Build AgiBot Lingxi X1

Steps

20

Subassemblies

11

Hands-on time (sum)

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Critical path

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Your progress · this device

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20 steps have no time estimate; times above are lower bounds.

1. Fabrication
   01

   Order machined and sheet-metal parts from the drawings

   Send the per-part STEP files (三维零件图纸STEP.zip) and 2D PDF drawings (图纸.zip, 69 drawings with tolerances) to a CNC shop, with materials from the total BOM. The 2024-10-24 BOM specifies black anodize on the aluminium parts. The calibration jigs are in 工具包零件.zip (STEP, PDF, SolidWorks).

   CHECKEvery machined part in the total BOM is present in the listed quantity, and critical bores (bearing seats for 61900, GLRAU3005, SB685ZZ) accept their bearing as specified on the PDF drawing.

   Parts in

   • Actuator bearing kits: four-point-contact bearing inner ring x9 + outer ring x9 (R86-2), fixed flange x6 + fixed cage x6 + output cage x6 (R52)cnc.actuator-kits
   • Arm flanges and wrist: joint 01 flange 1/2, 02 flange, 03 flange 1 x2 + flange 2 x4, 04 flange 1/2, 05 flange 1, 05 output flange, wrist main bracket, hand link bracket, hand adapter (both arms)cnc.arms
   • Leg parts: thigh adapter (large), thigh bracket, 2nd-joint output bracket, shank bracket + mirrored, bearing press plates, ankle swing arm -001-001 x4, foot support 1, limit blocks 1/2/3, stop blocks 1/2, zero stops -01 x4, shank zero block (both legs)cnc.legs
   • Waist/torso: side plate x2, top plate, waist bracket-1, waist support seat, output shaft, waist link 2 + link 3 x2, waist limit blocks 2/3/4, waist zero limit blockcnc.torso
   • Motor clamps (电机抱箍) x9 + bearing retainers (轴承挡圈) x12cnc.shared
   • 7075 parts: waist link 1 x1, waist link 4 x2, ankle swing arm -001-002 x4, foot support 2 x2, foot support 3 x2cnc.high-load-7075
   • Titanium parts: ankle links short x2 + long x2, waist link 5 x2cnc.titanium
   • Precipitation-hardened steel shafts: waist support cross x3, wrist cross shaft x2, shank pin x4cnc.steel-shafts
   • Sensor shield (传感器屏蔽罩, IMU board cover)cnc.sensor-shield
   • Battery box sheet metal 1 + 2 (电池包钣金)sheet.battery-box
   • Calibration jigs (toolkit): waist zero block 1 + 2, foot zero block x2, neck lifting handlecnc.calibration-jigs

   Tools

   —

   Torque

   —

   Time

   —

   After

   Start

   Source

   github.com

2. 02

   Make the shells and internal brackets

   Produce the 70 shell and bracket parts from the STEP files. The 2024-10-24 BOM calls for 3D-printed resin with white paint (some parts black/white split paint, the head front shell black translucent, internal brackets unpainted); the 2025 total BOM lists them as ABS.

   CHECKAll 70 parts are present, and the M3/M4 brass inserts can be heat-set into the camera mount, 19 V buck bracket and phone clips without cracking.

   Parts in

   • Arm shells: joint 01 front/rear/middle 1/middle 2, 02 left/right, 03 front/rear, 04 shell 1/2, 05 front/rear, 06 shell 1/2 (both arms)shell.arms
   • Leg shells: thigh root -001-01/-02, thigh shell 1g/2g, lower-limb shell 1/2, shank shells (left + mirrored), foot front/rear shells (both legs)shell.legs
   • Torso and head shells: front shell, rear lower shell, rear upper small cover, hip shell 01/02, head front (black translucent)/rear shell, head bracketshell.torso-head
   • Internal brackets: camera mount, middle bracket, waist PCB bracket, IMU board, main-switch bracket, soft-start bracket, 19 V buck bracket, 24 V buck bases x2, router bracket, battery holder + mirror, phone holder + base plate + clips x2shell.brackets

   Tools

   —

   Torque

   —

   Time

   —

   After

   Start

   Source

   github.com

3. Actuator pre-assembly
   03

   Pre-assemble 9 R86-2 bearing kits

   Press the four-point-contact bearing evenly onto its inner ring (a press is recommended), then fix the outer ring, bearing and inner ring to the R86-2 with M3x14 countersunk screws. Put Loctite 243 on the last 6-8 mm of each screw and tighten in a cross pattern. Align the outer-ring scribe line with the cable cover. Before the final tightening, line up the inner-ring screw holes (a long M3 screw stops the ring rotating), because the ring can lock once the screws are tight.

   CHECKThe outer-ring scribe line lines up with the R86-2 cable cover, and the inner-ring screw holes line up with the mounting holes of the next part.

