Assembly Instructions¶

Do you have all the parts listed in the Bill of Materials ready? Then let's get started!

Task 0: Get Ready¶

Make sure you have the following tools at hand before you start assembling.

Material

Electronic components
Generative parts (3D printed and laser-cut parts)
Sheet Metals
Fasteners

Tools

2 mm hex-head key
2.5 mm hex-head key
8 mm hex-head socket
18 mm wrench
Flat-head screwdriver
TR9 Torx screwdriver
Soldering equipment

Skills

Basic mechanical assembly skills
Soldering (connecting cables)

Time

The estimated assembly time is 70 minutes.

Task 1: Wheel assembly¶

Assembly Time

5 minutes / wheel

Tools needed

2 mm hex-head key
2.5 mm hex-head key

Step 1: Motor¶

Required Parts:

1x HEL-04-01000-02 / Frame Mount (For first wheel only)
1x HEL-06-01009-00 / Motor
6x DIN 7984 - M3 x 8 --- 4.5N / Screw M3x8

Securely fix the motor into the frame mount using 6x M3x8 screws. The first motor should be attached where the frame mount does not allow for sliding in the motor (back right).

Step 2: Wheel Adapter¶

Required Parts:

1x HEL-06-01002-00 / Wheel Adapter
1x DIN 7984 - M3 x 12 --- 10.5N / Screw M3x12

Attach the wheel adapter to the motor assembly using 1x M3x12 screw. Tighten the screw where the flange is flattened to stop it from rotating.

Step 3: Wheel¶

Required Parts:

1x HEL-06-01000-00 / Wheel
4x DIN 7984 - M3 x 8 --- 6.5N / Screw M3x8

Fix the wheel onto the wheel adapter using 4x M3x8 screws.

Good job! Now 3 more to go.

This is how the assembly should look after all the wheels have been attached.

Task 2: Chassis¶

Assembly Time

30 minutes

Tools needed

2 mm hex-head key
2.5 mm hex-head key
Flat-head screwdriver
TR9 Torx screwdriver
8 mm hex-head socket

Step 1: Motor Controller Plate¶

Required Parts:

1x HEL-04-01009-01 / Motor Controller Plate
1x HEL-04-01010-01 / Top Plate
2x ISO 4762 M3x4 / Screw M3x4

Attach the motor controller plate to the top plate using 2x M3x4 screws.

Step 2: IMU¶

Required Parts:

1x HEL-06-03003-00 / IMU
4x ISO 4762 M2 x 6 - 6N / Screw M2x6
4x Washer ISO 7092 – 2 / Washer M2

Mount the IMU using 4x M2x6 screws and 4x M2 washers.

Step 3: Top Plate on Frame Mount¶

Required Parts:

4x DIN 7984 - M3 x 8 --- 6.5N / Screw M3x8

Secure the top plate to the frame mount using 4x M3x8 screws.

Step 4: Fan on Jetson¶

Required Parts:

1x HEL-06-01005-00 / Fan
1x HEL-06-01003-00 / Jetson
4x ISO 14581 M2.5x16x16- / Screw M2.5x16
4x ISO - 4032 - M2.5 - D – N / Nut M2.5

In order to provide some cooling, install the fan on the Jetson using 4x M2.5x16 screws and 4x M2.5 nuts.

Step 5: Mount Jetson on Top Plate¶

Required Parts:

1x HEL-04-03004-00 / Base Plate for Jetson
4x DIN 7984 - M3 x 8 --- 6.5N / Screw M3x8

Place the Base plate onto the Top Plate. Put the Jetson onto its base plate and attach both to the Top Plate using 4x M3x8 screws.

Step 6: Mount Motor Controller¶

Required Parts:

2x HEL-06-01004-00 / Motor Controller Kit
8x Screw from Motor Controller Kit
1x HEL-04-01017-01 / Holder Motorcontroller

Mount the first Motor Controller and the orange Motor Controller holder using the screws provided in the Motor Controller Kit. Attach the second Motor Controller on the Motor Controller Holder.

