Making room for two build options#

Later development — October 6: the printed chassis could not stand on its MG90 servos. The lighter rebuild keeps those servos and replaces the heavy battery bank with separate batteries and onboard charging boards. New parts are printing. The dimensions and bank packaging below preserve the September 28 iteration.

The mechanical work since September 24 covers the frame, electronics tray, battery, face and assembly references. The build is now split into Wired, which carries the Q6A computer, and Wireless, which leaves it offboard. The integration entry compares their transport, ROS 2 and power plans.

The latest Wireless record reaches 82.5 mm across the outside of the frame. It restores the original front carriers, moves the front leg assemblies 4.1 mm forward, and retains relief cuts in the rear carriers. The tray, support length, end panels and shell still need to follow that new placement. This is an in-progress fit revision, not a finished print set.

Oblique Blender view of Ainekio's angular red face with the revised display opening and lower chin. — September 27 mask fit preview around the new LCD reference. Uniform review colors show the angular transitions. Later carrier, spacer and Wireless frame edits are described below; this image predates them.

Separate designs in Blender#

The former modeling scene became Wireless, with Wired made as an independent copy. Their objects, mesh data and materials can now be edited separately. Parent relationships, constraints and driver references were retargeted within each design. The existing Gait and Motions scenes were preserved, and save/reopen checks verified the split.

Both designs started from the same hardware layout. Subsequent compact edits apply to Wireless; they do not automatically change the animation scenes or the Wired body. The older Blender showcase therefore remains useful motion history, but does not show today’s frame clearances.

Width, battery and leg placement#

The battery reference has changed from the earlier Anker envelope to the 115 × 51 × 26 mm SHARGE Pouch. The bank stays centered laterally with its port facing rearward. The table keeps the successive frame dimensions tied to their own revisions.

Geometry decision	Wider baseline / intermediate revision	Latest Wireless record
Outer frame width	100.3 mm restored baseline; then 94.3 mm compact Wireless layout	82.5 mm
Front-to-rear pivot spacing	147.7 mm in the 94.3 mm layout	151.8 mm after moving the front assemblies 4.1 mm forward
Front Part_003 carriers	An intermediate trial relieved all four carriers	Original front geometry restored, including mounting holes, rails and surface details
Rear Part_003 carriers	Original outline constrained narrowing around the bank	Battery relief retained
Checked inward shoulder movement	0–17° in the 94.3 mm layout at fixed carrier/crank pose	Front 0–17°; rear 0–13.4°, at the reviewed carrier/crank poses
Electronics tray and bridge	Included in the 94.3 mm layout’s fit checks	Excluded from the final narrowing decision; refit outstanding
Panels and shell	Earlier placements and geometry	Support length, end-panel and shell fitting still to follow

Moving the front assemblies forward recovered clearance for the original front carriers without continuing to cut them down. Their sampled minimum battery gap is approximately 0.590 mm at 17° inward swing, with a conservative bound above 0.56 mm between 0.1° samples. At the rear, the limiting moving hardware is Part_006 at approximately 0.523 mm over the checked 0–13.4° range.

The fixed Part_002 servo bodies still nominally touch the battery sides. Those near-zero clearances do not provide a practical manufacturing allowance. The bank, boards and fixed hardware kept their dimensions; no servo casing was trimmed to make the fit work.

Two cross-sections of the rear Part_003 carrier: the left marks removed material in red; the right shows the retained wall, screw hole and horn opening. — Rear-carrier study for the 82.5 mm frame and 13.4° inward swing. Red marks removed material at this section. The front carriers were subsequently restored to their original geometry and moved forward with their complete leg assemblies.

These are battery-clearance checks at particular carrier/crank poses. They neither establish a complete gait envelope nor change firmware limits. The most recent review preserves the rear assemblies, unrelated geometry and all 71 animation actions. It does not prove loaded strength, printed fit or unrestricted motion of the narrower body.

The onboard electronics tray#

Before the split, the Q6A tray was reduced from roughly 189.42 × 81 mm to 173.92 × 61 mm. It retains a 1.2 mm floor, rounded ventilation slots and supports for the P4 and servo driver. Small ledges carry the underside of the Q6A Armor case while leaving its fins exposed.