   Parts in

   • AgiBot PowerFlow R86-2 joint module (9 are pre-assembled into 'R86-2 组件' with a four-point-contact bearing kit)actuator.r86-2
   • Four-point-contact ball bearing (one per R86-2 kit)structure.four-point-bearing
   • Actuator bearing kits: four-point-contact bearing inner ring x9 + outer ring x9 (R86-2), fixed flange x6 + fixed cage x6 + output cage x6 (R52)cnc.actuator-kits
   • Stainless 304 screws, 15 sizes: M3x14 CSK 144, M3x22 40, M3x8 self-tap 28, CM4x8 flat 22, ST2.9x19 22, M2x3 20, ST2.2x6.5 10, ST3.5x16 7, M4x12 CSK 6, ST2.2x13 6, CM3x5 flat 6, M4x10 self-tap 4, M3x4 CSK 4, ST2.9x9.5 CSK 4, 1/4-20 x 5/16 camera screw 1fastener.stainless
   • Threadlocker Loctite 243 (screws); 648 for pins or high-strength jointsother.loctite

   Tools

   Torque wrench 0.2-1.2 Nm and 1.0-6.0 Nm, Bearing press (recommended)

   Torque

   1.3 N·m

   Time

   —

   After

   01

   Source

   github.com

4. 04

   Pre-assemble 6 R52 cross-roller kits

   Press the GLRAU3005 cross-roller bearing into the output cage, then fix the fixed flange and fixed cage to the R52 with 12 M3x14 countersunk screws (Loctite 243, cross pattern). The fixed-flange scribe line must face the groove on the R52 side, and the pin holes of the flange and cage must line up.

   CHECKThe fixed-flange scribe line sits in the R52 side groove, the flange and cage pin holes line up, and the output cage turns smoothly by hand.

   Parts in

   • AgiBot PowerFlow R52 joint module (6 pre-assembled into 'R52 组件' with a GLRAU3005 cross-roller kit, 4 used bare at the ankles)actuator.r52
   • GLRAU3005 cross-roller bearing, 30 x 41 x 5 mm (6 in R52 kits, 4 at the ankles)structure.glrau3005
   • Actuator bearing kits: four-point-contact bearing inner ring x9 + outer ring x9 (R86-2), fixed flange x6 + fixed cage x6 + output cage x6 (R52)cnc.actuator-kits
   • Stainless 304 screws, 15 sizes: M3x14 CSK 144, M3x22 40, M3x8 self-tap 28, CM4x8 flat 22, ST2.9x19 22, M2x3 20, ST2.2x6.5 10, ST3.5x16 7, M4x12 CSK 6, ST2.2x13 6, CM3x5 flat 6, M4x10 self-tap 4, M3x4 CSK 4, ST2.9x9.5 CSK 4, 1/4-20 x 5/16 camera screw 1fastener.stainless
   • Threadlocker Loctite 243 (screws); 648 for pins or high-strength jointsother.loctite

   Tools

   Torque wrench 0.2-1.2 Nm and 1.0-6.0 Nm

   Torque

   1.3 N·m

   Time

   —

   After

   01

   Source

   github.com

5. Arms
   05

   Arm joints 01-05 (left and right)

   Both arms use identical parts, but some parts and pins mount differently on the right arm. Clamp an R86-2 kit between the joint 01 flanges 1 and 2 (M4x10), fit the 5x10 pin and joint 02 flange (M3x25), add the next R86-2 kit and joint 03 flange 1, then clamp R52 kits with the joint 03/04 flanges and fix the joint 04/05 flanges. Tighten M4 clamps to 3.1 Nm and M3 screws to 1.4 Nm, with Loctite 243 on every screw. Tap every pin in with a mallet; the SOP warns that a pin in the wrong hole changes the robot's motion.

   CHECKEvery clamp seam is closed or evenly gapped, each pin sits in the hole shown in the SOP for that side, and each joint rotates by hand without binding.

   Parts in

   • AgiBot PowerFlow R86-2 joint module (9 are pre-assembled into 'R86-2 组件' with a four-point-contact bearing kit)actuator.r86-2
   • AgiBot PowerFlow R52 joint module (6 pre-assembled into 'R52 组件' with a GLRAU3005 cross-roller kit, 4 used bare at the ankles)actuator.r52
   • Arm flanges and wrist: joint 01 flange 1/2, 02 flange, 03 flange 1 x2 + flange 2 x4, 04 flange 1/2, 05 flange 1, 05 output flange, wrist main bracket, hand link bracket, hand adapter (both arms)cnc.arms
   • Socket head / countersunk screws, SCM435 12.9 (10.9 for CSK), 19 sizes: M3x6 158, M3x8 174, M4x10 120, M5x10 48, M4x14 36, M2.5x8 CSK 24, M3x12 24, M5x18 24, M4x12 21, M4x16 20, M4x8 19, M3x20 16, M3x25 16, M3x30 12, M3x25 CSK 8, M3x4 6, M3x32 4, M3x6 CSK 4, M5x8 2fastener.shcs-12-9
   • Dowel pins GB/T 119.2, m6, SUS440C per 2025-01-08 BOM: 4x10 39, 5x10 30, 4x14 24, 3x25 7, 4x12 6, 4x8 4, 3x35 2, 5x35 2fastener.dowel-pins
   • Threadlocker Loctite 243 (screws); 648 for pins or high-strength jointsother.loctite

   Tools

   Torque wrench 1.0-6.0 Nm, Rubber mallet

   Torque

   3.1 N·m

   Time

   —

   After

   03, 04

   Source

   github.com

6. Legs
   06

   Leg hip and thigh (left and right)

   Only the shank bracket differs between left and right (mirrored). Replace the R86-3 screws named in the SOP with the limit and zero stops (M3x32/M3x30 1.4 Nm, zero stop M3x25 CSK 1.2 Nm). Left and right legs use different screw positions. Fix the 2nd-joint output bracket, then clamp the R86-3 and R86-2 kits to the thigh bracket with motor clamps (M4x10, 3.1 Nm, cable covers facing the thigh bracket). Fix the large thigh adapter with M3x22 (1.4 Nm) and M5x18. Pre-route a 250 mm bent XT30 lead, cut to 20 cm, through the hollow R86-3.