Step 7: Connect Cables¶

Required Parts:

2x HEL-06-03005-00 / USB Cable

Connect the USB cables as shown in the image and the Electronic System Architecture. Make sure that the encoder is connected to the right motor.

Step 8: Battery Protection¶

Required Parts:

1x HEL-06-04001-00 / Battery Protection
1x Battery Connector (Deans M/F)
1x Battery Cable (EP Silicone Cable 0.5mm²)

Solder the Battery Cables and Battery Connector to the Battery Protection Module. Use the Electronic System Architecture as reference.

Step 9: DC / DC Converter¶

Required Parts:

1x HEL-06-03004-00 / DC/DC Converter
1x HEL-06-04000-00 / Prototyping Board for DC/DC Converter
1x HEL-06-03001-01 / LED Voltmeter
1x HEL-06-03002-00 / Power Switch

Solder the connections of the DC/DC converter, LED Voltmeter, and Power Switch as shown in the image. The second image is mirrored so that you can compare it to the left image. Solder the connections according to the Electronic System Architecture and the Prototyping Board below.

Step 10: Ciruit Board Box¶

Required Parts:

HEL-04-04000-00 / Circuit Board Holder Base
HEL-04-04001-00 / Circuit Board Holder Middle
HEL-04-04002-00 / Circuit Board Holder Top
3x ISO 4762 M3 x 30 / Screw M3x30

Place the Battery Protection on the Circuit Board Holder Base. Make sure that the cables are oriented correctly so that they leave the box as shown in the image. Place the Circuit Board Holder Middle on the Battery Protection Module.

Place the Prototyping Board with the DC/DC Converter on top of the Circuit Board Holder Middle . Assemble the whole Circuit Board Holder by using the Circuit Board Holder Top and 3x M3x30 screws.

Step 11: Voltmeter¶

Required Parts:

2x DIN 7985A - M2x5 / Screw M2x5
2x ISO - 4032 - M2 - D – N / Nut M2

Attach the voltmeter using 2x M2x5 screws and 2x M2 nuts.

Step 12: Power Switch¶

Attach the Power Switch with the 8 mm hex-head socket.

Step 13: Connect Cables¶

Connect all the cables according to the Electronic System Architecture. The cables to the battery and the one power cable to the LIDAR remain unconnected for now.

Good job! Now lets continue with assembling the last part - the body.

Task 3: Body¶

Assembly Time

20 minutes

Tools needed

2 mm hex-head key
2.5 mm hex-head key
18 mm wrench

Step 1: Add Threaded Bushes to Body and Camera Plate¶

Required Parts:

1x HEL-04-03002-00 / Body
1x HEL-04-01013-02 / Camera Plate
12x Thread Insert MULTISERT 003M3 / Threaded Bush

Press the threaded bushes into the Body and Camera Plate while heating them with a soldering iron.

Step 2: Power Supply Connector¶

Required Parts:

1x HEL-06-03000-00 / Power Supply Connector

Attach the Power Supply Connector to the robots body.

Step 3: LIDAR¶

Required Parts:

1x HEL-06-01008-00 / LIDAR
1x HEL-06-01007-00 / LIDAR Adapter
4x DIN 7984 - M3 x 8 --- 6.5N / Screw M3x8

Mount the LIDAR on the Body using 4x M3x8 screws.

Step 4: Camera¶

Required Parts:

1x HEL-06-01006-00 / Camera
4x DIN 7984 - M3 x 8 --- 6.5N / Screw M3x8
2x DIN 7984 - M3 x 12 --- 10.5N / Screw M3x12

Mount the Camera onto the Camera Plate with 2x M3x12 screws. Then attach the camera assembly to the robots body using 4x Threaded Bush and 4x M3x8 screws.