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====== Rewiring and Deconstructing Jaemi HUBO ======

**Author: ** Ethan Nowery, **Email: ** <nowery@unlv.nevada.edu>

**Date Last Modified:** 10/21/2024

**Keywords: ** Jaemi Hubo, step-by-step, tutorial

{{left_leg_vs._right_leg.jpg?400}}

Before (right leg) and after (left leg) I finished rewiring.  
==== 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 management on the robot. Those reading this tutorial are assumed to be interested in: humanoids and robotics. 
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====Tools Needed ==== 
  *Various hex keys (mainly M3 size)
  *Wire Stripper
  *Solder Seal Connectors
  *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 ====

=== Step 1 ===
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 ===
{{hiptoleg.jpg?200|}}
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Unplug the cords that connect Jaemi's hip and torso.
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=== Step 3 === 
{{backscrews.jpg?250 |}}{{ frontscrews.jpg?150 |}}
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Make sure Jaemi is either standing on the ground, laying on a flat surface, or suspended with someone holding up the leg that you are removing. Remove the 6 M4 sized screws (3 in the front, 3 in the back) shown. This will release the leg from the body. 

=== Step 4 ===
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.

==== Rewiring of the Leg ====

===Step 1 ===
{{excess_wires.jpg?300|}}
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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}}
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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.