Assembly

Build bench subassemblies in this order, then join them. Every "parts needed" table below is counted from the 3D model; every step ends with a check you can do with your hands.

Before you start

• All printed parts done, weighed and inserts set (printing page).
• Every actuator has its CAN ID set on the bench and a label with joint, ID and bus (the ID plan). Do this now: the ID table is only editable in standby, and the wrong ID inside a closed limb costs an hour.
• Tools: 2.5 / 3 / 4 mm hex drivers, a 1–10 N·m torque wrench, threadlocker, calipers, a soldering iron with insert tips, a deburring tool.
• Screw torque: M3 1.2 N·m, M4 2.8 N·m, M5 5 N·m into heat-set inserts; M4 into the actuator flange 3.5 N·m with threadlocker. These are generic values for the screw sizes, not measured on this robot.

The joint kits

Every RobStride mounts by threaded holes in its front face and drives a coupler through threaded holes in its output boss, located by dowel pins. The printed kit built on that is the same at every joint: a mount ring (part of the parent bracket) bolts to the actuator's front lugs and holds the output support bearing in a pocket; a printed coupler sits on the output boss with its hub through the bearing; the child plate bolts through the coupler into the boss with six long screws. Where the child has a second plate (knee, elbow) the parent cup also has a Ø35 stub that carries a 6707 bearing for it. Dimensions come from the RobStride manuals; the reference page lists them.

The pocket is on the ring's outer face. Press square on the outer race only; the bearing sits flush with the ring face.

The ring's bore clears the actuator's front step; the eight (or nine) screws go through the ring into the front lugs, torqued in a cross pattern, with threadlocker. Never exceed the lug thread depth (8 mm on the RS03).

Press three Ø4 dowels into the output boss. Slide the coupler in from the front through the bearing: its shoulder sits on the boss, the dowels locate it, the hub fills the bearing's inner race with 0.1 mm to spare.

The child plate's recess sits on the hub face; six long screws pass through the plate and the coupler into the boss. Threadlocker, cross pattern, two passes.

Press a 6707 bearing into the inner plate's pocket and slide it onto the cup's stub as the plate goes on. It only supports; it carries no torque.

Pelvis

The pelvis shell carries the two hip-pitch actuators (outputs outboard) and the waist actuator (output up). Show on the model →

Each RS03 goes in from inside the shell, output facing out, so that its front lugs meet the shell's side mount ring; bolt through the ring into the lugs (kit step 2). Sockets face up through the top opening.

Stand the waist RS03 in the shell's top collar, output up, sockets toward the back; bolt the top mount ring to its lugs. The torso bottom plate is this joint's child plate.

Leg (build two)

Hip to foot: six joints, five of them RS03. Build the left leg from the table, then the right with mirrored prints and the right-side IDs. Show the left leg →

Fit the hip-pitch coupler and bolt the hip-roll bracket's plate through it into the pelvis actuator (kit steps 3–4). The bracket's mount ring faces forward; its back plate and straps wrap the roll actuator from behind. Model →

Slide the hip-roll RS03 into the bracket from the front and bolt its lugs to the bracket's mount ring, output forward.

Coupler on the roll output, then the hip-yaw housing's front plate through it. The housing's mount ring hangs below the roll actuator: seat the hip-yaw RS03 in it from above, output down, and bolt the lugs. Model →

Coupler on the yaw output, thigh block through it. Slide the knee RS03 into the block's cup from the outboard side and bolt its lugs to the block's mount ring, output outboard. This is Duke V2's short thigh: the knee actuator hangs directly under the yaw actuator. Model →

Knee coupler, then the outer shank plate through it; the inner plate goes on the thigh block's stub with its 6707 bearing (kit step 5); the cross member joins them. Seat the ankle-pitch RS03 between the plates at the bottom and bolt its lugs to the mount ring that is part of the outer plate, output outboard.

Coupler on the ankle-pitch output, ankle bracket through it. Slide the RS06 into the bracket's cup behind the shank, output forward, and bolt its lugs to the mount ring. Model →

RS06 coupler on the roll output, the foot bracket's upright through it; the foot plate bolts to the bracket's base flange (four M5 through plate and sole), the TPU sole under it.