   CHECKEach stop block is in the position the SOP photo shows for that side, and both leg joints rotate by hand until they hit the stops.

   Parts in

   • AgiBot PowerFlow R86-3 joint module (legs)actuator.r86-3
   • AgiBot PowerFlow R86-2 joint module (9 are pre-assembled into 'R86-2 组件' with a four-point-contact bearing kit)actuator.r86-2
   • Leg parts: thigh adapter (large), thigh bracket, 2nd-joint output bracket, shank bracket + mirrored, bearing press plates, ankle swing arm -001-001 x4, foot support 1, limit blocks 1/2/3, stop blocks 1/2, zero stops -01 x4, shank zero block (both legs)cnc.legs
   • Motor clamps (电机抱箍) x9 + bearing retainers (轴承挡圈) x12cnc.shared
   • Socket head / countersunk screws, SCM435 12.9 (10.9 for CSK), 19 sizes: M3x6 158, M3x8 174, M4x10 120, M5x10 48, M4x14 36, M2.5x8 CSK 24, M3x12 24, M5x18 24, M4x12 21, M4x16 20, M4x8 19, M3x20 16, M3x25 16, M3x30 12, M3x25 CSK 8, M3x4 6, M3x32 4, M3x6 CSK 4, M5x8 2fastener.shcs-12-9
   • Dowel pins GB/T 119.2, m6, SUS440C per 2025-01-08 BOM: 4x10 39, 5x10 30, 4x14 24, 3x25 7, 4x12 6, 4x8 4, 3x35 2, 5x35 2fastener.dowel-pins
   • XT30(2+2) power + CAN joint leads, 39 pcs: straight-straight 95 mm x3, 150 mm x1, 300 mm x4, 400 mm x2; bent-straight 150 mm x5, 200 mm x4; single straight 400 mm x4; single bent 250 mm x8; terminator lead x6; L28 350 mm x2cable.xt30-harness

   Tools

   —

   Torque

   3.1 N·m

   Time

   —

   After

   03

   Source

   github.com

7. Waist
   07

   Waist: yaw joint, hollow-shaft routing, parallel linkage

   Cut the RJ45 plug off one end of the waist Ethernet lead. Pass the 600 mm XT60 lead through the hollow R86-2 kit, and use it to pull the Ethernet wires through (do not force them). Re-crimp a new plug using channels 1, 2, 3 and 6 (white-green, green, white-orange, orange). Fit the waist zero limit block and output shaft (M3x22, 1.4 Nm, pinned), waist link 1 (M4x12, 3.1 Nm) and the support cross on 61900 bearings. Fix waist link 2 to link 1 with M5x8 at 6.0 Nm. Then fit link 3, the support seat (M4x16, 3.1 Nm), the left/right waist linkage assemblies (M3x22 to the R52 kit inner ring, 1.4 Nm; to link 1 at 6.0 Nm) and limit blocks 3/4.

   CHECKThe re-crimped Ethernet lead passes a cable-tester continuity check on pins 1/2/3/6, and the waist turns through yaw and the parallel-link range by hand without the XT60 lead chafing.

   Parts in

   • AgiBot PowerFlow R86-2 joint module (9 are pre-assembled into 'R86-2 组件' with a four-point-contact bearing kit)actuator.r86-2
   • AgiBot PowerFlow R52 joint module (6 pre-assembled into 'R52 组件' with a GLRAU3005 cross-roller kit, 4 used bare at the ankles)actuator.r52
   • Waist linkage assembly, left + right (6QUUU3 / 6QUUU4, custom part)structure.waist-linkage
   • Deep-groove ball bearing 61900-2Zstructure.bearing-61900
   • Waist/torso: side plate x2, top plate, waist bracket-1, waist support seat, output shaft, waist link 2 + link 3 x2, waist limit blocks 2/3/4, waist zero limit blockcnc.torso
   • 7075 parts: waist link 1 x1, waist link 4 x2, ankle swing arm -001-002 x4, foot support 2 x2, foot support 3 x2cnc.high-load-7075
   • Titanium parts: ankle links short x2 + long x2, waist link 5 x2cnc.titanium
   • Precipitation-hardened steel shafts: waist support cross x3, wrist cross shaft x2, shank pin x4cnc.steel-shafts
   • XT60 power lead, single-ended, 300 mm + 600 mmcable.xt60-leads
   • Ethernet leads: flat gigabit 0.5 m chest DCU to PC (down-angle/straight) + chest DCU to lower DCU (kit item)cable.ethernet
   • Socket head / countersunk screws, SCM435 12.9 (10.9 for CSK), 19 sizes: M3x6 158, M3x8 174, M4x10 120, M5x10 48, M4x14 36, M2.5x8 CSK 24, M3x12 24, M5x18 24, M4x12 21, M4x16 20, M4x8 19, M3x20 16, M3x25 16, M3x30 12, M3x25 CSK 8, M3x4 6, M3x32 4, M3x6 CSK 4, M5x8 2fastener.shcs-12-9
   • Dowel pins GB/T 119.2, m6, SUS440C per 2025-01-08 BOM: 4x10 39, 5x10 30, 4x14 24, 3x25 7, 4x12 6, 4x8 4, 3x35 2, 5x35 2fastener.dowel-pins

