PRELIMINARY - CONFIGURATION AND PACKAGING CAD ONLY - NOT APPROVED FOR PROCUREMENT, FABRICATION, ASSEMBLY, POWERED TESTING, MOTION, OR ENERGIZATION

Every part of the 762 mm robot, in one interface map.

This atlas joins the actual whole-body CAD to 12 build modules, all 25 joint axes, current mass allocation, actuator/transmission candidates, service panels, harness corridors, and staged assembly dependencies. It is an editable P0.1 engineering candidate—not a released manufacturing drawing.

Dimensioned whole-body reference

Red points are the exact joint-axis datums from joint-axis-schedule.csv. Hover them in a desktop browser for axis identity and coordinates. On a narrow screen, scroll the drawing horizontally rather than shrinking its technical labels.

Inspect the integrated assembly

The interactive GLB contains the recognizable complete robot and located equipment. Download the editable integrated STEP for exact CAD inspection.

Separate the robot into build modules

The 12 modules retain their internal datums while presentation offsets expose every interface. Open the module CAD guide or download the exploded STEP.

Module interface control

H01

Head, screen face and sensor shell

150.024 × 116.015 × 112.024 mm · 0.418231000 kg planning mass

Datum

HEAD_TILT @ (0, 0, 690) mm

Interfaces

N01 tilt cradle at HEAD_TILT → Face screen, stereo vision, microphones and speakers

Axes / motion

NONE - PASSIVE BODY MODULE; actuated by HEAD_TILT

Mechanical interface candidate

HEAD_TILT: JMF-01-COMPACT; plate 36.0 x 38.0 x 3.0; 4 x DIA 3.4 on 26.0 x 28.0 rectangle

Service and harness

Panels: H01_HEAD_FRONT_BEZEL; H01_HEAD_REAR_COVER
Routes: HN01_HEAD_BRANCH

Next physical definition

Select display/cameras/audio; define bezel lands, thermal path, privacy indication, fasteners and impact-safe edges.

Actuator and transmission allocation

PASSIVE MODULE; moved through HEAD_TILT

N01

Two-axis articulated neck

54.012 × 54.012 × 58.012 mm · 0.121151000 kg planning mass

Datum

HEAD_PAN @ (0, 0, 650) mm

Interfaces

T01 shoulder crossmember / pan module → H01 tilt cradle

Axes / motion

HEAD_PAN; HEAD_TILT; actuated by OWNED AXES

Mechanical interface candidate

HEAD_PAN: JMF-01-COMPACT; plate 36.0 x 38.0 x 3.0; 4 x DIA 3.4 on 26.0 x 28.0 rectangle | HEAD_TILT: JMF-01-COMPACT; plate 36.0 x 38.0 x 3.0; 4 x DIA 3.4 on 26.0 x 28.0 rectangle

Service and harness

Panels: NONE DEFINED
Routes: HN01_HEAD_BRANCH

Next physical definition

Close pan/tilt stops, shaft/bearing fits, moving cable loop, head retention, backlash and neck pinch guarding.

Actuator and transmission allocation

HEAD_PAN: ROBOTIS XC330-class compact X-series candidate / direct drive with current/velocity limiting | HEAD_TILT: ROBOTIS XC330-class compact X-series candidate / direct drive with current/velocity limiting

T01

Torso frame, compute and cooling

209.000 × 129.000 × 164.000 mm · 0.987371000 kg planning mass

Datum

WAIST_YAW @ (0, 0, 425) mm

Interfaces

P01 waist bearing/output interface → N01 neck and A01/A02 shoulder interfaces

Axes / motion

NONE - PASSIVE BODY MODULE; actuated by WAIST_YAW

Mechanical interface candidate

WAIST_YAW: JMF-05-WAIST; plate 98.0 x 72.0 x 5.0; 4 x DIA 5.5 on 82.0 x 56.0 rectangle

Service and harness

Panels: T01_TORSO_FRONT_COVER; T01_TORSO_REAR_COVER
Routes: HN01_TORSO_POWER_SPINE; HN01_TORSO_DATA_SPINE; HN01_HEAD_BRANCH

Next physical definition

Release rail/crossmember drawings, compute retention, airflow, battery-cassette isolation, shoulder load path and service clearances.

