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3. Leader assembly

Verificado 2026-10-23

The leader uses a handle and trigger. Its motors have different gear ratios. Check package labels before installation and assign the IDs. Match the power supply to your kit’s ratings.

Leader motor assignments

ID Joint Code in the videos Gear ratio
1 Base C044 1:191
2 Shoulder C001 1:345
3 Elbow C044 1:191
4 Wrist C046 1:147
5 Handle rotation C046 1:147
6 Trigger C046 1:147

Keep power disconnected and follow the five videos in order.

12. Leader base — motor 1, C044

12 / 16 · 2:41 · Leader base — motor 1, C044
  1. Use a C044 motor with a 1:191 gear ratio for the base. Check its package label before fitting it.
  2. Fit the upper horn with M3×6 and prepare the cable. Secure the motor in the base with four M2×6 screws, two above and two below.
  3. Fit the holder with two M2×6 screws, then the second horn. Attach the link with four M3×6 screws above and below and fit the shoulder holder.

Download video · MP4

13. Leader shoulder — motor 2, C001

13 / 16 · 2:17 · Leader shoulder — motor 2, C001
  1. Use a C001 motor with a 1:345 gear ratio for the shoulder; it differs from the base motor.
  2. Fit the upper horn and M3×6 centre screw, then the cable. Insert the motor from above and secure it with four M2×6 screws.
  3. Fit the second horn and upper-arm link with four M3×6 screws on each side.

Download video · MP4

14. Leader elbow — motor 3, C044

14 / 16 · 2:14 · Leader elbow — motor 3, C044
  1. Use C044, 1:191 for the elbow, the same type as the base.
  2. Secure the upper horn with M3×6, prepare the cable and insert motor 3. Secure it with four M2×6 screws.
  3. Fit the second horn and forearm using four M3×6 screws on each side.

Download video · MP4

15. Leader wrist — motor 4, C046

15 / 16 · 1:45 · Leader wrist — motor 4, C046
  1. Prepare a C046 motor with a 1:147 gear ratio.
  2. Fit the upper horn with M3×6 and prepare the cable. Fit the holder and secure the motor with four M2×6 screws.
  3. Fit the second horn and hold it when tilting the assembly; it has no centre retaining screw.

Download video · MP4

16. Leader handle and trigger — motors 5 and 6

16 / 16 · 4:48 · Leader handle and trigger — motors 5 and 6
  1. Use C046, 1:147 for both motors. Fit motor 5 into its holder with two M2×6 screws, then its horn with M3×6.
  2. Prepare the cables to motors 4 and 6. Attach the wrist holder to motor 4 with four M3×6 screws per side.
  3. Insert the handle into its slot and secure it with M2×6. Attach the handle assembly to motor 5’s horn with four M3×6 screws.
  4. Fit motor 6 with two M2×6 screws on each side. Fit its horn with an M3×6 centre screw, then the trigger with four M3×6 screws.
  5. Check the bus connections, handle fixing and trigger travel. Continue with calibration of both arms and a teleoperation check.

Download video · MP4

Label both USB cables and power supplies. Check that each board connects to the intended arm before calibration.

Next: calibration →