Robotroller Assembly Guide

Overview

1. 3D Printing the components.
2. Adding threaded inserts to the components.
3. Assembling individual components.
4. Attaching components to the baseplate.
5. Wiring the components.
6. Testing the Robotroller.

1. 3D Printing the components.

Most components can be printed without support. We recommend a high infill to get stronger parts. We used 85% with either grid or cuboid infill pattern in our testing. The parts that need support are the following

1. Joystick holder
2. Shoulder socket
3. Fire finger holder

We used tree supports that originated from the build plate. A threshold angle of 35 degress on Bambu Studio worked well. The stl files are available here.

2. Adding threaded inserts to the components.

The threaded inserts can be heat sunk using a soldering iron. The images below show all the components that need the threaded inserts, and the positions and orientations of the threaded inserts.

2.1 Add threaded inserts to the baseplate.

Not all holes in the baseplate need threaded inserts. Some are for future extension of the platform, such as for attaching the camera to the baseplate. The images below show the holes that need threaded inserts for the basic built.

2.2 Add threaded inserts to the Shoulders (2x)

2.3 Add threaded inserts to the Shoulder Joints (2x)

2.4 Add threaded inserts to the Elbow-to-Finger components (2x)

2.5 Add threaded inserts to the Joystick Attachment

2.6 Add threaded inserts to the Motor Attachments (2x)

2.7 Add threaded inserts to the Corner Pieces (4x)

2.7a Top Left Corner

2.7b Top Right Corner

2.7c Bottom Left Corner

2.7d Bottom Right Corner

3. Assembling Individual Components

Once the threaded inserts are added to the components, they can be assembled. The images below show the steps to assemble the components. We recommend using a thread-locking compound on all screws so they don't loosen over time. We used Loctite 243 Threadlocker in our builds.

3.1 Add bearings to the Shoulder Attachments (2x)

3.2 Add bearings to the Joystick Attachment

3.3 Add bearings to Elbow to Finger components (2x)

3.4 Attach the Dynamixels (2x)

3.5 Complete the Arms (2x)

3.6a Attach the Fire Button Servo

3.6b Attach the Fire Finger to the Servo

4. Attaching Components to the Baseplate

Components assembled in the previous steps are now attached to the baseplate in the following order. Once again, we recommend using a thread-locking compound on all screws.

4.1 Attach the Corner 1 to the Baseplate

4.2 Attach the Corner 2 to the Baseplate

4.3 Attach the Corner 3 to the Baseplate

4.4 Attach the Corner 4 to the Baseplate

4.5 Attach the CX40 Controller to the Baseplate

4.6 Attach the Left-Right Arm to the Baseplate

4.7 Attach the Up-Down Arm to the Baseplate

4.8 Attach the Fire Finger component to the Baseplate

4.9 Attach the Waveshare PCB to the Baseplate

5. Wiring the Components

Connect the Dynamixel servos and Waveshare PCB as shown below. The connectors that ship with the dynamixels do not fit the waveshare PCB. You can break the outer edge of the connector on the PCB using a flat screwdriver to make it compatible. Pay attention to the polarity of the wires on the PCB.

6. Testing the Robotroller

For setup and testing instructions, visit the official setup guide on GitHub .