Q6A case, servo driver and P4 arranged on the slim slotted electronics tray. — September 27 onboard electronics layout. This view documents the Wired packaging baseline; the Wireless option removes the Q6A from the carried assembly.

The tray’s modeled material volume fell from 20.28 to 12.96 cm³, a 36.1% reduction. That is a geometric comparison, not a measured print mass or strength result. The case remains an approximate reference with about 0.3 mm modeled side clearance. A later rear-panel wrap follows the tray with a nominal 0.2 mm gap; full-motion checks were not repeated for that panel edit.

The intermediate 94.3 mm Wireless design instead placed the P4 and Adafruit servo driver side by side over the bank, with the purple IMU reference at the bottom/front and its headers facing outward. A separate bridge locates on tray pegs. Positive retention and cable fit remain physical prototype work, and the subsequent 82.5 mm narrowing requires that bridge to be refitted.

Display, carrier and front panel#

The face now uses a 62 × 29 mm PCB reference for the XIITIA 1.9-inch display. This imported reference was reconstructed from product information and images; hole and component details are estimated rather than supplied by the manufacturer. The front mask was widened locally around it, retaining the angular exterior, and the chin became a separate object.

Rear Blender view of the fitted LCD board and gray carrier inside the red mask, showing the open center and header route. — September 27 fitted carrier. Its rear plane is flat for printing. The following Wireless revision moves the face assembly forward and adds four spacers; they are not shown in this earlier image.

Interface	September 27 fit	September 28 Wireless change
Carrier back	Flat rear plane; 7.3374 mm maximum seating depth	Face assembly moved 1.5 mm forward; four matching 1.5 mm spacers retain mounting alignment
LCD-to-mask mounting	Modeled 58 × 25 mm pattern; 2.1 mm carrier clearance holes aligned to mask pilots	Pattern retained; actual board and screw fit still need checking
Header passage	3.04 × 20.82 mm opening with a 3 mm reinforcing web above and below	Approximately 0.337 mm axial gap to the front bearing-support face in that review’s placement
Camera ribbon	Separate lower passage	Preview transition adjusted to follow the moved camera
Fasteners	Separate PCB-to-mask and carrier-to-panel patterns	Screw-head seats and screw lengths remain deferred

The header measurement covers the modeled bare pins, not an installed plug or wire bend. It was made before the latest front-leg relocation, so it is not a clearance certificate for the complete 82.5 mm assembly. Some side protector contacts also remain. This is why front-panel and shell refitting stay on the next-work list.

Assembly marks and calibration references#

The leg assembly work added 12 pairs of alignment marks across four legs: carrier to end panel, main arm to carrier, and crank to main arm. The modeled grooves are 0.6 mm wide and 0.3 mm deep.

Close Blender view of matching grooves on the red leg arm, gray crank and adjacent carrier surfaces. — Assembly-reference grooves in the September 25–26 work. They refer to the earlier 1300 µs assembly pose; the later pulse-endpoint review does not redefine these marks.

The newer reported pulse endpoints are 300–3000 µs. Their arithmetic midpoint is 1650 µs, but measured shaft travel and a matching assembled neutral remain unresolved. The marks must not be reinterpreted as a new 1650 µs installation reference merely because that number is the midpoint. The review did not change firmware calibration or qualify all four legs.

What is ready to use from this entry?#

The images and dimensions above document saved modeling work through 13:04 PDT on September 28. The latest scene split, face fit and Wireless carrier changes were saved and independently reopened in their review records. They did not create a new complete STL/GLB release. Earlier dated print downloads remain available as earlier revisions.

The next mechanical work is to fit the supports, panels, electronics bridge and shell to the latest front/rear positions, resolve practical battery and connector allowances, and check the resulting assembly through its required motions before recording printed and loaded results.

The source and image manifest identifies the reviewed files and their hashes. Download the captured Wireless clearance note for the exact scope of the final front/rear study. For controls and feedback, continue to the gait journal.