIDE_ROD_FRONT; G02_GUIDE_ROD_REAR; G02_MANUAL_RELEASE_HUB; G02_PAD_NEGATIVE; G02_PAD_POSITIVE; G02_PALM_BOTTOM_BRIDGE; G02_PALM_FRONT_PLATE; G02_PALM_REAR_PLATE; G02_PALM_TOP_BRIDGE; G02_PINION; G02_RACK_NEGATIVE; G02_RACK_POSITIVE; G02_STOP_NEGATIVE; G02_STOP_POSITIVE; G02_WRIST_MOUNT_PLATE

Axes and candidates

R_GRIPPER: ROBOTIS XC330-class compact candidate

Equipment

EQ-G02-INBOARD-PAD; EQ-G02-OUTBOARD-PAD

Harness

HN-G02

Datum

R_GRIPPER @ (-140, 0, 252) mm

Fabrication STEP · Integration-reference STEP

1. Inventory and identify

   Verify the 17 fabrication files, 1 axis allocations, 2 equipment items and 1 harness assemblies listed in the module kit; quarantine any identity or revision mismatch.

2. Build the unpowered structure

   Assemble only these fabrication candidates to the G02 fabrication STEP: G02_FINGER_NEGATIVE; G02_FINGER_POSITIVE; G02_GUIDE_ROD_FRONT; G02_GUIDE_ROD_REAR; G02_MANUAL_RELEASE_HUB; G02_PAD_NEGATIVE; G02_PAD_POSITIVE; G02_PALM_BOTTOM_BRIDGE; G02_PALM_FRONT_PLATE; G02_PALM_REAR_PLATE; G02_PALM_TOP_BRIDGE; G02_PINION; G02_RACK_NEGATIVE; G02_RACK_POSITIVE; G02_STOP_NEGATIVE; G02_STOP_POSITIVE; G02_WRIST_MOUNT_PLATE. Do not drill, tap or substitute from envelope dimensions.

3. Install joint modules unpowered

   Install and manually articulate: R_GRIPPER. The 4 located joint screws are geometry candidates only; exact product, torque, preload and locking remain SELECTION REQUIRED.

4. Locate equipment and service access

   Locate these registered items without connecting power: EQ-G02-INBOARD-PAD; EQ-G02-OUTBOARD-PAD. Preserve the registered mounting planes, service directions and connector boundaries.

5. Fit stationary routes and moving loops

   Fit these controlled harness assemblies with all conductors unselected and disconnected: HN-G02. Verify bend, sweep, retention and cover clearance manually.

6. Join to prerequisite module

   Join G02 only after prerequisite A02 is complete. Use datum R_GRIPPER @ (-140, 0, 252) mm; upstream: A02 supported wrist shaft; downstream: Two broad fingers and replaceable compliant pad lands.

• All listed part/equipment/axis/harness identities and revisions match the controlled kit.
• Module is located from R_GRIPPER @ (-140, 0, 252) mm; no envelope-only drilling or shimming.
• Every installed joint moves manually through the intended candidate range with no hard interference, cable snag or cover contact.
• Every installed fastener is present and witness-marked only after an exact product, torque and locking instruction is released.
• All fitted routes retain service loops, bend clearance, strain relief and connector keying; conductors remain disconnected.
• Measured module mass and local balance are recorded against the 0.212874 kg planning allocation.