Recommended Tools

Below is a list of all recommended tools for maintaining and repairing a Cassie robot.

Mechanical

• Metric and standard hex key sets.
  • We recommend a set of T-Handles for better torque feedback to reduce the chance of stripping any screws and a set of L-Handles for hard to reach spots.
• Screwdriver set with a good range of sizes.

Spare parts

Vibrations caused by walking with Cassie can cause many of the exterior screws to work loose over time. You should periodically check all visible screws and tighten them if they are loose. If you lose any of these screws, consult the list below to order spares.

• Toe actuator cover screws, Mcmaster 91294A012, QTY 16/robot
• Toe output crank screws, Mcmaster 90128A183, QTY 24/robot
• Thigh cover screws, small, Mcmaster 90128A184, QTY 32/robot
• Thigh cover screws, large, Mcmaster 95263A134, QTY 8/robot
• Connecting rod shoulder screw, Mcmaster 90337A197, QTY 6/robot
• Gimbal cover screws, Mcmaster 95263A146, QTY 12/robot
• Pelvis rear cover screws, Mcmaster 91306A661, QTY 4/robot
• Shoulder shell screws, Mcmaster 91294A239, QTY 8/robot
• Top interface panel screws, Mcmaster 91263A821, QTY 8/robot
• Handle screws, Mcmaster 92290A320, QTY 4/robot
• Pelvis mounting screws, Mcmaster 91294A239, QTY 4/robot
• Knee calibration screws, Mcmaster 91294A288, QTY 4/robot
• Drive connecting screws, Mcmaster 90128A264, QTY 24/robot
• Drive connecting lock washers, Mcmaster 91111A129, QTY 24/robot

Electrical

• A digital multi-meter and oscilloscope/logic analyzer can be useful for troubleshooting.
  • Fast continuity mode response will prevent false negatives
  • An oscilloscope/logic analyzer with bandwidth >=100MHz is sufficient

Wiring

There are four main types of electrical connections made in Cassie, each with their own crimping solution.

• Signal/Low Current (< 1A) Power Connections: Molex Picoblade (See table below for use quantities)
  • Crimps
  • Housings
  • Crimper
  • Pre-Crimped Wires

# of contacts	# of housings used in Cassie
2	31
3	4
4	20
5	1
6	28
8	1

• Medium Current (< 8.5A) Power Connections: Molex Micro-Fit Jr. (4 housings per robot)
  • Crimps
  • Housings
  • Crimper
  • Pre-Crimped Wires
• High Current (< 45A) Power Connections: Anderson Power Pole PP45 (58 housings per robot)
  • Crimps
  • Housings
  • Crimper
• Ethernet: RJ45 (25 housings per robot)
  • Crimps
  • Crimper

A few Cassie components require other crimping solutions for a single connection.

• VectorNav VN-100: Harwin Datamate (1 housing per robot)
  • Housing/Crimps
  • Pre-Crimped Wires
  • Loose crimps and a crimper are also available on Digikey but are not recommended due to the price and infrequency of use
• X8R Radio Receiver: Futaba J (2 housings per robot)
  • Crimps/Housings
  • Crimper
• Battery Data Connection: Molex SL Series (1 male and 1 female housing per robot)
  • Crimps
    • Male
    • Female
  • Housings
    • Male
    • Female
  • Crimper