RUKA
  • Introduction
  • Hardware
    • Hardware Overview
    • Bill of Materials
    • 3D Print Parts
    • Heat Set Insert Tutorial + Assembly
    • Finger Assembly
    • Knuckle Assembly
    • Thumb Assembly
    • Power Supply and Wiring Harness Assembly
    • Test Motors and Set IDs
    • Motor Base Assembly
    • PTFE Tubes
    • Palm Assembly
    • Attach Wrist and Motorbase
    • Mount Pulleys
    • Friction Tape and Optional TPU Pads
    • Robot Arm Mounts
  • Software
    • Quick Start
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On this page
  • Materials
  • Instructions
  • 1. Attach Motors
  • 2. Wire the motors
  • 3. Assembly Motor Panels
  • 4. Attach Top Plate
  • 5. Attach Bottom Plate
  • 6. Connect U2D2 and Front Panel
  1. Hardware

Motor Base Assembly

Materials

3D Printed Parts

Part Name
Total Quantity

Top Panel

1

Front Panel

1

Thumb Motor Panel

1

Motor Panel 1

1

Motor Panel 2

1

Base Plate

1

Hardware

Part Name
Total Quantity

DYNAMIXEL XL330-M288-T Motors

11

JST Connector Cables (Come with Dynamixel Motors)

6

PH M2 x 6 mm Screws (Come with Dynamixel Motors)

22

M3 x 8 mm Screws

8

M5 x 6 mm Screws

6

M2 x 8 mm Screws

4

Previously Assembled Parts

  • Wiring Harness

Tools

  • Phillips head screwdriver (PH1)

  • 1.5 mm Allen Key

  • 2.5 mm Allen Key

  • 4 mm Allen Key

Instructions

1. Attach Motors

Part Name
Total Quantity

Motors

11

Thumb Motor Panel

1

Motor Panel 1

1

Motor Panel 2

1

Slot the motors into the panel following the ID schema.

Thumb Motor Panel

Motor Panel 1

Motor Panel 2

Use the screws that came with the Dynamixel motors to screw the motors in place. You may use four screws, but 2 is enough.

2. Wire the motors

Part Name
Total Quantity

3 Pin JST Connector Cables

4

4 Pin JST Connector Cables

2

Wiring Harness

1

Thumb Motor Panel

1

Motor Panel 1

1

Motor Panel 2

1

Blue is where the wiring harness connects

White is where you connect using the JST connectors that come with the Dynamixel motors.

3. Assembly Motor Panels

Part Name
Total Quantity

M3 x 8 mm Screws

4

Thumb Motor Panel

1

Motor Panel 1

1

Motor Panel 2

1

4. Attach Top Plate

Part Name
Total Quantity

M5 x 6 mm Screws

6

Motor Panel Assembly

1

Top Plate

1

5. Attach Bottom Plate

Part Name
Total Quantity

M3 x 8 mm Screws

4

M3 x 10 mm Screws

2

Motor Panel Assembly

1

Bottom Plate

1

4x - M3 x 8 mm Screws

2x - M3 x 10 mm Screws

6. Connect U2D2 and Front Panel

Part Name
Total Quantity

M2 x 8 mm Screws

4

U2D2

1

Micro USB to USB-C

1

Motor Base Assembly

1

Front Panel

1

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Last updated 14 days ago