Actuator and transmission allocation

PASSIVE MODULE; moved through WAIST_YAW

P01

Pelvis, power bay and restraint bridge

161.500 × 111.500 × 93.256 mm · 1.647263000 kg planning mass

Datum

PELVIS / WAIST datum @ Z=425 mm

Interfaces

L01/L02 hip-yaw modules and external fall-restraint system → T01 waist output

Axes / motion

WAIST_YAW; actuated by OWNED AXES

Mechanical interface candidate

WAIST_YAW: JMF-05-WAIST; plate 98.0 x 72.0 x 5.0; 4 x DIA 5.5 on 82.0 x 56.0 rectangle

Service and harness

Panels: P01_PELVIS_FRONT_COVER; P01_PELVIS_REAR_COVER
Routes: HN01_TORSO_POWER_SPINE; HN01_TORSO_DATA_SPINE; HN01_L_LEG_POWER; HN01_L_LEG_DATA; HN01_R_LEG_POWER; HN01_R_LEG_DATA

Next physical definition

Close hip and waist load paths, battery/PDU containment, service disconnect access, IMU datum and rated restraint interface.

Actuator and transmission allocation

WAIST_YAW: ROBOTIS XM540-W270-R candidate / direct drive; external bearing support

A01

Left shoulder, upper arm, elbow, forearm and wrist

90.231 × 72.012 × 341.533 mm · 0.690052000 kg planning mass

Datum

L_SHOULDER pair @ (105, 0, 590) mm

Interfaces

T01 left shoulder crossmember → G01 palm at L_WRIST_ROTATION

Axes / motion

L_SHOULDER_PITCH; L_SHOULDER_ROLL; L_ELBOW_PITCH; L_WRIST_ROTATION; actuated by OWNED AXES

Mechanical interface candidate

L_SHOULDER_PITCH: JMF-03-SHOULDER-GIMBAL; plate 52.0 x 56.0 x 4.0; 4 x DIA 4.5 on 40.0 x 44.0 rectangle | L_SHOULDER_ROLL: JMF-03-SHOULDER-GIMBAL; plate 52.0 x 56.0 x 4.0; 4 x DIA 4.5 on 40.0 x 44.0 rectangle | L_ELBOW_PITCH: JMF-04-MEDIUM; plate 52.0 x 56.0 x 4.0; 4 x DIA 4.5 on 40.0 x 44.0 rectangle | L_WRIST_ROTATION: JMF-01-COMPACT; plate 36.0 x 38.0 x 3.0; 4 x DIA 3.4 on 26.0 x 28.0 rectangle

Service and harness

Panels: A01_UPPER_ARM_FRONT_COVER; A01_UPPER_ARM_REAR_COVER; A01_FOREARM_FRONT_COVER; A01_FOREARM_REAR_COVER
Routes: HN01_L_ARM_POWER; HN01_L_ARM_DATA

Next physical definition

Close gimbal packaging, link plates, elbow/wrist shafts, stops, covers, service loops and the current arm-mass overrun.

Actuator and transmission allocation

L_SHOULDER_PITCH: ROBOTIS XM430-W350-R candidate / remote 16:24 5GT / 1.5:1 supported gimbal output | L_SHOULDER_ROLL: ROBOTIS XM430-W350-R candidate / remote 16:24 5GT / 1.5:1 supported gimbal output | L_ELBOW_PITCH: ROBOTIS XM430-W350-R candidate / direct drive candidate; dual-supported output | L_WRIST_ROTATION: ROBOTIS XC330-T288-T candidate / direct drive through supported wrist shaft