   Tools

   RJ45 crimp tool, Wire stripper, Flush cutters

   Torque

   6 N·m

   Time

   —

   After

   03, 04

   Source

   github.com

8. Arms
   08

   Wrist push rods and gripper

   Pin and screw the wrist main bracket to the joint 05 output flange (M4x12 CSK, 2.8 Nm). Fit the wrist cross shaft through the hand link bracket on two SB685ZZ bearings (CM3x5, 1.4 Nm; M2x3 retainers 0.2 Nm). Press a rod end into each L28 (M2x3, 0.2 Nm), screw the POS rod end onto the rod with both axes parallel, and fix the L28s to the wrist bracket (4x7 shoulder screws) and hand link bracket (3x12 shoulder screws) at 1.4 Nm. Remove the gripper back cover, screw it to the hand adapter from inside (M3x6, 1.4 Nm), refit the cover (0.6 Nm), and mount the adapter with the wide finger on the same side as the push rods.

   CHECKMoving the hand through pitch and yaw by hand drives both L28 rods smoothly with no rod-end bind, and the gripper's wide finger sits on the push-rod side.

   Parts in

   • AgiBot PowerFlow L28 linear push rod, assembled (推杆L28组装2), 2 per wristactuator.l28
   • AgiBot OmniPicker gripper (夹爪)actuator.omnipicker
   • Deep-groove ball bearing SB685ZZ (wrist cross)structure.bearing-sb685zz
   • Rod-end bearings for the L28 wrist push rods: 鱼眼轴承 x4 + 鱼眼轴承POS x4 (custom parts, drawings 6FUU4K / 6FUUBQ)structure.rod-ends
   • Arm flanges and wrist: joint 01 flange 1/2, 02 flange, 03 flange 1 x2 + flange 2 x4, 04 flange 1/2, 05 flange 1, 05 output flange, wrist main bracket, hand link bracket, hand adapter (both arms)cnc.arms
   • Precipitation-hardened steel shafts: waist support cross x3, wrist cross shaft x2, shank pin x4cnc.steel-shafts
   • Shoulder screws, 304: 6x22-M5 x6, 6x25-M5 x2, 4x7-M3 x4, 3x12-M2.5 x4fastener.shoulder-screws
   • Stainless 304 screws, 15 sizes: M3x14 CSK 144, M3x22 40, M3x8 self-tap 28, CM4x8 flat 22, ST2.9x19 22, M2x3 20, ST2.2x6.5 10, ST3.5x16 7, M4x12 CSK 6, ST2.2x13 6, CM3x5 flat 6, M4x10 self-tap 4, M3x4 CSK 4, ST2.9x9.5 CSK 4, 1/4-20 x 5/16 camera screw 1fastener.stainless

   Tools

   —

   Torque

   1.4 N·m

   Time

   —

   After

   05

   Source

   github.com

9. Legs
   09

   Shank, ankle linkage and foot

   Screw two bare R52s to the shank bracket (M3x8, Type-C ports facing as shown). Seat ankle swing arm -001-001 on each R52 (two of its three pin holes are slots and the orientation is fixed), press in a GLRAU3005, and fix the bearing press plates (M2.5x8 CSK, 0.6 Nm). Build the foot: foot support 1 + 2 with a 4x10 pin (M4x8, 3.1 Nm), the long arm of the support cross in the shank bracket on 61900 bearings with retainers (M3x6), then the ankle linkage assembly. Fix the rubber sole (CM4x8, 1.3 Nm), fix the linkage to the swing arm (M4x14, 3.1 Nm), and fix the shank to the thigh with M5x10.

   CHECKDriving each ankle R52 output by hand moves the foot through pitch and roll without the linkage binding, and there is no axial play at the cross bearings.

   Parts in

   • AgiBot PowerFlow R52 joint module (6 pre-assembled into 'R52 组件' with a GLRAU3005 cross-roller kit, 4 used bare at the ankles)actuator.r52
   • GLRAU3005 cross-roller bearing, 30 x 41 x 5 mm (6 in R52 kits, 4 at the ankles)structure.glrau3005
   • Ankle linkage assembly, left + right (6QUUU1 / 6QUUU2, custom part)structure.ankle-linkage
   • Deep-groove ball bearing 61900-2Zstructure.bearing-61900
   • Rubber parts: foot soles 6DUUGV x2 (black, 85 Shore) + back handle 6DUUGT x1 (black, 50 Shore)structure.rubber
   • Leg parts: thigh adapter (large), thigh bracket, 2nd-joint output bracket, shank bracket + mirrored, bearing press plates, ankle swing arm -001-001 x4, foot support 1, limit blocks 1/2/3, stop blocks 1/2, zero stops -01 x4, shank zero block (both legs)cnc.legs
   • 7075 parts: waist link 1 x1, waist link 4 x2, ankle swing arm -001-002 x4, foot support 2 x2, foot support 3 x2cnc.high-load-7075
   • Titanium parts: ankle links short x2 + long x2, waist link 5 x2cnc.titanium
   • Precipitation-hardened steel shafts: waist support cross x3, wrist cross shaft x2, shank pin x4cnc.steel-shafts
   • Motor clamps (电机抱箍) x9 + bearing retainers (轴承挡圈) x12cnc.shared
   • Socket head / countersunk screws, SCM435 12.9 (10.9 for CSK), 19 sizes: M3x6 158, M3x8 174, M4x10 120, M5x10 48, M4x14 36, M2.5x8 CSK 24, M3x12 24, M5x18 24, M4x12 21, M4x16 20, M4x8 19, M3x20 16, M3x25 16, M3x30 12, M3x25 CSK 8, M3x4 6, M3x32 4, M3x6 CSK 4, M5x8 2fastener.shcs-12-9
   • Stainless 304 screws, 15 sizes: M3x14 CSK 144, M3x22 40, M3x8 self-tap 28, CM4x8 flat 22, ST2.9x19 22, M2x3 20, ST2.2x6.5 10, ST3.5x16 7, M4x12 CSK 6, ST2.2x13 6, CM3x5 flat 6, M4x10 self-tap 4, M3x4 CSK 4, ST2.9x9.5 CSK 4, 1/4-20 x 5/16 camera screw 1fastener.stainless

