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.
- smaller
- fewer parts
- no additional screws/hardware needed to attach camera
- requires removal/replacement of existing Wrist Roll vs an add-on
- 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.
Step 1: Replace the Wrist Roll with our new one
- 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
-
3D print the Wrist Roll Replacement.
-
Attach the Wrist Roll Replacement by doing the reverse of (1).
- Take out the Camera Module.
- Align the 4 holes of the Camera Module with the Moving Jaw Replacement, and attach using 4 M2 Screws.
- 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).
- 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.
Design & Testing
- Conor McGartholl
- Philip Fung