G01

Left hand-shaped parallel gripper

50.012 × 58.012 × 69.011 mm · 0.212874000 kg planning mass

Datum

L_GRIPPER @ (140, 0, 252) mm

Interfaces

A01 supported wrist shaft → Two broad fingers and replaceable compliant pad lands

Axes / motion

L_GRIPPER; actuated by OWNED AXES

Mechanical interface candidate

L_GRIPPER: JMF-02-GRIPPER; plate 42.0 x 38.0 x 3.0; 4 x DIA 3.4 on 32.0 x 26.0 rectangle

Service and harness

Panels: NONE DEFINED
Routes: HN01_L_ARM_POWER; HN01_L_ARM_DATA

Next physical definition

Select equalizer, pads, force/current limit, object sensing, mechanical end stops, retention and pinch-safe finger gaps.

Actuator and transmission allocation

L_GRIPPER: ROBOTIS XC330-class compact candidate / transverse palm-mounted motor with compliant symmetric rack/pinion or tendon equalizer

A02

Right shoulder, upper arm, elbow, forearm and wrist

90.231 × 72.012 × 341.533 mm · 0.690052000 kg planning mass

Datum

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

Interfaces

T01 right shoulder crossmember → G02 palm at R_WRIST_ROTATION

Axes / motion

R_SHOULDER_PITCH; R_SHOULDER_ROLL; R_ELBOW_PITCH; R_WRIST_ROTATION; actuated by OWNED AXES

Mechanical interface candidate

R_SHOULDER_PITCH: JMF-03-SHOULDER-GIMBAL; plate 52.0 x 56.0 x 4.0; 4 x DIA 4.5 on 40.0 x 44.0 rectangle | R_SHOULDER_ROLL: JMF-03-SHOULDER-GIMBAL; plate 52.0 x 56.0 x 4.0; 4 x DIA 4.5 on 40.0 x 44.0 rectangle | R_ELBOW_PITCH: JMF-04-MEDIUM; plate 52.0 x 56.0 x 4.0; 4 x DIA 4.5 on 40.0 x 44.0 rectangle | R_WRIST_ROTATION: JMF-01-COMPACT; plate 36.0 x 38.0 x 3.0; 4 x DIA 3.4 on 26.0 x 28.0 rectangle

Service and harness

Panels: A02_UPPER_ARM_FRONT_COVER; A02_UPPER_ARM_REAR_COVER; A02_FOREARM_FRONT_COVER; A02_FOREARM_REAR_COVER
Routes: HN01_R_ARM_POWER; HN01_R_ARM_DATA

Next physical definition

Close gimbal packaging, link plates, elbow/wrist shafts, stops, covers, service loops and the current arm-mass overrun.

Actuator and transmission allocation

R_SHOULDER_PITCH: ROBOTIS XM430-W350-R candidate / remote 16:24 5GT / 1.5:1 supported gimbal output | R_SHOULDER_ROLL: ROBOTIS XM430-W350-R candidate / remote 16:24 5GT / 1.5:1 supported gimbal output | R_ELBOW_PITCH: ROBOTIS XM430-W350-R candidate / direct drive candidate; dual-supported output | R_WRIST_ROTATION: ROBOTIS XC330-T288-T candidate / direct drive through supported wrist shaft

G02

Right hand-shaped parallel gripper

50.012 × 58.012 × 69.011 mm · 0.212874000 kg planning mass

Datum

R_GRIPPER @ (-140, 0, 252) mm

Interfaces

A02 supported wrist shaft → Two broad fingers and replaceable compliant pad lands

Axes / motion

R_GRIPPER; actuated by OWNED AXES

Mechanical interface candidate

R_GRIPPER: JMF-02-GRIPPER; plate 42.0 x 38.0 x 3.0; 4 x DIA 3.4 on 32.0 x 26.0 rectangle

Service and harness

Panels: NONE DEFINED
Routes: HN01_R_ARM_POWER; HN01_R_ARM_DATA

Next physical definition

Select equalizer, pads, force/current limit, object sensing, mechanical end stops, retention and pinch-safe finger gaps.

