Differences

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--- rewiring_and_deconstructing_jaemi_hubo [2024/10/27 19:06] – enowery
+++ rewiring_and_deconstructing_jaemi_hubo [2024/10/28 14:23] (current) – enowery
@@ Line 12: / Line 12: @@
 ==== Motivation ====
-The reason for this tutorial is to show how to deconstruct and rewire Jaemi HUBO, in order to learn more about Humanoids and to perform cable maintenance on the robot. Those reading this tutorial are assumed to be interested in: humanoids and robotics.
+The reason for this tutorial is to show how to deconstruct and rewire Jaemi HUBO, in order to learn more about Humanoids and to perform cable management on the robot. Those reading this tutorial are assumed to be interested in: humanoids and robotics.
 \\
-For this tutorial I will be using Jaemi's legs as examples for the deconstruction and rewiring. If I feel that the arms and other parts need their own sections, I will add those later.
 ====Tools Needed ====
@@ Line 32: / Line 31: @@
 | {{ 10_pin_connector_2.jpg?200}}   | Gray, Red, Green, Black, Blue, White  | Encoder Data Transmission  | Motor Encoders -> Microcontroller  |
+==== Disassembly of the Leg ====
-==== Disassembly ====
 === Step 1 ===
-Take the shell off of Jaemi. This is self-explanatory and the shell can be removed without consulting documentation. I will be using the legs as examples for this tutorial.
+Take the shell off of Jaemi. This is self-explanatory and the shell can be removed without consulting documentation. Keep track of the screws and where the parts go as well.
 === Step 2 ===
@@ Line 53: / Line 50: @@
 Make sure that you know where each wire plugs into the microcontroller. All of my wires were labeled and made it easier to understand the order.
-===Step 5 ===
+==== Rewiring of the Leg ====
+===Step 1 ===
 {{excess_wires.jpg?300|}}
 \\
-Once you know where everything goes and have taken pictures to help you, measure out the excess wire and cut a portion of it off. Strip the wires from both ends and attach the
+Once you know where everything goes and have taken pictures to help you, measure out the excess wire and cut a section of it off. Strip the wires from both ends.
+=== Step 2 ===
+{{solder_seal_connector_before_heat_.jpg?450}} {{solder_seal_connector_after_heat.jpg?400}}
+Slide the solder seal connector over both sides of the wires. Make sure that the two exposed wires meet in the middle of the connector (where the solder is). Use the heat gun to melt the adhesive at each end of the connecter (colored portion) and the solder in the middle.
+=== Step 3 ===
+Repeat steps 5 and 6 for each wire. Make sure to keep in mind the movement of the joints and other parts when measuring how long each wire is before you cut.
+==== Disassembly of the Arm ====
+=== Step 1 ===
+To start disassembling the arm, take off Jaemi's outer shell. Make sure Jaemi is off and unplugged from power. This is the same process as discussed in disassembly of the leg. Make sure to keep track of the screws and where each piece of shell goes.
+=== Step 2 ===
+{{arm_screws.jpg?300}}
+\\
+Begin by taking off these 6 screws while also holding on to the arm to prevent it from falling.
+==== Conclusion ====
+This tutorial was created to give a step-by-step instruction on how to disassemble and rewire Jaemi Hubo.