Assembly Preparation
Tools, checks, and setup required before mechanical assembly
1. Tool Lists 🛠️
Allen keys (M2 to M6)
Allen keys (M2 to M6) are used to tighten and loosen hex socket screws during assembly, and this build requires sizes ranging from M2 to M6.
Soldering Iron
A soldering iron is required to connect the electronic components.
Hot air gun
A heat air gun will be used to heat the string. Any standard hot air gun will work, so you can use the one that is most convenient for you.
Wire stripper
A wire stripper is used to remove insulation from the ends of wires so they can be soldered, crimped, or connected to terminals during humanoid assembly. Any standard wire stripper suitable for the wire gauges used in this build.
Label Maker (Optional)
Useful for labeling wires, connectors, and modules to make assembly and debugging easier.
CAN-to-USB Adapter (Optional)
A CAN-to-USB adaptor is important for post-assembly debugging, since it allows direct connection to the motor over CAN bus for testing and verification. You can buy from Waveshare.
Multimeter
A multimeter is used to measure electrical values such as voltage, current, resistance, and continuity. Most multimeters support these basic functions, so any standard one can usually be used.
Crimp tool
A crimp tool is used to attach connectors securely to wires.
2. Get the parts 📦
Before you start building, gather all the required components first. Please review the BOM list in the Bill of Materials to make sure you have every part.
Tip: Group the parts before you begin, such as screws, bolts, wires, actuators, connectors, and mechanical parts. This will help you build faster.
3. Recommended background reading
Before building, review the following chapters to understand the main structural and actuator components used in Asimov 1:
4. Safety
- keep the robot unpowered and disconnect batteries or external power sources during mechanical work.
- Support heavy subassemblies properly while fastening or aligning them.
- Use a crane or support frame for initial post-assembly testing and robot operation. We have open-sourced the crane used for our testing setup here: OpenCrane
- keep an emergency stop within immediate reach when operating the robot.
5. Electronics Preparation
Before mechanical assembly, test the components first. This makes the build easier and helps catch wiring or motor-ID issues early.
1. Set up batteries and motion control board
Before installing the motors, first set up the batteries and motion control board for Motor ID assignment. A supply voltage of at least 24 V is required.
Work in progress
Instructions coming soon!
2. Set up Motor ID
Refer to the picture and tables in the Joint Design and Actuation section for the expected motor IDs. Connect each motor one at a time, verify communication with the provided script, and group the motors by ID.
Work in progress
Instructions coming soon!
3. Verify electronics
Check that the following components are working properly using the EOI API:
- IMU
- Audio input/output
- Camera
Work in progress
Instructions coming soon!
6. Assembly notes and convention
- Steps that require thread locker are marked with a red thread-locker icon.
- Install each motor in the correct joint. Check the motor ID image here.
- Arm and leg assembly steps show the left side only; repeat them as a mirrored build for the right side.
- Follow the assembly order exactly to avoid fitment issues. Some parts, such as nuts, must be installed before later fasteners.
- Before final assembly, check alignment, part seating, and thread condition. If a screw does not turn smoothly by hand, stop and fix the issue first. Apply thread locker only when specified, and only after test-fitting.
- Review the wiring plan before assembly. Some cables must be routed before connectors, covers, or structural parts are installed.
- Screw callouts show quantity and specification, for example
4 × M4×12 flat head screws. - Motor callouts show motor type and motor ID, for example
EC-A4310-P2-36 (ID: 16/21), where16is the left-side motor ID and21is the mirrored right-side motor ID.
7. Wiring planning before assembly
Before starting final assembly, review the wiring plan first. The mechanical assembly order and the wiring plan are tightly linked, especially for joints with internal routing paths or limited connector clearance.
Before final assembly, please reviewed the following:
- where each wiring branch starts and ends
- which connectors can be crimped before installation
- which connectors must be installed only after wire routing
- how much slack is needed at each joint to avoid tension during motion
- which cables must be routed before covers, brackets, or structural parts are closed off
Important wiring reminders:
- Cables that pass through hollow-shaft joints must be routed before the final connector is attached.
- Do not fully terminate cables too early if the connector cannot pass through the intended routing path.
- Leave enough slack at each joint to allow full motion without twisting, pinching, or excessive cable tension.
- Check cable routing before closing internal spaces or fastening outer structural parts.
- After wiring is complete, verify polarity, connector seating, and CAN continuity before power-on.
Refer to the Electronics and Wiring chapter for the full wiring topology, branch structure, and cable definitions.
8. Tips for assembly
Before mechanical assembly, open the box and sort the parts by module. Group screws, bolts, wires, connectors, motors, batteries, and electronics separately so the build sequence is easier to follow.
Before proceeding, confirm the following:
- all required structural parts are present
- fasteners are present and matched to the expected sizes
- motors are present and grouped by expected installation location
- the required tools are prepared
- the motion control board is ready
- the batteries are set up and charged
- wires and connectors are ready for routing and termination
How is this guide?