19DOF Humanoid Robot Installation Instructions

一、Understanding and preparation of each component

1.Equipped with mounting structure bracket

The names of the structural brackets shown from left to right in the figure from top to bottom are: U-
beam bracket, big foot, multi-functional bracket, long U bracket, short U bracket, L bracket, one-line
bracket, and oblique U bracket.
2.Complete with mounting screws and hardware accessories

The names of the hardware accessories shown from left to right in the figure from top to bottom are:
round head M4 * 8 screw (M4 nut), round head M3 * 10 screw (M3 nut), round head M3 * 7 screw (M3
nut ), Flat head M3 * 6 screw (M3 nut), nylon plastic flat head M3 * 20 screw (M3 * 6 plastic stud), round
head M3 * 6 screw, round head M3 * 5 screw, metal steering wheel, flange bearing.
3.Complete installation tools

The names of the tools shown from left to right and top to bottom in the picture are: needle-nose
pliers, Phillips (slotted) screwdriver, Phillips (slotted) electric screwdriver, tweezer
Needle-nose pliers: It is mainly used to hold the nut, or tighten the nut after the nut is installed to
make the structure more stable.
Cross (slotted) screwdriver: It is mainly used to install various types of screws.
Cross (slotted) electric screwdriver: can fasten or remove screws quickly, speed up installation, more
professional, usually using electricity
Use a screwdriver to quickly tighten the screws, and then use needle-nose pliers to manually tighten
the screws.
Tweezers: For some structural locations where fingers are not easily accessible, tweezers can be used
to deliver screws and nut.
二、Mounting structure
Prepare the above-mentioned structural parts, hardware screw accessories and installation tools. Enter
the installation link below, first install the bracket structure of each part of the robot.
1.Installation of robot foot structure
Take 2 big feet, 2 multi-function brackets, 8 flat head M3 * 6 screws, 8 M3 nuts, as shown in the figure
installation. During installation, pay attention that the countersink of the big foot is facing down, so
that the screw cap can be buried in the countersink, so that the bottom is smooth.
When installing, pay attention to the horizontal position of the multifunctional bracket, and align it left
and right. Because the aperture is slightly larger, there is a certain amount of shaking, so install it well.
The screws need to be tightened with needle-nose pliers to achieve a stable structural effect.
2.Install the robot ankle structure

Take 2 multi-functional brackets, 2 short U brackets, 8 round-head M3 * 7 screws, 8 M3 nuts, and install
as shown in the figure. During the installation, the nut is facing upwards and the nut is facing
downwards. Pay attention to the alignment of the multi-functional bracket and the short U-bracket
when it is connected. The screws must be tightened with needle-nose pliers to achieve a stable
structure.
3.Installation of robot lower leg structure

Take 2 inclined U brackets, 2 short U brackets, 8 round head M3 * 7 screws, 8 M3 nuts, and install as
shown in the figure. During installation, the nut is on the inclined U, and the nut is on the short U. Pay
attention to the alignment of the inclined U bracket and the short U bracket. The screws must be
fastened with needle-nose pliers to achieve a stable structural effect.
4.Installing robot thigh structure

Take 4 multi-function brackets, 2 inline brackets, 16 round head M3 * 7 screws, 16 M3 nuts, and install
as shown in the figure. During the installation, the screws are pushed out from the inside of the multi-
functional bracket and the nuts are tightened outside. Note that the two multi-functional brackets are
connected by a straight connecting piece to maintain vertical alignment. The screws must be fastened
with needle-nose pliers to achieve a stable structure .
5.Installing robot straddle structure

Take 2 long U brackets, 2 short U brackets, 8 round head M3 * 7 screws, 8 M3 nuts, and install as shown
in the figure. During installation, the screws pass through the inside of the short U bracket, and the
nuts are fastened on the top of the long U bracket. The short U bracket and the long U bracket are
installed in a vertical cross.
6.Installing robot torso structure
Take 4 multifunctional brackets, 1 short U bracket, 1 U beam bracket, 2 L brackets, 28 round head M3 *
7 screws, 28 M3 nuts, and install as shown in the figure. The torso part of the robot is mainly composed
of double shoulders, double hips and neck brackets. During the installation process, the screws are
fixed from the inside to the outside, so as not to affect the installation of the steering gear, which is
convenient for needle-nose pliers. Needle-nose pliers are fastened to achieve a stable structural effect.
At the end of all installations, make sure that the fixed position of the bracket is positive and not
skewed.
7.Installation of robot arm structure

