Removing a Leg

Procedure

  1. Unscrew the motor connections from the ODESCs.

    make sure to disconnect correct cables

    Disconnecting correct cables is crucial.

  2. Remove the four screws that secure the top plate holding the ODESCs.

    enabling access to the electronics

    Top plate with ODESCs attached.

  3. With the top plate removed, you have access to the electronics inside Sparky. Carefully disconnect the encoder cables from the ODESCs as needed. Do not pull on the ODESCs or cables — excessive force can damage the connectors.

    access to electronics and encoder cables

    Access to electronics (encoder cables highlighted).

  4. Remove the sixteen screws that hold the leg to the robot. The views below show screw locations:

    side view of leg with 8 screws

    Side view — 8 screws.

    bottom view of leg with 4 screws

    Bottom view — 4 screws.

    top view of leg with remaining 4 screws

    Top view — remaining 4 screws.

  5. Slide the leg off and keep parts organized for reassembly.

Reassembly

Reverse the steps above to reattach the leg. Hand-tighten fasteners initially and torque to spec if required.

Note

Be cautious when reconnecting encoder cables and routing wires. Verify all connections before powering the robot.

Warning

Do not yank on the ODESC or wires. Damaging the encoder connectors may require repairs or encoder reinitialization. Additonally, be careful not to damage the encoder plate, as it can change offset values and require recalibration.