open_2DOF_robot_head

Open-source 2-DOF robot head designs for research use across various robotic platforms.
Modular, extensible, and continuously updated to support multiple robot types.

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G1 Platform Overview

📸 Visual Preview

📦 Bill of Materials (BOM)

Component	Quantity	Notes
Dynamixel X330-series servo	2	XL330 or XC330, one for yaw, one for pitch
U2D2 communication board	1	For USB-to-Dynamixel control
Dynamixel power hub or power board	1	5v or 12V, ensure compatibility with X330 series
FPX330-S102 servo bracket	1	Connects yaw motor to pitch motor
PHS M2×8 TAP screws	18	Servo mounting
PHS M2×4 TAP screws	4	Adaptor mounting
Idler + Idler Cap + BTS M2.6×6 TAP	1 set	Comes with XL330/XC330 package (idler kit)
3D Printed (neck_base.stl)	1	Mounts directly to robot chassis
3D Printed (neck_base_shell.stl)	1	Covers and supports yaw motor
3D Printed camera mount (camera_mount.stl)	1	Supports Intel RealSense D455 and ZED Mini

🛠️ 3D printing with PLA+ or PLA-CF materials recommended for better rigidity and durability.

🧷 Assembly & Mounting Instructions

1. Carefully remove the original G1 robot head, including the camera and LiDAR ribbon cables.
   ⚠️ Be extremely cautious when disconnecting internal wiring and PCBs—damage is your responsibility.

2. Install neck_base.stl onto the robot’s upper chassis and insert the yaw motor (Dynamixel X330 series).
   Then cover with neck_base_shell.stl and secure using six M2×8 TAP screws.

3. Mount the FPX330-S102 servo bracket onto the yaw motor output horn, using four M2×4 TAP screws.

4. Attach the pitch motor to the FPX330-S102 using four M2×8 TAP screws.

5. Install the idler + idler cap onto the pitch motor’s passive side (comes with motor kit).

6. Fix the camera_mount.stl to the pitch motor by aligning it with both the idler and output horn, using eight screws.

7. Mount the camera module (Intel RealSense D435, D455 or ZED Mini) into the camera mount.

8. Connect both motors in a serial bus, and plug into the U2D2 communication board, ensuring regulated 12V power is supplied.

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Features

• Two Degrees of Freedom: Independent yaw and pitch rotation
• Modular Design: Easy to integrate and adapt across multiple robot platforms
• 3D Printable: Compatible with common consumer-grade 3D printers
• Motor Compatibility: Designed for Dynamixel XL330 series and XC330 (same-size) motors
• Flexible Mounting: Standardized interfaces for easy replacement or experimentation

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🚨‼️ Alert & Disclaimer

⚠️ For Research Use Only
These designs are intended strictly for research and non-commercial use. Please do not deploy them in any production, commercial, or safety-critical environment.

⚠️ Caution When Replacing Original Robot Heads
If you are using this design to replace an existing robot head, please be extremely careful during disassembly:

• Always power off the robot completely
• Disconnect cables and PCBs with care — fragile connectors, vision modules, or internal electronics can be easily damaged
• Any damage caused during disassembly or replacement is your own responsibility

❗ We disclaim all liability for any damage, malfunction, or loss resulting from the use or installation of these models.

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Contributing

We welcome contributions! If you’ve adapted this head design for another robot, please:

1. Fork this repo
2. Create a new folder under the root directory
3. Add:
   • Your .step and .stl files
   • A README.md explaining mounting, power, and control integration
4. Submit a pull request!

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📬 Contact

For questions, feedback, or collaboration:

Chaoyi Xu
📧 [email protected]
🌐 co1one.github.io