   Tools

   —

   Torque

   3.1 N·m

   Time

   —

   After

   06

   Source

   github.com

10. Torso
    10

    Torso frame and waist IMU

    Safety · human-verified required

    Fix the side plates to the waist R52 kit (M5x10, 6.0 Nm) and the top plate across them (M4x10, 3.1 Nm). Mount a YIS320 with its DCU lead on the IMU board under the sensor shield, and fix the IMU board to waist bracket-1 (M3x12, 1.3 Nm). The SOP warns that a reversed IMU makes the robot move opposite to its commands, which is dangerous. Press waist bracket-1 onto the waist R86-2 cable cover, pin it, and clamp it with a motor clamp (M4x10, 3.1 Nm).

    CHECKA second person confirms the IMU board orientation matches the SOP photo before the bracket is closed.

    This step can hurt a person or ruin parts. Its instructions need sign-off by a human who has done it before relying on them. Stop and ask if anything differs from what you see.

    Parts in

    • Waist/torso: side plate x2, top plate, waist bracket-1, waist support seat, output shaft, waist link 2 + link 3 x2, waist limit blocks 2/3/4, waist zero limit blockcnc.torso
    • Motor clamps (电机抱箍) x9 + bearing retainers (轴承挡圈) x12cnc.shared
    • Sensor shield (传感器屏蔽罩, IMU board cover)cnc.sensor-shield
    • YIS320 industrial attitude sensor (IMU), one on the waist IMU board, one on the chest middle bracketsensor.yis320
    • YIS320-to-DCU lead: Molex 5013300600 to GH1.25 6P, same-side, 100 mmcable.imu-dcu
    • Internal brackets: camera mount, middle bracket, waist PCB bracket, IMU board, main-switch bracket, soft-start bracket, 19 V buck bracket, 24 V buck bases x2, router bracket, battery holder + mirror, phone holder + base plate + clips x2shell.brackets
    • Socket head / countersunk screws, SCM435 12.9 (10.9 for CSK), 19 sizes: M3x6 158, M3x8 174, M4x10 120, M5x10 48, M4x14 36, M2.5x8 CSK 24, M3x12 24, M5x18 24, M4x12 21, M4x16 20, M4x8 19, M3x20 16, M3x25 16, M3x30 12, M3x25 CSK 8, M3x4 6, M3x32 4, M3x6 CSK 4, M5x8 2fastener.shcs-12-9
    • Dowel pins GB/T 119.2, m6, SUS440C per 2025-01-08 BOM: 4x10 39, 5x10 30, 4x14 24, 3x25 7, 4x12 6, 4x8 4, 3x35 2, 5x35 2fastener.dowel-pins

    Tools

    —

    Torque

    6 N·m

    Time

    —

    After

    07

    Source

    github.com

11. Electrical
    11

    Solder and fit the limb power/CAN harness

    Safety · human-verified required

    Where the SOP says a lead needs soldering (arm joints 1-2, 2-3, 5-6; leg joints 1-2, 2-3, 4-5), cut the XT30(2+2) leads to the stated lengths, strip about 1 cm, tin the ends, pass the lead through the hollow joint, and solder colour-to-colour under heat-shrink. The other joints use ready-made leads. At the wrist, solder the 48 V to 24 V converter into the L28 350 mm lead and screw it to its base on the wrist bracket. The last joint of each chain gets the XT30 terminator lead.

    CHECKWith no power connected, each chain shows continuity on every XT30 contact end to end, there is no short between the power pins, and every solder joint is fully covered by heat-shrink.

    This step can hurt a person or ruin parts. Its instructions need sign-off by a human who has done it before relying on them. Stop and ask if anything differs from what you see.

    Parts in

    • XT30(2+2) power + CAN joint leads, 39 pcs: straight-straight 95 mm x3, 150 mm x1, 300 mm x4, 400 mm x2; bent-straight 150 mm x5, 200 mm x4; single straight 400 mm x4; single bent 250 mm x8; terminator lead x6; L28 350 mm x2cable.xt30-harness
    • GH1.25 6P latching lead, same-side: L28-L28 100 mm x2, L28-OmniPicker 300 mm x2cable.gh125-6p
    • 48 V to 24 V 5 A converter, soldered into each wrist L28 lead (SOP part 4XUUU3)power.buck-24v
    • Internal brackets: camera mount, middle bracket, waist PCB bracket, IMU board, main-switch bracket, soft-start bracket, 19 V buck bracket, 24 V buck bases x2, router bracket, battery holder + mirror, phone holder + base plate + clips x2shell.brackets

