## 8. Assembly

### 8.1 Install Battery Holder(You can choose between two options.)

8.1.1 Mount Six-slot AA Battery Holder


Required parts:

![Img](./media/img-20240702172514-1747191726294-73.png)


Steps:

![Img](./media/img-20240702172625-1747191726294-75.png)


![](./media/8-1-3-1747191726294-76.png)


8.1.2 Mount Two-slot 18650 Battery Holder：

Required parts:
![Img](./media/img-20240702173053-1747191726294-77.png)


Steps:

![](./media/8-1(1)-2-1747191726294-78.png)


![Img](./media/img-20240702173155-1747191726294-79.png)

8.1.3 Replace the Battery Holder

To Remove the six-slot AA Battery Holder：

Loosen the M3 screw and move the battery case towards the centre

![image-20241022171537592](./media/image-20241022171537592.png)



Push the battery case outward to remove it and replace it with another one.

![image-20241022171600428](./media/image-20241022171600428.png)

### 8.2 Install Expansion Board and ESP32 Development Board

Required parts:

![](./media/8-2-1-1747191726294-80.png)

Steps:

![](./media/8-2-2-1747191726294-81.png)

![](./media/8-2-3-1747191726294-82.png)

![](./media/8-2-4-1747191726294-83.png)

![](./media/8-2-5-1747191726294-84.png)

![](./media/8-2-6-1747191726294-85.png)

![](./media/8-2-7-1747191726294-86.png)

### 8.3 Install the base of the robot arm

Required parts:

![](./media/8-3-1-1747191726294-87.png)

Steps:

![](./media/8-3-2-1747191726295-88.png)

![](./media/8-3-3-1747191726295-89.png)

### 8.4 Install the bearing and servo into the base

Required parts:

![](./media/8-4-1-1747191726295-90.png)

Steps:

<p style="color:red">Note the pit marked in green as follows:</p>

![](./media/8-4-2-1747191726295-91.png)

![](./media/8-4-3-1747191726295-92.png)

NOTE：1.We need to adjust the servo to 90° before assembly.
               2.Note the pit marked in green as follows

![1](./media/8-4-4-1747191726295-93.png)

![](./media/8-4-5-1747191726295-94.png)

### 8.5 Install the base of the turntable

Required parts:

![](./media/8-5-1-1747191726295-95.png)

Steps:

![](./media/8-5-2-1747191726295-98.png)

![](./media/8-5-3-1747191726295-96.png)

### 8.6 Install right-side upper arm and its servo

Required parts:

![](./media/8-6-1-1747191726295-97.png)

NOTE：We need to adjust the servo to 90° before assembly.

![](./media/8-6-2-1747191726295-99.png)

![](./media/8-6-3-1747191726295-100.png)



NOTE：1.We need to adjust the servo to 90° before assembly.
               2.Note the orientation of the holes marked by the green circles.
Vertically mount it as follows:
Step1：Fix the servo arm to the acrylic with a M1.2*5 screw
Step2：Use a M2*4 screw to mount the acrylic on the servo shaft, taking care to keep the acrylic level with the edge of the servo.

![](./media/8-6-4-1747191726295-101.png)

![](./media/8-6-5-1747191726295-102.png)

### 8.7 Install right-side Forearm

Required parts:

![](./media/8-7-1-1747191726295-103.png)

Steps:

![](./media/8-7-2-1747191726295-104.png)

![](./media/8-7-3-1747191726295-105.png)

![](./media/8-7-4-1747191726295-106.png)

![](./media/8-7-5-1747191726295-107.png)

### 8.8 Install left-side forearm and servo

Required parts:

![](./media/8-8-1-1747191726295-108.png)

Steps:

![](./media/8-8-2-1747191726295-109.png)

![](./media/8-8-3-1747191726295-110.png)

![](./media/8-8-4-1747191726295-111.png)

![](./media/8-8-5-1747191726295-112.png)



NOTE:  
1.We need to adjust the servo to 90° before assembly.
2.As marked by the two arrows, the slope of the forearm should be aligh with the carved line on the upper arm.

![](./media/8-8-6-1747191726295-113.png)



![](./media/8-8-7-1747191726295-114.png)



### 8.9 Install the robot's elbow and servo

Required parts:

![](./media/8-9-1-1747191726295-115.png)

Steps:

![](./media/8-9-2-1747191726296-116.png)

![](./media/8-9-3-1747191726296-117.png)



### 8.10 Install Claw

Required parts:

![](./media/8-10-1-1747191726296-118.png)

NOTE:  
1.We need to adjust the servo to 90° before assembly.
2.When assembling the gear and clip, do not turn the servo shaft to avoid changing its already adjusted 90° position.

![](./media/8-10-2-1747191726296-119.png)

![](./media/8-10-3-1747191726296-120.png)



![](./media/8-10-4-1747191726296-122.png)

![](./media/8-10-5-1747191726296-121.png)

![](./media/8-10-6-1747191726296-123.png)

![](./media/8-10-7-1747191726296-124.png)



### 8.11 Install the arm

Required parts:

![](./media/8-11-1-1747191726296-125.png)

Steps: ①②③④

![](./media/8-11-2-1747191726296-126.png)

![](./media/8-11-3-1747191726296-127.png)

![](./media/8-11-4-1747191726296-130.png)

![](./media/8-11-5-1747191726296-128.png)

### 8.12 Intall the arm to the base

Required parts:

![](./media/8-12-1-1747191726296-129.png)

Steps:

![](./media/8-12-2-1747191726296-131.png)

![](./media/8-12-3-1747191726296-132.png)

![](./media/8-12-4-1747191726296-133.png)

![](./media/8-12-5-1747191726296-134.png)

![](./media/8-12-11-1747191726296-135.png)

![](./media/8-12-12-1747191726296-136.png)NOTE：
1.We need to adjust the servo to 90° before assembly.
2.Note the pit marked in green as follows

![](./media/8-12-6-1747191726296-137.png)

![](./media/8-12-7-1747191726296-138.png)



### 8.13 Fixing the robot arm to the robot base

![](./media/8-13-1-1747191726296-139.png)

![](./media/8-13-2-1747191726296-140.png)

### 8.14 Install Joystick

Required parts:

![](./media/8-14-1-1747191726296-143.png)

Steps:

![](./media/8-14-2-1747191726296-141.png)

![](./media/8-14-3-1747191726296-142.png)

![](./media/8-14-4-1747191726296-144.png)

![](./media/8-14-5-1747191726296-146.png)



### 8.15 Wiring

Servo wiring: 

Connect the corresponding servo motor to the corresponding IO port according to the schematic diagram of the image（The wiring is consistent with the angle settings of each servo motor）

![8-15-1](./media/8-15-1-1747191726296-149.png)  

![image-20241025172800263](./media/image-20241025172800263.png)

<p style="color:red;">Attention: The servo of the claw part requires a longer wiring, so a 3-pin DuPont cable is used for connection</p>

![8-15-4](./media/8-15-4-1747191726296-145.jpeg)



Joystick wiring:

| Servo drive board | Left joystick module |
| :---------------: | :------------------: |
|      5V(red)      |          V           |
|    GND(black)     |          G           |
|   IO12(yellow)    |          B           |
|   IO13(yellow)    |          X           |
|   IO15(yellow)    |          Y           |

| Servo drive board | Right joystick module |
| :---------------: | :-------------------: |
|      5V(red)      |           V           |
|    GND(black)     |           G           |
|   IO25(yellow)    |           B           |
|   IO33(yellow)    |           X           |
|   IO32(yellow)    |           Y           |

![8-15-3](./media/8-15-3-1747191726296-147.png)