Framing is not included if you order a TRLC-DK1-X from our website.
DK1-X: Tabletop
(classic mounting, recommended)Pro: Natural resting position, good vision for tele-operator, optimal for given joint layoutCon: Large footprint - less portable, less human-like.TRLC-DK1-X-Tabletop CAD file ->DK1-X: Humanoid
(overhead mounting, not recommended)Pro: Small footprint - more portable, easier retargeting from human data.Con: Actuated home position needed, tele-operator vision is limited by torso aluminium extrusion, requires wrist flipping, wrist joints often operating near limits.TRLC-DK1-X-Humanoid CAD file ->DK1-X Tabletop part list
3D-printed parts can be found in the TRLC-DK1 GitHub Repository
Off-the-shelf parts from MiSUMi:
| # | Name / Part No. | Description | Procurement |
|---|
| 1 | HFS8-4080-700 | Aluminium extrusion: follower mount | MiSUMi |
| 1 | HFS8-4080-500 | Aluminium extrusion: leader mount | MiSUMi |
| 1 | HFS8-4080-400 | Aluminium extrusion: frame connector | MiSUMi |
| 1 | HFS6-3030-400 | Aluminium extrusion: context camera mount | MiSUMi |
| 36 | SHNTP8-5 | M5 T-slot nuts | MiSUMi |
| 8 | ISO 4762 M5x12 | Screws: follower arms | MiSUMi / Amazon |
| 28 | ISO 4762 M5x16 | Screws: leader arms & 3D-printed plates | MiSUMi / Amazon |
| 20 | ISO 7093 M5 | Washers: 3D-printed plates | MiSUMi / Amazon |
DK1-X Humanoid part list
For now, DK1-X-Humanoid parts need to be derived from the CAD file
| # | Name / Part No. | Description | Procurement |
|---|
| 1 | HFS8-8080-500 | Aluminium extrusion: torso | MiSUMi |
| 1 | HFS8-4080-500 | Aluminium extrusion: shoulders | MiSUMi |
| 2 | HFS8-4080-400 | Aluminium extrusion: leader mount | MiSUMi |
| 1 | CNC Base Plate | Custom base plate (CAD file) | MiSUMi / PCBWay |
| ~60 | SHNTP8-5 | M5 T-slot nuts | MiSUMi |
| 8 | ISO 4762 M5x12 | Screws: follower arms | MiSUMi / Amazon |
| ~70 | ISO 4762 M5x16 | Screws: leader arms & 3D-printed plates | MiSUMi / Amazon |
| ~50 | ISO 7093 M5 | Washers: 3D-printed plates | MiSUMi / Amazon |