    Tools

    80 W soldering station, Solder wire, Heat-shrink tubing 3 mm and 5 mm, Heat gun, Wire stripper, Tape measure

    Torque

    —

    Time

    —

    After

    08, 09, 07

    Source

    github.com

12. Torso
    12

    Chest electronics: PC, camera, DCU, power distribution

    Safety · human-verified required

    Mount the D435 (1/4-20 screw, 1.4 Nm) on the camera mount. Heat-set the M3 inserts, then seat the mini PC on silicone dampers, power button toward the camera. Mount the second YIS320 on the middle bracket. Fix the upper DCU to the middle bracket (power port down) and slide it between the side plates. Build the power path: solder the XT90 lead to the KCD rocker switch; wire the 2-in/8-out terminal block, the two soft-start boards (one fed through the waist), the 19 V buck for the PC, and the remote-switch enable leads routed to the remote switch on the left side plate. Solder the PC 19 V lead black-black, red-yellow, under heat-shrink.

    CHECKWith the battery disconnected, a multimeter shows no short across the XT90 input and correct polarity at every terminal-block output, the 19 V lead and each DCU XT60.

    This step can hurt a person or ruin parts. Its instructions need sign-off by a human who has done it before relying on them. Stop and ask if anything differs from what you see.

    Parts in

    • x86 mini PC (工控机MiniPC), i7-13620H in the 2024-10-24 BOM, 19 V supplycompute.minipc
    • Intel RealSense D435 depth camerasensor.d435
    • YIS320 industrial attitude sensor (IMU), one on the waist IMU board, one on the chest middle bracketsensor.yis320
    • Xyber-DCU v18 domain control unit (EtherCAT to 3x CAN-FD, 1 kHz; one upper-body, one lower-body)electronics.xyber-dcu
    • GL.iNet MT2500A wired routerelectronics.router
    • 19 V 5 A step-down module for the mini PC (XW-2290-19-95W)power.buck-19v
    • Wide-input 4.5-60 V to 5 V 5 A power modulepower.buck-5v
    • KCD 48 V 50 A lit rocker switch, green, 4-pin 2-position (main switch)power.main-switch
    • Remote-control power switch (遥控开关) with 2 enable leads (2P, 500 mm)power.remote-switch
    • Soft-start board (缓启动板)power.soft-start
    • Distribution terminal block, 2 in / 8 out (对接端子2进8出)power.terminal-block
    • XT60E-M panel connectorpower.xt60e-m
    • XT90 male lead, single-ended (battery to main switch)cable.xt90-lead
    • Soft-start board power wire, 12 AWG (3.5 mm²), red + black, cut to 300 mmcable.softstart-power
    • Mini PC 19 V supply lead, 5.5 x 2.5 mm single elbow, 29 cmcable.pc-19v
    • XT60 power lead, single-ended, 300 mm + 600 mmcable.xt60-leads
    • Silicone damping block (mini PC mount)structure.silicone-damper
    • Brass heat-set inserts (IUT), M3 x12 + M4 x4fastener.inserts
    • Shaft circlip GB/T 894 d6 x4 + rubber-coated M3x6 screw (camera mount) x2fastener.misc
    • Internal brackets: camera mount, middle bracket, waist PCB bracket, IMU board, main-switch bracket, soft-start bracket, 19 V buck bracket, 24 V buck bases x2, router bracket, battery holder + mirror, phone holder + base plate + clips x2shell.brackets

    Tools

    —

    Torque

    —

    Time

    —

    After

    10, 02, 11

    Source

    github.com

13. Integration
    13

    Mount limbs, lower DCU and battery

    Safety · human-verified required

    Fix the neck lifting handle to the top plate (M4x22). Pin and bolt each arm to the side plates (M4x10, 3.1 Nm). Seat each leg's first joint in waist bracket-1 and clamp it, then hang the robot from the hoist. Mount the lower DCU on the waist PCB bracket. Wire the lower DCU: left leg to CH1, right leg to CH2, waist rotary joint to CH3. Wire the upper DCU: left arm to CH1, right arm to CH2, the two parallel waist motors to CH3. Connect the XT60, Ethernet and IMU leads. Place the battery in the sheet-metal box without scratching its wrap, close it (M3x4 CSK), and fit it into the battery holders.

    CHECKEach DCU channel carries the chain named in the SOP (compare with the topology in the DCU driver doc), and the battery box does not move when you push it by hand.

    This step can hurt a person or ruin parts. Its instructions need sign-off by a human who has done it before relying on them. Stop and ask if anything differs from what you see.

    Parts in

    • Xyber-DCU v18 domain control unit (EtherCAT to 3x CAN-FD, 1 kHz; one upper-body, one lower-body)electronics.xyber-dcu
    • 48 V 8 Ah ternary Li-ion battery pack (fits within 75 x 105 x 165 mm; source says 12S preferred)power.battery
    • Battery box sheet metal 1 + 2 (电池包钣金)sheet.battery-box
    • XT30(2+2) power + CAN joint leads, 39 pcs: straight-straight 95 mm x3, 150 mm x1, 300 mm x4, 400 mm x2; bent-straight 150 mm x5, 200 mm x4; single straight 400 mm x4; single bent 250 mm x8; terminator lead x6; L28 350 mm x2cable.xt30-harness
    • Ethernet leads: flat gigabit 0.5 m chest DCU to PC (down-angle/straight) + chest DCU to lower DCU (kit item)cable.ethernet
    • Calibration jigs (toolkit): waist zero block 1 + 2, foot zero block x2, neck lifting handlecnc.calibration-jigs
    • Lifting kit: battery patient-lift style hoist (rated 300 jin, 150 kg) + 1 t 1.5 m sling + 4 M4 stainless lifting eyes + 4 M6 spring clipsother.hoist
    • Socket head / countersunk screws, SCM435 12.9 (10.9 for CSK), 19 sizes: M3x6 158, M3x8 174, M4x10 120, M5x10 48, M4x14 36, M2.5x8 CSK 24, M3x12 24, M5x18 24, M4x12 21, M4x16 20, M4x8 19, M3x20 16, M3x25 16, M3x30 12, M3x25 CSK 8, M3x4 6, M3x32 4, M3x6 CSK 4, M5x8 2fastener.shcs-12-9
    • Calibration-jig screws, 12.9 nickel: M4x22 x6 + M4x25 x6fastener.toolkit-screws

