Here's a photo-dump of some pictures from assembling the herd of Mini Cheetahs.
150 Stators:
150 Front actuator housings with output bearing installed:
50 upper legs. The upper link was consolidated from 3 parts to 2 for the new robots:
For assembly I got these fancy Wera adjustable torque screwdrivers, so I (and people helping assemble) could repeatably torque all the screws:
A handful of the 450 planet gears with needle bearings installed:
150 rings gears with OD's post-machined to size. Ready to be pressed into the housings:
A sea of sun gears:
Actuator with stator and gearbox installed:
I made several minor design mistakes I had to fix. Some holes in the sheet metal were 1mm off, so I made this fixture for re-machining the holes. Small mistakes like this sunk a huge amount of time, because each on has to be fixed between 50 and 150 times. Fortunately everything was salvageable.
Most of the actuators with stators and planetary gearboxes installed:
Part of one robot body with computer, CAN interface, IMU, RC receiver, and power supply:
The glorious actuator cabinet:
Computers and CAN breakouts:
Power supplies, body center-plates:
Belts installed, ready for tensioners and outer half of the leg clamshell.
A mostly assembled leg:
A nearly complete robot, waiting for the last few wire-management steps and final body assembly:
One robot during electrical and software testing, before final assembly:
Half a robot's worth of actuators:
Final assembly step of attaching the legs to the body:
Robot with top panel removed:
A pair of robots ready for final testing:
Most of the new robots lined up on the lab treadmill:
