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    • Materials and Parts (BOM)
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    • Building the Actuator
    • Flashing the Motor Controllers
    • Building the Robot
  • Getting Started with Software
    • Software Development Environment Overview
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    • Sim2sim Validation
    • The On-board Computer
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  • lerobot Integration
  • In-depth Contents
    • Field Oriented Control (FOC) Operation
    • Motor Controller Firmware Execution Timing Information
    • Motor Characterization
    • Actuator Characterization
    • CAN Communication
    • Joint ID Mapping
    • Exporting Robot Description Files from Onshape
    • Domain Randomizations for Training Locomotion
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  • Files
  • Print settings
  • Printing the actuator
  • Actuator Housing Profile
  • Actuator Shaft Profile
  • Printing the rest of the robot
  1. Getting Started with Hardware

3D Printing Instructions

PreviousPreparing the ToolsNextBuilding the Actuator

Last updated 23 days ago

Files

Please refer to the Releases page for the latest release of CAD model and 3D printing project files.

Print settings

The following parameters are tuned for the Bambu Lab X1C 3D Printer. Additional modifications might be required to fit your own printer's characteristics.

Printing the actuator

Actuator Housing Profile

For the housing, output shaft, and the motor shell, the Actuator Housing Profile should be used.

Actuator Shaft Profile

For the cycloidal disk, input shaft, motor shaft, and the spacers, the Actuator Shaft Profile should be used.

Printing the rest of the robot

Similar principle applies to the rest of the robot.

Parts on the Upper Body and Lower Body plates need to be printed twice in mirrored setting to assemble the two arms and two legs.

The structural parts does not require the high precision as the actuator modules, so they can be printed at a faster speed setting.

Releases