Tutorial #1 - Wheel unit assembly - Lacina.dev Home - LACINA.DEV

Tutorial #1 - Wheel unit assembly

I don't want to delay you with long readings, so I'll use pictures a lot and point you out important things. It's easy, let's get to it. If necessary, you can watch the video. You will find the whole assembly procedure there. Wheel unit assembly tutorial video

Assembly of one unit takes about 35 minutes.

First, make sure you have all the necessary parts. Throughout this tutorial, we will solve only one unit and multiply all the parts by the number of units you need.

Part list gallery
Part list Part list
Bearings Bearings
Servo Dynamixel servo
Overview Overview

Part list

  • Printed parts - download STL files
  • 8pcs - M2.5x6 screw
  • 3pcs - M3x25 screw
  • 4pcs - M3x35 screw
  • 2pcs - M3x1.6 square nut
  • 11pcs - M3 nut
  • 4pcs - 2.2 mm pad
  • 1pce - M5x30 screw
  • 4pcs - M3 nut self-lock nylon
  • 4pcs - M2.5x10 screw
  • 4pcs - 2.2 mm serrated lock washer
  • 4pcs - M2x20 screw
  • 4pcs - M2.5 nut
  • 8pcs - M3x60 screw
  • 1pce - M5 nut
  • 1pce - Dynamixel servo XM430-W210-T
  • 3pcs - bearings 6805-2RS
  • grease to lubricate gears

STEP 1.

Use 4 pieces of M2x20 screws and washers to screw the thorn to the small gear. Slide the thorn onto the servo so that the control dots fit on top of each other and tighten with the screw from the servo package.

Servo assembly
DSC02437.JPG Necessary parts
DSC02438.JPG Screws assembled
DSC02440.JPG Horn assembled
DSC02442.JPG Gear assembling
DSC02444.JPG Gear assembling
DSC02445.JPG Assembled servo

STEP 2.

Using pliers, insert the M2.5 nuts into the holes. Insert the bearing into the holder and screw it to the gearbox cover using the M2.5x10 screws.

Transmission cover assembly
DSC02446.JPG Necessary parts
DSC02447.JPG Nuts placement
DSC02448.JPG Insert nuts to holes
DSC02449.JPG Nuts inserted
DSC02450.JPG Insert bearings to the hole
DSC02452.JPG Assemble bearings

STEP 3.

Using a screw, insert the M3 nut into the hole. Insert the bearing into the holes on the other side.

Transmission body assembly
DSC02453.JPG Necessary parts
DSC02454.JPG Using a screw, insert the nut into the hole.
DSC02455.JPG Using a screw, insert the nut into the hole.
DSC02456.JPG Using a screw, insert the nut into the hole.
DSC02457.JPG Inserted nuts
DSC02458.JPG Insert bearings

STEP 4.

Using a screw, insert the nuts M3 and M5 into the holes in the main gear. Slide the main gear into the bearing. Insert the wheel on the other side. Insert the M5x35 screw into the middle hole and tighten it slightly. Insert the M3x35 screw and turn the wheel and the main gear against each other until it fits into the hole. Tighten all screws.

Wheel and main gear assembly
DSC02459.JPG Necessary parts
DSC02460.JPG Using a screw, insert the nut into the hole.
DSC02462.JPG Using a screw, insert the nut into the hole.
DSC02463.JPG Using a screw, insert the nut into the hole.
DSC02464.JPG Inserted nuts
DSC02465.JPG Slide the gear into the bearing.
DSC02466.JPG Slide the wheel into the bearing.
DSC02467.JPG Insert M5x35 screw into the middle hole.
DSC02468.JPG Insert M3x35 screw and find the hole.
DSC02469.JPG Tighten all screws.

STEP 5.

Use the grease to lubricate gears. Push down the transmission body. Slide the servo into the bearing gently. Pull up the transmission body. Carefully check if the servo rotates.

Assembly servo into gearbox
DSC02472.JPG Necessary parts
DSC02473.JPG Lubricate the gears
DSC02474.JPG Push down the transmission body
DSC02475.JPG Slide the servo into the bearing
DSC02476.JPG Pull up the transmission body

STEP 6.

Slide the transmission cover onto the servo and main gear bearing. Insert 3 pieces of M3x25 screws to the three holes on the bottom and tight them. Then screw the M2.5x6 screws into the servo, eight pieces from both sides.

Transmission cover assembly
DSC02477.JPG Necessary parts
DSC02478.JPG Slide the transmission cover onto the servo and main gear bearing.
DSC02479.JPG Insert 3 pieces of M3x25 screws.
DSC02480.JPG Tight the screws.
DSC02483.JPG Screw the M2.5x6 screws into the servo.
DSC02484.JPG Eight pieces from both sides.

STEP 7.

Route the cables through the holes. Plug the cables into the connectors. Use screw driver to push the connectors down. Gently pull out the cables while you putting the wheel holder on. Screw the m3x60 screws tight. Insert the square nuts into the holes on both sides and secure them by M3x16 screws.

Wheel holder assembly
DSC02486.JPG Necessary parts
DSC02487.JPG Route the cables through the holes.
DSC02488.JPG Route the cables through the holes.
DSC02489.JPG Route the cables through the holes.
DSC02490.JPG Route the cables through the holes.
DSC02491.JPG Plug the cables into the connectors.
DSC02492.JPG Plug the cables into the connectors.
DSC02493.JPG Plug the cables into the connectors.
DSC02494.JPG Put on the wheel holder and use the m3x60 screws.
DSC02495.JPG Tight the screws.
DSC02496.JPG Insert the square nuts into the holes on both sides.
DSC02497.JPG Secure the nut with a screw.

So it's finished now, the wheel unit is ready! :)

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DSC02499.JPG

DSC02514.JPG