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

• 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.

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.

STEP 3.

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

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.

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.

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.

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.

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