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* add s101 wrist camera mount 3d models * add s101 wrist camera mount assembly instructions * add note about optional so101 wrist camera to readme
Hex-Nut Recess Wrist Camera (MF) Installation Guide for SO-101
Overview
This guide provides step-by-step instructions for installing a Wrist Camera (alternate "McGartoll-Fung" design) on the SO-101 robot using a Camera Module and a 3D-printed Hex-Nut Recess Camera Adapter.
This adapts the Wrist Camera (MF) UVC Module and Wrist Camera (MF) UVC Plug‑on Module.
Comparison to Main Design
Advantages:
- adapted to use the hex-nut recesses on the wrist of the SO-101 follower arm
Disadvantages:
- still requires adaption to the new camera
- requires two screws and two nuts which are not included with the servos
- not backwards-compatible to the SO-100
Required Components
Hardware:
- USB Camera Module (1) - this is the recommended model, but any 32mm x 32mm USB camera module with min 720p / 30 fps spec will likely work
- 3D-printed Hex-Nut Recess Camera Adapter (1)
- I recommend printing it as oriented in the STL using tree supports. 40% infill is recommended to increase sturdiness and avoid wobbling
- M2 Screws (4) - these are the smaller screws that came with your Feetech servos.
- M3 x 8mm Screws (2)
- M3 Hex Nuts (2)
Assembly Instructions
Step 1: Attach the Adapter to the Gripper
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3D print the Hex-Nut Recess Camera Adapter.
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Remove Motor 6, you can leave the Moving Jaw attached.
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Insert the hex nuts into the recesses in the Wrist Roll Element.
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Reattach Motor 6, secure it with its original M2 screws again.
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Secure the adapter with the two M3 screws.
Step 2: Install the Camera
- Take out the Camera Module.
- Align the 4 holes of the Camera Module with the Camera Adapter, and attach using 4 M2 Screws.
Step 3: Configure Software and Adjust Focus
- In your software, set your resolution and FPS.
- Note: You will likely want to set your resolution to 640 x 480 and FPS to 30 even if the camera module's max resolution/frame rate is higher, as most models work with lower resolutions and any higher will just be data bloat.
- Turn on your arm. Look at the video feed from your newly installed camera (On Mac, you can also use QuickTime->New Movie Recording to see this feed).
- Note: The focus on the camera is manual and will look very blurry initially. Adjust the focus by twisting the lens counterclockwise or clockwise until the video feed is clear.