Do not charge or use if the battery is punctured, damaged, bloated, expanded, swollen, or otherwise deformed.
Only use 3 cell, 11.1 V LiPo batteries.
Do not leave batteries unattended when charging. Monitor batteries during charging for popping, hissing, smoke, sparks or fire. Also monitor the battery for any swelling or other deformities. Disconnect the battery from your charger immediately and do not use if you notice any of these symptoms.
Do not charge batteries near flammable material. Charge batteries in a fireproof container when possible. Do not charge batteries while they are installed in your robot.
The following hardware is included and is required to build the Turtlebot2i. Most of these pieces are found in the kits, although they may not be used with the particular piece they are packaged with.
Don't worry if you have extras at the end, you may have received some spares.
12x Standoff M3 x 30
28x Socket Head Bolt M3 x 8
4x Spacer M4
6x F/F Standoff M4
36x M/F Standoff M4
1x 1/4-20 x 9/16" Socket Cap Bolt
2x Camera Washer
18x M4 x 8 Button Head Bolt
1x M6 Button Head Bolt
2x Socket Head Bolt M3 x 10
2x Spacer M3 x 3
Tools Needed
Hex key set (1.5 / 2.0 / 2.5) (Provided)
1.5 mm hex driver (Provided)
2.5 mm hex driver (Provided)
Build Steps
Pre Step: Peel Your Plastic
Some of your plastic pieces will have paper masking on one or both sides. Peel the masking paper off before getting started.
There also may be some dust on your parts. This is from the laser cutting manufacturing process. It is harmless and can be cleaned up by wiping with a rag or being washed with water.
Pre Step: Turbo Fuse
Your kit comes with Turbo Fuse. The type provided is non-permanent and plastic safe. Turbo Fuse is used to keep nuts and bolts in place on robots since they move and shake around a lot.
To use your Turbo Lock, squirt a small amount into a plastic spoon. As you build, before screwing a bolt into your robot, dip the tip of each bolt into the Turbo Lock and brush the excess off onto the side of the spoon. See the video above for more details.
Pre Step: Nuts for AX-12A
ASSEMBLY TIPS: Seating the Nuts into the Nut Sockets
Pre Step: Servo Centering
AX-12/AX-18 DYNAMIXEL Servos can move up to 300° . When the servo is directly in the middle of this 300° range, it is considered to be 'centered'. You will be able to tell that the servo is centered when the single notch on the servo casing matches up with the single notch on the servo horn.
The instructions in this guide assume that all of your servos are 'centered'. If the servos are not centered when attached to the brackets as shown in this guide, your robot will not work correctly.
If your servo horn is not centered, you can move it by hand or use the DynaManager to center the servo.
For each step before starting read through the whole step and look at all the photos. It helps to avoid mistakes when you have read through all the parts of a step first.
Step 1: Build up the Kobuki Base
6x M/F Standoff M4
8x Standoff M3 x 30
8x Socket Head Bolt M3 x 8
Attach 6 x M4 M/F Standoffs to the Kobuki Base in the positions shown
Place the battery on top of the Kobuki Base as shown, using sticky velcro strips and foam to keep the battery in place.
Attach the Lipo Harness and OpenUPS to Battery Adapter to the Lipo Battery. Attach the Barrel Jack to Molex 2-pin adapter to the barrel jack of the Lipo Harness
Attach the 6-pin end of the 18v Molex Adapter Cable to the 18V 2A Port, and the 2-pin Molex to Deans to the 12V 5A Port on the Kobuki Base. Attach a Male Deans to Barrel Jack adapter to the 2-pin Molex to Deans Female Adapter.
Attach 4 x M3*30mm Standoffs to the top of the OpenUPS using 4 x M3*6 Bolts
Plug the 4-pin end of the 18v Molex Adapter Cable, the LiPo Balance Connector to OpenUPS Adapter, and 2-pin end of the Molex from the UPS Battery Switch Harness into the fuse side of the OpenUPS board
Plug a Male Deans to Barrel Jack adapter and a Lipo Harness into the Y-Splitter Harness
Plug the 4-pin Molex from the Y-Splitter harness into the output side of the OpenUPS board
Attach 4 x M3*30mm Standoffs to the top of the ArbotiX-M using 4 x M3*6 Bolts
Plug the Barrel Jack from the 12V 5A cable connected to the Kobuki Base into the ArbotiX-M
Step 2: Build up the Base Plate
6x F/F Standoff M4
12x M4 x 8 Button Head Bolt
4x Standoff M3 x 30
16x Socket Head Bolt M3 x 8
2x Socket Head Bolt M3 x 10
2x Spacer M3 x 3
Attach 6 x M4 F/F Standoffs to the top of the Base Plate using 6 x M4*8 Bolts
Attach 4 x M3*30mm Standoffs to the top of the Pincher Mounting Plate using 4 x M3*8 Bolts
Attach the Pincher to the bottom of the Base Plate using 4 x M3*8 Bolts
Plug the Pincher and the FTDI USB cable into the ArbotiX-M and attach the ArbotiX-M to the bottom of the Base Plate using 4 x M3*8 Bolts
Attach the OpenUPS to the bottom of the Base Plate using 4 x M3*8 Bolts
Mount the NUC and battery switches to the base plate as shown. You will have trouble plugging in the NUC if you mount the switches backwards.
Attach the NUC to the top of the Base Plate using 2 x M3*10 Bolts and 2 x M3*3 Spacers
Attach the Base Plate to the Kobuki Base using 6 x M4*8 Bolts
Fish the Switched barrel plug through the hole above the ArbotiX-M. Plug the Barrel Jack adapter into the NUC, and the barrel jack into the adapter
Step 3: Build up the Middle Plate
4x M/F Standoff M4
4x Socket Head Bolt M3 x 8
Seat the USB Hub into the 2 x USB Hub Mounting Brackets and attach to the Middle Plate using 4 x M3*8 Bolts
Plug the remaining barrel jack from the Main Harness into the USB Hub along with the USB 3.0 Cable that came with it.
Attach the Middle Plate to the Base Plate using 4 x M4 M/F Standoffs as shown. (leave the front two holes unpopulated for now)
Step 4: Stack it up!
1x M6 Button Head Bolt
1x 1/4-20 x 9/16" Socket Cap Bolt
2x Camera Washer
26x M/F Standoff M4
4x Spacer M4
6x M4 x 8 Button Head Bolt
Attach the Astra to the Camera Plate using 1 x M6*8 Bolt
Make 8 pairs of M4 M/F standoffs as shown
Attach the Camera Plate to the Middle Plate using your Standoff Assemblies
Attach the Utility Plate to the Camera Plate Using your Standoff Assemblies
Affix the SR300 to the Top Plate using 1 x 1/4-20*9/16" Socket Cap Bolt and two Washers
Build 2 x Long Standoff Assemblies using 2 x M4 M/F Standoffs followed by an M4 Spacer, 2 x M4 M/F Standoffs followed by an M4 Spacer, and 2 x M4 M/F Standoffs to finish each
Attach the Long Standoff Assemblies in the position shown.
Cap off the Turtlebot2i by attaching the Top Plate using 6 x M4*8 Bolts
Step 5: Make sure USB Devices are plugged in properly
Plug the SR300 directly into the back of the NUC
Plug the Astra into the USB Hub
Plug the FTDI Cable into the ArbotiX-M, minding orientation
Plug the FTDI Cable into the USB Hub
Plug the Kobuki Base into the USB Hub
Make sure to toggle the USB ports you plug devices into ON