    Tools

    Robot hoist with sling and M4 lifting eyes

    Torque

    3.1 N·m

    Time

    —

    After

    12, 08, 09

    Source

    github.com

14. Bring-up
    14

    First power-on

    Safety · human-verified required

    Measure the XT90 terminals for a short, and check that the positive rail is isolated from the frame. Switch on: every actuator should play its start-up tone and flash its green rear LED. If any red LED lights, switch off and troubleshoot the harness and actuator with the vendor's host tool. Cycle power about 30 times.

    CHECKOver about 30 power cycles, every actuator shows a green LED each time, with no red LED, smell or hot connector.

    This step can hurt a person or ruin parts. Its instructions need sign-off by a human who has done it before relying on them. Stop and ask if anything differs from what you see.

    Parts in

    • 48 V 8 Ah ternary Li-ion battery pack (fits within 75 x 105 x 165 mm; source says 12S preferred)power.battery
    • 48 V 5 A smart Li-ion charger, 13S 54.6 Vpower.charger
    • KCD 48 V 50 A lit rocker switch, green, 4-pin 2-position (main switch)power.main-switch
    • AgiBot PowerFlow R86-2 joint module (9 are pre-assembled into 'R86-2 组件' with a four-point-contact bearing kit)actuator.r86-2
    • AgiBot PowerFlow R86-3 joint module (legs)actuator.r86-3
    • AgiBot PowerFlow R52 joint module (6 pre-assembled into 'R52 组件' with a GLRAU3005 cross-roller kit, 4 used bare at the ankles)actuator.r52
    • AgiBot PowerFlow L28 linear push rod, assembled (推杆L28组装2), 2 per wristactuator.l28

    Tools

    Digital multimeter

    Torque

    —

    Time

    —

    After

    13

    Source

    github.com

15. Software
    15

    Build the inference stack (AimRT) on the mini PC

    Install GCC 13, CMake 3.26 or newer, ONNX Runtime (built from source as a shared library) and ROS 2 Humble. Clone agibot_x1_infer, run `source url_gitee.bashrc` to use the Gitee mirrors, then `./build.sh $DOWNLOAD_FLAGS` and `./test.sh $DOWNLOAD_FLAGS`. The real robot needs a PREEMPT_RT kernel, because the DCU SDK runs an EtherCAT stack with hardware sync. Add /opt/ros/humble/lib and build/install/lib to /etc/ld.so.conf and run ldconfig.

    CHECK`uname -a` shows PREEMPT_RT, `cat /sys/kernel/realtime` prints 1, and ./test.sh passes.

    Parts in

    • x86 mini PC (工控机MiniPC), i7-13620H in the 2024-10-24 BOM, 19 V supplycompute.minipc

    Tools

    —

    Torque

    —

    Time

    —

    After

    13

    Source

    github.com

16. Bring-up
    16

    Set actuator IDs and zero positions

    Safety · human-verified required

    Lock the waist with waist zero blocks 1 + 2 (4x10 pin; replaces 6 bearing-retainer screws; M3x30 side, M3x12 front/back). Lock the ankles with the foot zero blocks (M3x8). Lock the leg joints with 3x35 pins, and align the arm joints to their scribe lines. Over each actuator's Type-C port, set its ID and run mode in the order of the ID diagram. The waist PCB must come off to reach the leg joint-1 port. L28 IDs: with the wide gripper finger facing out, the front push rod is ID 6 and the rear ID 7 on the left arm; the right arm is the opposite. Then remove every pin and jig; the SOP warns that powered motion with jigs fitted can burn out actuators.

    CHECKEach actuator reports the ID from the x1_id diagram, and all zero jigs and 3x35 pins are counted back into the toolkit before any motion command.

    This step can hurt a person or ruin parts. Its instructions need sign-off by a human who has done it before relying on them. Stop and ask if anything differs from what you see.

    Parts in

    • Calibration jigs (toolkit): waist zero block 1 + 2, foot zero block x2, neck lifting handlecnc.calibration-jigs
    • Dowel pins GB/T 119.2, m6, SUS440C per 2025-01-08 BOM: 4x10 39, 5x10 30, 4x14 24, 3x25 7, 4x12 6, 4x8 4, 3x35 2, 5x35 2fastener.dowel-pins
    • Calibration-jig screws, 12.9 nickel: M4x22 x6 + M4x25 x6fastener.toolkit-screws
    • L28 push-rod debug lead, USB-A to SH1.0 4P, 1 mcable.l28-debug
    • USB-C extension, up/down elbow (延长线C口直弯头)cable.usbc-elbow

    Tools

    PC with the actuator host software (not published in the X1 repos)

    Torque

    —

    Time

    —

    After

    14

    Source

    github.com

17. Software
    17

    Run the stack in simulation with the joystick

    Plug in the F710 receiver and run `cd build && ./run_sim.sh`. In simulation, switch to ZERO, click reset to make the robot stand, then switch to walking. Hold LB and use the left stick to walk and the right stick to turn.