Take 2 multifunctional brackets, 2 long U brackets, 2 L brackets, 16 round head M3 * 7 screws, 16 M3

nuts, and install as shown in the figure. During the installation, the screws are fixed from the inside to
the outside so as not to affect the installation of the servo, which is convenient for the needle-nose
pliers to be fixed. The screws must be tightened with the needle-nose pliers to achieve a stable
structural effect. Confirm that the fixed position of the bracket is positive and not skewed.
8.Installing robot wrist structure

Take two long multifunctional brackets, two inline brackets, eight round-head M3 * 7 screws, and eight
M3 nuts, and install them as shown in the figure. During the installation, the screws are pushed out
from the inside of the multi-functional bracket, and the nuts are fastened on the top of the flat-shaped
bracket. The screws must be fastened with needle-nose pliers to achieve a stable structural effect.
 三、Install robot joints-servo
After step 2, we have installed the whole structure of the robot. Now we review all the installed
structures. First, arrange them according to the structure of the human body, as shown in the figure
below; then, start to install the joints of each part.
All servos are factory-adjusted to the middle position by default (that is, the maximum range of left and
right movement range of the servo). It is best not to rotate the servo before installing the servo. , Or
use the servo tester to adjust to the middle position, the middle position of the servo is 1500. The
following takes the digital servo as an example to illustrate the installation process.
1.Install robot foot servo

Take the left and right foot structures of the installed robot, one servo servo, two round head M3 * 10
screws, eight round head M4 * 8 screws, and four M4 nuts. First, as shown in the figure, the M3 * 10
screw is installed from the inside of the multi-functional bracket to the outside. This screw is used to
install flange bearings at the rear. Therefore, the screw must be installed before installing the servo.
Note: M3 * 10 The installation position of the screw must be in the middle hole of the inside of the
multi-function bracket, and keep it on a horizontal line with the protruding bearing of the servo. Install
the steering gear, and use M4 * 8 screws and M4 nuts to fix the four corners of the steering gear and
the multi-functional bracket. The screws must be fastened with needle-nose pliers to achieve a stable
structural effect.
2.Install robot ankle servo

Take the left and right ankle structures of the installed robot, two servo , two round head M3 * 10
screws, eight round head M4 * 8 screws, and four M4 nuts. First of all, as shown in the figure, the M3 *
10 screw is pulled out from the inside of the multi-function bracket for installation. This screw is used
to install flange bearings at the rear. Therefore, the screw must be installed before installing the servo.
Note: M3 * 10 The installation position of the screw must be in the middle hole of the inside of the
multi-function bracket, and keep it on a horizontal line with the protruding bearing of the servo. Install
the steering gear, and use M4 * 8 screws and M4 nuts to fix the four corners of the servo and the multi-
functional bracket. The screws must be fastened with needle-nose pliers to achieve a stable structural
effect.
3.Install the robot leg servo

Take the left and right thigh structures of the installed robot, 4 servos, 4 round head M3 * 10 screws,
16 round head M4 * 8 screws, and 16 M4 nuts. First of all, as shown in the figure, the M3 * 10 screw is
pulled out from the inside of the multi-functional bracket. This screw is used to install flange bearings
at the back. Therefore, the screw must be installed before installing the servo. Note: M3 * 10 The
installation position of the screw must be in the middle hole of the inside of the multi-function bracket,
and keep it on a horizontal line with the protruding bearing of the servo. Install the steering gear, and
use M4 * 8 screws and M4 nuts to fix the four corners of the servo and the multi-functional bracket. The
screws must be fastened with needle-nose pliers to achieve a stable structural effect.
4.Install the robot torso servo

