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rewiring_and_deconstructing_jaemi_hubo [2024/10/28 13:40] – enoweryrewiring_and_deconstructing_jaemi_hubo [2024/10/28 14:23] (current) – enowery
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 ==== Motivation ==== ==== 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 ====  ====Tools Needed ==== 
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   *Solder Seal Connectors   *Solder Seal Connectors
   *Heat gun    *Heat gun 
 +
 +==== Wiring ====
 +
 +All of Jaemi's wires are labeled with what they are used for. The labels use acronyms, since explaining can be lengthy. The label template goes as follows; side of body (left or right), body part, axis of movement (roll, pitch, yaw), - E or L or nothing. **EX:** the wires that feed the **R**ight **H**ip motors that control the **R**oll axis are labeled as **RHR**, **RHR-E** for the encoder, and **RHR-L** for the limit switch.
 +
 +^ Picture of Wire(s)                ^ Color of Wire(s)                      ^ Purpose                    ^ Originates -> Plugs into           ^
 +| {{ 48v.jpg?200}}                 | Red, Black, and White                 | 48v power supply           | Motors -> Microcontrollers         |
 +| {{ limit_switch_3_use_.jpg?200}}  | Blue, Black, and Brown                | Limit Switch Signal        | Limit switch -> Microcontroller    |
 +| {{ can1.jpg?200}}                 | Black and White                       | CAN Channel                | Hip -> every Microcontroller       |
 +| {{ 10_pin_connector_2.jpg?200}}   | Gray, Red, Green, Black, Blue, White  | Encoder Data Transmission  | Motor Encoders -> Microcontroller  |
  
 ==== Disassembly of the Leg ==== ==== Disassembly of the Leg ====
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 Lay the leg down on your work surface facing down so that you can see all of the wiring in the back of the leg. Lay the leg down on your work surface facing down so that you can see all of the wiring in the back of the leg.
 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. 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.
- 
-==== Wiring ==== 
- 
-All of Jaemi's wires are labeled with what they are used for. The labels use acronyms, since explaining can be lengthy. The label template goes as follows; side of body (left or right), body part, axis of movement (roll, pitch, yaw), - E or L or nothing. **EX:** the wires that feed the **R**ight **H**ip motors that control the **R**oll axis are labeled as **RHR**, **RHR-E** for the encoder, and **RHR-L** for the limit switch. 
- 
-^ Picture of Wire(s)                ^ Color of Wire(s)                      ^ Purpose                    ^ Originates -> Plugs into           ^ 
-| {{ 48v.jpg?200}}                 | Red, Black, and White                 | 48v power supply           | Motors -> Microcontrollers         | 
-| {{ limit_switch_3_use_.jpg?200}}  | Blue, Black, and Brown                | Limit Switch Signal        | Limit switch -> Microcontroller    | 
-| {{ can1.jpg?200}}                 | Black and White                       | CAN Channel                | Hip -> every Microcontroller       | 
-| {{ 10_pin_connector_2.jpg?200}}   | Gray, Red, Green, Black, Blue, White  | Encoder Data Transmission  | Motor Encoders -> Microcontroller  | 
  
 ==== Rewiring of the Leg ==== ==== Rewiring of the Leg ====
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 === Step 1 === === Step 1 ===
-To start disassembling the arm, take off Jaemi's outer shell. 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.+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 === === Step 2 ===
- +{{arm_screws.jpg?300}} 
-Make sure Jaemi is off and unplugged from power. Begin by taking off these 6 screws while also holding on to the arm to prevent it from falling. +\\ 
 +Begin by taking off these 6 screws while also holding on to the arm to prevent it from falling. 
  
 ==== Conclusion ==== ==== Conclusion ====
rewiring_and_deconstructing_jaemi_hubo.1730148026.txt.gz · Last modified: by enowery