SO-ARM100/Optional/Wrist_Cam_Mount_32x32_UVC_Module/README.md

Wrist Camera Integrated/One-Piece Installation Guide for SO-100/SO-101

Overview

This guide provides step-by-step instructions for installing a Wrist Camera on the SO-100/SO-101 robots using a Camera Module and a 3D-printed Jaw Replacement Part.

Comparison to Main Design

Advantages:

• smaller
• fewer parts
• no additional screws/hardware needed to attach camera

Disdvantages:

• requires removal/replacement of existing Wrist Roll vs an add-on

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 Wrist Roll Replacement (SO-100, SO-101) (1)
• M2 Screws (4) - these are the smaller screws that came with your Feetech servos.

Assembly Instructions

Step 1: Replace the Wrist Roll with our new one

1. If a Moving Jaw is already installed on the arm, leave it attached. Remove the gripper servo from the existing Wrist Roll piece by:

• unscrewing all 6 of M3 Screws from the front and back of the servo which attach it to the Wrist Roll piece
• gently pulling the motor out
• unscrew the remaining 4 M3 Screws holding the Wrist Roll piece to the next servo

2. 3D print the Wrist Roll Replacement.

3. Attach the Wrist Roll Replacement by doing the reverse of (1).

Step 2: Install the Camera

1. Take out the Camera Module.
2. Align the 4 holes of the Camera Module with the Moving Jaw Replacement, and attach using 4 M2 Screws.

Step 3: Configure Software and Adjust Focus

1. 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.

2. 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).
3. Important - 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.

Acknowledgements

Design & Testing

• Conor McGartholl
• Philip Fung