Project files

Assembly Guide

1 Insert all heat-set nuts

Tool: soldering iron

M2

Materials: 5 × flange.lua structural parts, 10 × M2×3×3 brass heat-set inserts

M3

Materials: 6 × shell.lua structural parts, 1 × tail.lua structural part, 1 × base.lua structural part, 1 × elbow.lua structural part, 60 × M3×4×4 heat-melt nuts

shell	tail	base	elbow

2 Install all motors on the shell

Materials: 6 × shell.lua structural parts, 4 × DM4310 motors, 2 × DM4340 motors, 36 × M3×8 countersunk cross screws

Tools: Cross screwdriver

3 Install all flanges onto the motor rotor

Materials: 6 motor-assembled shells, 5 flange.lua structural parts, 1 tail.lua structural part, 36 M3×12 countersunk cross-head screws

Tools: Cross screwdriver

4 Install Joint 1 onto the Base

Materials: 1 × base.lua structural part, 1 × DM4310 joint, 6 × M3*8 hex socket screws, 2 × M2*6 cross flat-head screws

Tools: 5.5 mm open-end wrench, Phillips screwdriver

1. Partially thread the M3*8 hex socket screws into the heat-set nuts on the base.lua structural part.
2. Align the M2 heat-set nuts on both sides of the flange with the M2 through-holes on the base, then rotate along the arc slot until the large hole aligns with the head of the hex socket screw.
3. After all screw heads pass through the joint flange, thread the screws into the arc slot on the flange.
4. Insert the two M2*6 cross flat-head screws through the M2 through-holes on the base and fasten them to the joint.
5. Use the 5.5 mm open-end wrench to tighten the screws onto the base.

5 Assembling the Upper Arm

Materials: 2 × DM4340 joints (J2, J3), 1 × linkage.lua (long), 12 × M3×10 socket head screws, 2 × X30 (2+2) wires, several wires, solder, heat-shrink tubing or electrical tape

Tools: soldering iron, hex wrench

1. Insert the X30 (2+2) wires into Joint 2, then route the wires through the remaining wire holes above the motor into the shell.
2. Repeat for Joint 3.
3. Insert the four extension wires into the wire holes of the linkage.lua (long) structural part.
4. Route each end of the extension wires through the flange slot through-holes of Joint 2 and Joint 3 into the shell, up to the top of the motor.
5. Solder all wires.
6. Secure Joint 2 and Joint 3 to the linkage.lua (long) structural part using M3×10 socket head screws; ensure that the joint axes are aligned in the same direction.

6 Install the upper arm to Joint 1

Materials: 1 main body, 1 upper arm, 6 × M3×8 hex socket screws, 2 × M2×6 cross flat-head screws

Tools: 5.5 mm open-end wrench, cross-head screwdriver

Install Joint 2 onto Joint 1 using the same steps as when you installed Joint 1 onto the base.

Note: The M2 screws at the bottom of Joint 1 are hard to reach; installing the top screws is sufficient.

7 Assembling the Forearm

Materials: 1 DM4310 joint (J4), 1 elbow.lua, 1 linkage.lua (short), 12 M3×10 hex socket screws, 2 X30 (2+2) wires, several wires, solder, heat-shrink tubing or electrical tape

Tools: soldering iron, hex wrench

1. Insert the X30 (2+2) wires into joint 4, then route the wires through the remaining wire hole above the motor into the shell.
2. Insert the 4 extension wires into the wire holes of the linkage.lua (short) structural part.
3. Route one end of each extension wire through the through-holes in the flange slot of joint 4 into the shell, up to the top of the motor; route the other end through the square hole on the side of the elbow.lua structural part.
4. Solder all wires.
5. Use the M3×10 hex socket screws to secure joint 4 and the elbow.lua structural part to the linkage.lua (short) structural part, paying attention to the two axial directions.

8 Install the forearm to joint 3

Materials: current body 1, forearm 1, external hexagon screw M3*8 6, cross flat-head screw M2*6 2

Tools: open-end wrench 5.5 mm, Phillips screwdriver

Install the elbow to joint 3; the steps are the same as installing joint 1 to the base

9 Install Joint 5 and Joint 6

Materials: Current body 1, DM4310 joint (J5 J6) 2, M3*8 hex socket screws 12, M2*6 cross flat head screws 4

Tools: 5.5 mm open-end wrench, Phillips screwdriver

1. Install Joint 5 onto Joint 4 using the same steps as when installing Joint 1 onto the base.
2. Install Joint 6 onto Joint 5 using the same steps as when installing Joint 1 onto the base.