Take the installed robot trunk structure, 4 servo steering gears, 2 round M3 * 10 screws, 16 round head
M4 * 8 screws, 16 M4 nuts, 2 nylon plastic flat head M3 * 20 screws, and plastic M3 * 6 Two studs. First,
as shown in the figure, the M3 * 10 screw is pulled out from the inside of the multifunctional bracket to
install the screw for mounting flange bearings at the back; the plastic screw is screwed out according
to the figure above to install the controller. Therefore, the screw position must be installed before
installing the servo. Note: The M3 * 10 screw must be installed in the middle hole of the inside of the
multi-function bracket to keep it on the horizontal line with the protruding bearing of the servo. Install
the steering gear, and use M4 * 8 screws and M4 nuts to fix the four corners of the steering gear and
the multi-functional bracket. The screws must be fastened with needle-nose pliers to achieve a stable
structural effect.
5、Installing a robot arm servo

Take one left and right arm structure of the installed robot, two servos, two round head M3 * 10
screws, eight round head M4 * 8 screws, and 8pcs M4 nuts. First of all, as shown in the figure, the M3 *
10 screw is pulled out from the inside of the multi-function bracket for installation. This screw is used
to install flange bearings at the rear. Therefore, the screw must be installed before installing the servo.
Note: M3 * 10 The installation position of the screw must be in the middle hole of the inside of the
multi-function bracket, and keep it on a horizontal line with the protruding bearing of the servo. Install
the servo, and use M4 * 8 screws and M4 nuts to fix the four corners of the servo and the multi-
functional bracket. The screws must be fastened with needle-nose pliers to achieve a stable structural
effect.
6、Installing a robotic wrist servo

Take the left and right wrist structures of the installed robot, two servos, two round-head M3 * 10
screws, eight round-head M4 * 8 screws, and eight M4 nuts. First, as shown in the figure, the M3 * 10
screw is installed from the inside of the multi-functional bracket to the outside. This screw is used to
install flange bearings at the rear. Therefore, the screw must be installed before installing the servo.
Note: M3 * 10 The installation position of the screw must be in the middle hole of the inside of the
multi-function bracket, and keep it on a horizontal line with the protruding bearing of the servo. Install
the servo, and use M4 * 8 screws and M4 nuts to fix the four corners of the servo and the multi-
functional bracket. The screws must be fastened with needle-nose pliers to achieve a stable structural.
Connect robot parts
After the first few steps, all parts of the robot have been installed. The remaining work is how to
connect the parts and assemble a complete body. As shown in the figure below, first arrange the
structure of each part of the robot roughly, so that you can understand the position of each part as a
whole, and you will not get the wrong installation and misalignment when connecting. It should be
noted that although the symmetrical parts of the robot look the same, they are actually different
(because the positions of the mounting screws are not the same), so they cannot be used universally.
The structure on the left cannot be used for the right. Caution!
1、Connect robot feet to ankles

Take the installed robot feet, one ankle structure each, four metal steering wheels, eight round head
M3 * 5 screws, two round head M3 * 6 screws, two M3 nuts, and two flange bearings, as shown in the
figure. Install as shown. First, install the metal steering wheel vertically on the servo (Note: The default
angle of the default delivery of the servo is the middle value. If you accidentally rotate the servo, the
current output angle of the servo is unknown. You need to adjust it to the middle value by software.
1500 angle, when installing the metal rudder, you must ensure that the four holes of the rudder are
horizontal and vertical, and can not be installed at an angle. * 5 Screw fixing, the middle hole is fixed
with one round head M3 * 6 screw. At the back of the imaginary shaft, install it with a flange bearing,
and then tighten it with M3 nut. The screws must be fastened with needle-nose pliers after installation
to achieve a stable structural effect.
2、Connect the robot calf to the thigh

Take the installed robot's thigh structure, calf structure and crotch joint, 1 metal steering wheel, 4
round M3 * 5 screws, 4 round M3 * 6 screws, 4 M3 nuts, flange bearings 4 as shown. First, install the
metal steering wheel vertically on the servo (Note: The default angle of the servo is the default value
for delivery. If you accidentally rotate the servo, the current servo output angle is unknown. You need
to adjust the software to the middle value of 1500. , When installing the metal rudder, you must ensure
that the four holes of the rudder are horizontal and vertical, and cannot be installed at an angle); then,
put the two structures together, and use four round heads M3 * 5 around the front metal rudder. Screw
fixing, the middle hole is fixed with a round head M3 * 6 screw. At the back of the imaginary shaft,
install it with a flange bearing, and then tighten it with a M3 nut. The screws must be fastened with
needle-nose pliers after installation to achieve a stable structural effect.
3、Connect robot legs