    CHECKThe simulated X1 stands up from ZERO and walks forward and turns on joystick commands without falling.

    Parts in

    —

    Tools

    Logitech F710 gamepad

    Torque

    —

    Time

    —

    After

    15

    Source

    github.com

18. Bring-up
    18

    First motion on the real robot

    Safety · human-verified required

    Keep the robot on the hoist and run `cd build && ./run.sh`. Use the joystick to return to zero 20 times and confirm that communication and IMU data are normal. Then put the robot on the floor and walk it in walk_leg_arm mode, which the joystick doc says to use on the real robot. START switches any state to idle, with no joint torque.

    CHECK20 zero-returns complete with no DCU/EtherCAT errors and continuous /imu/data, and the robot then walks back and forth several times without faults.

    This step can hurt a person or ruin parts. Its instructions need sign-off by a human who has done it before relying on them. Stop and ask if anything differs from what you see.

    Parts in

    • Xyber-DCU v18 domain control unit (EtherCAT to 3x CAN-FD, 1 kHz; one upper-body, one lower-body)electronics.xyber-dcu
    • YIS320 industrial attitude sensor (IMU), one on the waist IMU board, one on the chest middle bracketsensor.yis320

    Tools

    Logitech F710 gamepad, Robot hoist

    Torque

    —

    Time

    —

    After

    16, 17

    Source

    github.com

19. Software
    19

    Train and export your own walking policy

    In agibot_x1_train, run `python humanoid/scripts/train.py --task=x1_dh_stand --run_name=<name> --headless`, check the result with play.py, export with export_onnx_dh.py (or export_policy_dh.py for JIT), and validate sim-to-sim in MuJoCo with sim2sim.py. Point onnx_conf.policy_file in the infer config at the new model.

    CHECKThe exported ONNX policy walks the MuJoCo model under sim2sim.py on joystick commands before it is loaded on the robot.

    Parts in

    —

    Tools

    NVIDIA GPU with Isaac Gym Preview 4, Python 3.8, PyTorch 1.13.1, CUDA 11.7

    Torque

    —

    Time

    —

    After

    17

    Source

    github.com

20. Shells
    20

    Fit shells, head and phone; final power-on

    Safety · human-verified required

    Fit the shells only after the function tests pass. Arm, leg and foot shells go on with M3x6/M3x8 at 0.5 Nm and 4x10 locating pins. Fix the head bracket (M4x10). Rest the robot's hips on a padded stool, dress the harness as the SOP shows so it clears the rear lower shell, fit the handle with a 5x35 pin, and fit the rear lower shell with the battery (XT90 lead between the ribs). Heat-set inserts in the head and phone parts, clamp the phone in the head, and close the head (0.5 Nm). Connect the battery XT90 with the main switch off, then power on.

    CHECKNo pinched or chafed lead is visible when closing the shells, every joint still reaches its range with shells fitted, and the robot powers on with all green LEDs.

    This step can hurt a person or ruin parts. Its instructions need sign-off by a human who has done it before relying on them. Stop and ask if anything differs from what you see.

    Parts in

    • Arm shells: joint 01 front/rear/middle 1/middle 2, 02 left/right, 03 front/rear, 04 shell 1/2, 05 front/rear, 06 shell 1/2 (both arms)shell.arms
    • Leg shells: thigh root -001-01/-02, thigh shell 1g/2g, lower-limb shell 1/2, shank shells (left + mirrored), foot front/rear shells (both legs)shell.legs
    • Torso and head shells: front shell, rear lower shell, rear upper small cover, hip shell 01/02, head front (black translucent)/rear shell, head bracketshell.torso-head
    • Internal brackets: camera mount, middle bracket, waist PCB bracket, IMU board, main-switch bracket, soft-start bracket, 19 V buck bracket, 24 V buck bases x2, router bracket, battery holder + mirror, phone holder + base plate + clips x2shell.brackets
    • Rubber parts: foot soles 6DUUGV x2 (black, 85 Shore) + back handle 6DUUGT x1 (black, 50 Shore)structure.rubber
    • Smartphone used as the face display (clamped in the head phone holder)electronics.phone
    • Brass heat-set inserts (IUT), M3 x12 + M4 x4fastener.inserts
    • Stainless 304 screws, 15 sizes: M3x14 CSK 144, M3x22 40, M3x8 self-tap 28, CM4x8 flat 22, ST2.9x19 22, M2x3 20, ST2.2x6.5 10, ST3.5x16 7, M4x12 CSK 6, ST2.2x13 6, CM3x5 flat 6, M4x10 self-tap 4, M3x4 CSK 4, ST2.9x9.5 CSK 4, 1/4-20 x 5/16 camera screw 1fastener.stainless
    • Dowel pins GB/T 119.2, m6, SUS440C per 2025-01-08 BOM: 4x10 39, 5x10 30, 4x14 24, 3x25 7, 4x12 6, 4x8 4, 3x35 2, 5x35 2fastener.dowel-pins

    Tools

    —

    Torque

    0.5 N·m

    Time

    —

    After

    18, 02

    Source

    github.com

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