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.

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