Take the robot lower body mechanism installed in the previous two steps, 8 round head M3 * 5 screws,
2 round head M3 * 6 screws, 2 M3 nuts, 2 flange bearings, and install as shown in the figure. Put the
two structures that have been installed together, and fix them with 4 round head M3 * 5 screws around
the front metal steering wheel, and fix the middle hole with 1 round head M3 * 6 screw. At the back of
the imaginary shaft, install it with a flange bearing, and then tighten it with a M3 nut. Screws must be
fastened with needle-nose pliers after installation, to achieve a stable structural effect.
4、Connect the robot arm

Take one each of the installed robot arm structure and wrist structure, four metal servos, eight round-
head M3 * 5 screws, two round-head M3 * 6 screws, two M3 nuts, and two flange bearings, such as
Install as shown. First, install the metal servo vertically on the servo (Note: The default angle of the
default delivery of the servo is the middle value. If you accidentally rotate the servo, the current output
angle of the servo is unknown. You need to adjust the software to the middle value 1500 angle, when
installing the metal servo, you must ensure that the four holes of the servo are horizontal and vertical,
and cannot be installed at an angle); then, put the two structures together, and use four round heads
M3 around the front metal servo. M3* 5 Screw fixing, the middle hole is fixed with one round head M3 *
6 screw. At the back of the imaginary shaft, install it with a flange bearing, and then tighten it with a
M3 nut. The screws must be fastened with needle-nose pliers after installation to achieve a stable
structural effect.
5、Connect robot shoulder and head
Take one installed robot torso, two inclined U brackets, one steering gear, five metal steering wheels,
12 round-head M3 * 5 screws, and 3 round-head M3 * 6 screws, and install as shown in the figure. First,
install the metal steering wheel vertically on the servo (Note: The default angle of the default delivery
of the servo is the middle value. If you accidentally rotate the servo, the current output angle of the
servo is unknown. You need to adjust the software to the middle value 1500 angle, when installing the
metal steering wheel, you must ensure that the four holes of the steering wheel are horizontal and
vertical, and can not be installed at an angle); Secondly, fix the reverse side of a metal steering wheel
on the top of the torso; then, two inclined U The brackets are fixed to the left and right shoulders of the
robot's torso respectively. One servo is fixed to the neck of the robot's torso. The front metal steering
wheel is fixed around with four round head M3 * 5 screws, and the middle hole is fixed with one round
head M3 * 6 Fix with screws.
6、Connect the upper body of the robot
Take one each of the robot arm structure and torso structure installed in the previous two steps, eight
round head M3 * 5 screws, two round head M3 * 6 screws, two M3 nuts, and two flange bearings, as
shown installation. Put the two structures that have been installed together, and fix them with 4 round
head M3 * 5 screws around the front metal steering wheel, and fix the middle hole with 1 round head
M3 * 6 screw. At the back of the imaginary shaft, install it with a flange bearing, and then tighten it
with a M3 nut. The screws must be fastened with needle-nose pliers after installation to achieve a
stable structural effect.
7、Connect the lower body of the robot
Take the upper body structure and the two leg structure of the robot installed in the previous two
steps, one round head M3 * 5 screw, two round head M3 * 6 screws, two M3 nuts, and two flange
bearings, as shown in the figure. Show installation. Put the two structures that have been installed
together, and fix them with 4 round head M3 * 5 screws around the front metal steering wheel, and fix
the middle hole with 1 round head M3 * 6 screw. At the back of the imaginary shaft, install it with a
flange bearing, and then tighten it with a M3 nut. The screws must be fastened with needle-nose pliers
after installation to achieve a stable structural effect.
8.Mechanical claw installation
2pcs L bracket
2pcs servo
2pcs Steering wheel
2pcs paw
12pcs M3 nut
22pcs M3 * 8 ,4pcs M3 * 6

9.First install the servo:

First use M3 * 8 screws to fix the steering wheel and servo, and then use 2 M3 * 6 screws to fix the claw and steering
wheel.
Finally use 4 M3 * 8 to fix the servo on the mechanical claw
The other paw is also installed like this
When using the L bracket to attach the claws:
First use 3 M3 * 8 + 2 M3 nuts to fix the claw and L bracket, and then use 4 M3 * 8 screws + 4 M3 nuts to fix the claw on
the robot arm.