Actuator and transmission allocation

R_GRIPPER: ROBOTIS XC330-class compact candidate / transverse palm-mounted motor with compliant symmetric rack/pinion or tendon equalizer

L01

Left hip, thigh, knee, shin and ankle

78.000 × 82.014 × 390.012 mm · 2.037255000 kg planning mass

Datum

L_HIP_PITCH @ (62.5, 0, 380) mm

Interfaces

P01 left hip stack → F01 sole carrier at L_ANKLE_ROLL

Axes / motion

L_HIP_YAW; L_HIP_ROLL; L_HIP_PITCH; L_KNEE_PITCH; L_ANKLE_PITCH; L_ANKLE_ROLL; actuated by OWNED AXES

Mechanical interface candidate

L_HIP_YAW: JMF-06-LEG-DIRECT; plate 66.0 x 70.0 x 5.0; 4 x DIA 5.5 on 52.0 x 56.0 rectangle | L_HIP_ROLL: JMF-08-LEG-REDUCED-20; plate 74.0 x 70.0 x 5.0; 4 x DIA 5.5 on 60.0 x 56.0 rectangle | L_HIP_PITCH: JMF-07-LEG-REDUCED-15; plate 72.0 x 78.0 x 5.0; 4 x DIA 5.5 on 58.0 x 64.0 rectangle | L_KNEE_PITCH: JMF-09-KNEE-REDUCED-25; plate 74.0 x 78.0 x 5.0; 4 x DIA 5.5 on 60.0 x 64.0 rectangle | L_ANKLE_PITCH: JMF-10-ANKLE-PITCH-REDUCED-25; plate 74.0 x 72.0 x 5.0; 4 x DIA 5.5 on 60.0 x 58.0 rectangle | L_ANKLE_ROLL: JMF-08-LEG-REDUCED-20; plate 74.0 x 70.0 x 5.0; 4 x DIA 5.5 on 60.0 x 56.0 rectangle

Service and harness

Panels: L01_SHIN_FRONT_COVER; L01_SHIN_REAR_COVER; L01_THIGH_FRONT_COVER; L01_THIGH_REAR_COVER
Routes: HN01_L_LEG_POWER; HN01_L_LEG_DATA

Next physical definition

Close reduced-joint transmissions, output encoders, shafts, bearings, link stiffness, covers, thermal paths and moving cable loops.

Actuator and transmission allocation

L_HIP_YAW: ROBOTIS XH540-W270-R evaluation candidate / direct-drive W0 test candidate; dual-supported output | L_HIP_ROLL: ROBOTIS XH540-W270-R evaluation candidate / 2.0:1 geometric timing-reduction candidate; dual-supported output; exact belt/pulleys SELECTION REQUIRED | L_HIP_PITCH: ROBOTIS XH540-W270-R evaluation candidate / 1.5:1 timing-belt candidate; dual-supported output; output absolute encoder | L_KNEE_PITCH: ROBOTIS XH540-W270-R evaluation candidate / 2.5:1 16:40 whole-body knee timing-reduction candidate; dual-supported 12 mm output; output absolute encoder | L_ANKLE_PITCH: ROBOTIS XM430-W350-R evaluation candidate / 2.5:1 16:40 timing-reduction candidate; dual-supported 12 mm output; exact belt capacity SELECTION REQUIRED | L_ANKLE_ROLL: ROBOTIS XM430-W350-R evaluation candidate / 2.0:1 timing-reduction candidate; dual-supported 12 mm output; exact belt capacity SELECTION REQUIRED

F01

Left ankle output, foot and sole interface

90.012 × 145.012 × 35.012 mm · 0.436839000 kg planning mass

Datum

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

Interfaces

L01 ankle-roll output → Replaceable sole/contact and force-sensing layers

Axes / motion

NONE - PASSIVE BODY MODULE; actuated by L_ANKLE_ROLL

Mechanical interface candidate

L_ANKLE_ROLL: JMF-08-LEG-REDUCED-20; plate 74.0 x 70.0 x 5.0; 4 x DIA 5.5 on 60.0 x 56.0 rectangle

Service and harness

Panels: F01_TOP_COVER
Routes: HN01_L_LEG_POWER; HN01_L_LEG_DATA

Next physical definition

Select sole material, contact sensing, fasteners, toe/heel edge treatment, friction target and structural proof under single support.