Six actuator drops from the hip-pitch actuator (in the pelvis) down to the ankle-roll actuator, then the terminator. Leave a loop at every joint sized for its full travel. See Routing.

Repeat with mirrored prints and IDs 21–26 on can1. The shank cross member and the soles are symmetric and not mirrored.

Torso and head

Four 2020 uprights between two printed plates, electronics inside, shoulder-pitch actuators at the top corners, head on the top plate. Show on the model →

Bolt the four uprights to the bottom plate (M5 into the tapped ends), square them with the corner brackets, then the top plate. Square the frame before anything goes in: every limb references it.

Bolt the waist adapter to the underside of the bottom plate. The torso will sit on the pelvis's waist actuator by this adapter.

Slide one RS06 into each shoulder mount from inside, output outboard, and bolt its lugs to the mount ring, whose outer face is the torso's side; hang the mounts from the top plate by their tabs. The couplers emerge just outside the side panels.

Fix the tray to the front uprights with T-nuts. Mount the computer, the four CAN adapters (labelled with their bus), the USB hub, the distribution block and the 48→12 V converter. Mount the contactor and the breaker behind the tray; the E-stop and the breaker handle go through the back panel. Wiring is on Electrical.

Bolt the IMU rigidly to the bottom plate, axes aligned to the frame: X forward, Y left, Z up. The software applies no mounting rotation.

Two cradles on the bottom plate at the back; packs upright, strapped, leads toward the breaker. Leave both packs unplugged.

Neck post and head shell on the top plate. Side and back panels with M3 into inserts; the front panel with magnets, so the tray is reachable.

Arm (build two)

Shoulder to wrist: five joints. Show the left arm →

Coupler on the shoulder-pitch output, the shoulder-roll bracket's plate through it: its beam reaches outboard to the roll cup. Slide the shoulder-roll RS06 into the cup from the front and bolt its lugs to the mount ring, output forward. Model →

Coupler on the roll output, the yoke's front plate through it. Seat the shoulder-yaw RS02 in the yoke's collar from below, output down, and bolt its nine lugs to the mount ring.

Coupler on the yaw output, the upper-arm link through it. Slide the elbow RS02 into the link's cup from outboard and bolt its lugs, output outboard.

Elbow coupler, outer forearm plate through it; inner plate on the upper arm's stub with its 6707 bearing; the forearm body joins the plates and takes the wrist-roll RS05 in its bore, held by four M3 into the RS05's rear face, output down.

Bolt the wrist adapter to the RS05 output with six M4 × 10 over three dowels. The gripper, or any end effector, bolts to the adapter's three M3 inserts on a 34 mm circle.

Five drops from the shoulder-pitch actuator to the wrist, terminator at the wrist. The right arm uses mirrored prints and IDs 41–45 on can3.

Gripper (optional, build two)

Duke V2's rack-and-pinion parallel gripper on an STS3215 bus servo. Both servos share one Waveshare driver on the USB hub. Model →

Set the servo IDs (1 left, 2 right) on the driver first. Bolt the servo into the gripper body and the printed pinion onto its horn.

Slide both racks in from opposite sides, both engaged on the pinion, jaws symmetric. Fit the fingers and glue the TPU pads.

Bolt the body to the wrist adapter with the jaws opening front-to-back at wrist zero. Run the servo cable up the arm with the CAN drops.

Final integration

Two people or a hoist from here on. Lift the torso by the top plate. Packs disconnected throughout.

Support the pelvis with both legs standing (or in a stand). Lower the torso so the waist adapter meets the waist flange; bolt it with the torso facing the same way as the feet.

Bolt each arm's shoulder adapter to its torso flange. Check the side: the arms differ by IDs and bus.

Bring the four limb chains in through the bottom plate cut-outs and up to their CAN adapters. Waist actuator joins the left-arm chain (can2).

Every joint through its travel by hand, alone and together; no cable stretched, pinched or kinked in any pose; nothing rattles. Hang the robot from the top plate with the feet 10 cm off the floor.