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Table of Contents
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
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 maintenance 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
- 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 Right Hip motors that control the Roll 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 |
|---|---|---|---|
 | Red, Black, and White | 48v power supply | Motors → Microcontrollers |
 | Blue, Black, and Brown | Limit Switch Signal | Limit switch → Microcontroller |
 | Black and White | CAN Channel | Hip → every Microcontroller |
 | Gray, Red, Green, Black, Blue, White | Encoder Data Transmission | Motor Encoders → Microcontroller |
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.
Step 2
Unplug the cords that connect Jaemi's hip and torso.
Step 3
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.
Step 5
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 6
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 7
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.