Actuator and transmission allocation

PASSIVE MODULE; moved through L_ANKLE_ROLL

L02

Right hip, thigh, knee, shin and ankle

78.000 × 82.014 × 390.012 mm · 2.037255000 kg planning mass

Datum

R_HIP_PITCH @ (-62.5, 0, 380) mm

Interfaces

P01 right hip stack → F02 sole carrier at R_ANKLE_ROLL

Axes / motion

R_HIP_YAW; R_HIP_ROLL; R_HIP_PITCH; R_KNEE_PITCH; R_ANKLE_PITCH; R_ANKLE_ROLL; actuated by OWNED AXES

Mechanical interface candidate

R_HIP_YAW: JMF-06-LEG-DIRECT; plate 66.0 x 70.0 x 5.0; 4 x DIA 5.5 on 52.0 x 56.0 rectangle | R_HIP_ROLL: JMF-08-LEG-REDUCED-20; plate 74.0 x 70.0 x 5.0; 4 x DIA 5.5 on 60.0 x 56.0 rectangle | R_HIP_PITCH: JMF-07-LEG-REDUCED-15; plate 72.0 x 78.0 x 5.0; 4 x DIA 5.5 on 58.0 x 64.0 rectangle | R_KNEE_PITCH: JMF-09-KNEE-REDUCED-25; plate 74.0 x 78.0 x 5.0; 4 x DIA 5.5 on 60.0 x 64.0 rectangle | R_ANKLE_PITCH: JMF-10-ANKLE-PITCH-REDUCED-25; plate 74.0 x 72.0 x 5.0; 4 x DIA 5.5 on 60.0 x 58.0 rectangle | R_ANKLE_ROLL: JMF-08-LEG-REDUCED-20; plate 74.0 x 70.0 x 5.0; 4 x DIA 5.5 on 60.0 x 56.0 rectangle

Service and harness

Panels: L02_SHIN_FRONT_COVER; L02_SHIN_REAR_COVER; L02_THIGH_FRONT_COVER; L02_THIGH_REAR_COVER
Routes: HN01_R_LEG_POWER; HN01_R_LEG_DATA

Next physical definition

Close reduced-joint transmissions, output encoders, shafts, bearings, link stiffness, covers, thermal paths and moving cable loops.

Actuator and transmission allocation

R_HIP_YAW: ROBOTIS XH540-W270-R evaluation candidate / direct-drive W0 test candidate; dual-supported output | R_HIP_ROLL: ROBOTIS XH540-W270-R evaluation candidate / 2.0:1 geometric timing-reduction candidate; dual-supported output; exact belt/pulleys SELECTION REQUIRED | R_HIP_PITCH: ROBOTIS XH540-W270-R evaluation candidate / 1.5:1 timing-belt candidate; dual-supported output; output absolute encoder | R_KNEE_PITCH: ROBOTIS XH540-W270-R evaluation candidate / 2.5:1 16:40 whole-body knee timing-reduction candidate; dual-supported 12 mm output; output absolute encoder | R_ANKLE_PITCH: ROBOTIS XM430-W350-R evaluation candidate / 2.5:1 16:40 timing-reduction candidate; dual-supported 12 mm output; exact belt capacity SELECTION REQUIRED | R_ANKLE_ROLL: ROBOTIS XM430-W350-R evaluation candidate / 2.0:1 timing-reduction candidate; dual-supported 12 mm output; exact belt capacity SELECTION REQUIRED

F02

Right ankle output, foot and sole interface

90.012 × 145.012 × 35.012 mm · 0.436839000 kg planning mass

Datum

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

Interfaces

L02 ankle-roll output → Replaceable sole/contact and force-sensing layers

Axes / motion

NONE - PASSIVE BODY MODULE; actuated by R_ANKLE_ROLL

Mechanical interface candidate

R_ANKLE_ROLL: JMF-08-LEG-REDUCED-20; plate 74.0 x 70.0 x 5.0; 4 x DIA 5.5 on 60.0 x 56.0 rectangle

Service and harness

Panels: F02_TOP_COVER
Routes: HN01_R_LEG_POWER; HN01_R_LEG_DATA

Next physical definition

Select sole material, contact sensing, fasteners, toe/heel edge treatment, friction target and structural proof under single support.

Actuator and transmission allocation

PASSIVE MODULE; moved through R_ANKLE_ROLL

All 25 controlled axes

AxisRegion / sideOriginDirectionP0.1 commanded range
HEAD_PANhead / C(0, 0, 650) mm(0, 0, 1)SELECTION REQUIRED
HEAD_TILThead / C(0, 0, 690) mm(1, 0, 0)SELECTION REQUIRED
WAIST_YAWwaist / C(0, 0, 425) mm(0, 0, 1)speed <=15 deg/s in HR-30A
L_SHOULDER_PITCHarm / L(90, 0, 590) mm(1, 0, 0)SELECTION REQUIRED
L_SHOULDER_ROLLarm / L(90, 0, 590) mm(0, 1, 0)SELECTION REQUIRED
L_ELBOW_PITCHarm / L(128, 0, 444.893) mm(1, 0, 0)SELECTION REQUIRED
L_WRIST_ROTATIONarm / L(133, 0, 299.979) mm(0, 0, 1)SELECTION REQUIRED
L_GRIPPERhand / L(133, 0, 256.979) mm(1.0, 0, 0)SELECTION REQUIRED
L_HIP_YAWleg / L(62.5, 0, 410) mm(0, 0, 1)+/-30 deg
L_HIP_ROLLleg / L(62.5, 0, 390) mm(0, 1, 0)+/-25 deg
L_HIP_PITCHleg / L(62.5, 0, 370) mm(1, 0, 0)-35..+45 deg
L_KNEE_PITCHleg / L(62.5, 0, 210) mm(1, 0, 0)0..120 deg
L_ANKLE_PITCHleg / L(62.5, 0, 55) mm(1, 0, 0)-35..+30 deg
L_ANKLE_ROLLleg / L(62.5, 0, 35) mm(0, 1, 0)+/-20 deg
R_SHOULDER_PITCHarm / R(-90, 0, 590) mm(1, 0, 0)SELECTION REQUIRED
R_SHOULDER_ROLLarm / R(-90, 0, 590) mm(0, 1, 0)SELECTION REQUIRED
R_ELBOW_PITCHarm / R(-128, 0, 444.893) mm(1, 0, 0)SELECTION REQUIRED
R_WRIST_ROTATIONarm / R(-133, 0, 299.979) mm(0, 0, 1)SELECTION REQUIRED
R_GRIPPERhand / R(-133, 0, 256.979) mm(-1.0, 0, 0)SELECTION REQUIRED
R_HIP_YAWleg / R(-62.5, 0, 410) mm(0, 0, 1)+/-30 deg
R_HIP_ROLLleg / R(-62.5, 0, 390) mm(0, 1, 0)+/-25 deg
R_HIP_PITCHleg / R(-62.5, 0, 370) mm(1, 0, 0)-35..+45 deg
R_KNEE_PITCHleg / R(-62.5, 0, 210) mm(1, 0, 0)0..120 deg
R_ANKLE_PITCHleg / R(-62.5, 0, 55) mm(1, 0, 0)-35..+30 deg
R_ANKLE_ROLLleg / R(-62.5, 0, 35) mm(0, 1, 0)+/-20 deg

Editable source records

12-module interface register · assembly dependency sequence · joint mount patterns · 98 fabrication candidates including both detailed hands · service panels · harness corridors · atlas generator source