Plone Mraz

Manufacturing BOM — routings

Readable views, with mass roll-up and sourcing status

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Snapshot of this document in the GEMs repository. The repository itself is the current version. Bản chụp tài liệu này trong repo GEMs. Bản đang chạy nằm ở chính repo.

Generated by build_bom.py. Do not hand-edit; see README.md. Every EBOM line is consumed by exactly one operation of its parent's routing; the check fails otherwise.

Work centres

Code Work centre
WC-EMS PCB assembly, external contract manufacturer
WC-PROG Device programming
WC-CELL Cell stack assembly, external specialist
WC-HARN Harness manufacture, external
WC-JNT Joint module assembly
WC-SUB Sub-assembly
WC-INT Final integration
WC-CAL Calibration and end-of-line test
WC-COM Commissioning: root of trust and attestation baselines
WC-PACK Packaging

GEM-10000 GEMs body, reference design A (2 h with dock, 65% armour, 1.65 m)

Op Work centre Operation Consumes Qty UoM
10 WC-INT Install head assembly GEM-11000 1 EA
20 WC-INT Install neck assembly GEM-12000 1 EA
30 WC-INT Install torso assembly GEM-13000 1 EA
40 WC-INT Install arm assembly, left GEM-14000 1 EA
50 WC-INT Install leg assembly, left GEM-16000 1 EA
60 WC-INT Install arm assembly, right GEM-15000 1 EA
70 WC-INT Install leg assembly, right GEM-17000 1 EA
80 WC-INT Install shell and protection assembly GEM-18000 1 EA
90 WC-INT Install harness assembly GEM-19000 1 EA
100 WC-INT Fasten and torque to drawing GEM-10099 1 SET
110 WC-INT (consumable) Threadlocker, medium strength GEM-50010 — ML
120 WC-COM Provision root-of-trust keys; record measured-boot baseline (spec 06.2)
130 WC-COM Baseline physical fingerprints for attestation tier 2 (spec 06.3)
140 WC-CAL Whole-body calibration: IMU, joint zero offsets, kinematics
150 WC-CAL End-of-line test: power states (spec 03.4), stand and balance, supported failure state (spec 07.3)
160 WC-PACK Pack for shipment GEM-50060 1 SET

GEM-11000 Head assembly

Op Work centre Operation Consumes Qty UoM
10 WC-SUB Install head structure GEM-11010 1 EA
20 WC-SUB Install camera module, 4K 30 fps 12 bit GEM-11020 2 EA
30 WC-SUB Install thermal IR camera, 640x480 30 fps 16 bit GEM-11030 1 EA
40 WC-SUB Install liDAR / depth sensor, 300k points/s GEM-11040 1 EA
50 WC-SUB Install microphone, array element GEM-11050 16 EA
60 WC-SUB Install electronic nose GEM-11060 1 EA
70 WC-SUB Install taste analyser, lab-on-chip GEM-11070 1 EA
80 WC-SUB Install speaker and ultrasonic emitter GEM-11080 1 EA
90 WC-SUB Install micro facial and pupil actuator set GEM-11090 1 SET
100 WC-SUB Install head sensor hub PCBA GEM-11100 1 EA
110 WC-SUB Fasten and torque to drawing GEM-11099 1 SET
120 WC-SUB (consumable) Threadlocker, medium strength GEM-50010 — ML

GEM-12000 Neck assembly

Op Work centre Operation Consumes Qty UoM
10 WC-SUB Install joint module, neck yaw GEM-21600 1 EA
20 WC-SUB Install joint module, neck pitch GEM-21700 1 EA
30 WC-SUB Fasten and torque to drawing GEM-12099 1 SET
40 WC-SUB (consumable) Threadlocker, medium strength GEM-50010 — ML

GEM-13000 Torso assembly

Op Work centre Operation Consumes Qty UoM
10 WC-SUB Install pelvis structure GEM-13010 1 EA
20 WC-SUB Install torso structure, upper thorax GEM-13020 1 EA
30 WC-SUB Install spine segment structure, lumbar GEM-13021 1 EA
40 WC-SUB Install spine segment structure, lower thoracic GEM-13022 1 EA
50 WC-SUB Install spine coupling mechanism, three axes over three segments GEM-13023 1 SET
60 WC-SUB Install joint module, trunk yaw GEM-20800 1 EA
70 WC-SUB Install joint module, trunk pitch GEM-20700 1 EA
80 WC-SUB Install joint module, trunk roll GEM-21800 1 EA
90 WC-SUB Install iMU, torso GEM-13030 — EA
100 WC-SUB Install power assembly GEM-13100 1 EA
110 WC-SUB Install compute assembly GEM-13200 1 EA
120 WC-SUB Install communications assembly GEM-13300 1 EA
130 WC-SUB Install cardiac co-regulation module GEM-13400 1 EA
140 WC-SUB Fasten and torque to drawing GEM-13099 1 SET
150 WC-SUB (consumable) Threadlocker, medium strength GEM-50010 — ML

GEM-13100 Power assembly

Op Work centre Operation Consumes Qty UoM
10 WC-SUB Install cell stack GEM-13110 1 EA
20 WC-SUB Install battery management PCBA GEM-13120 1 EA
30 WC-SUB Install pack enclosure GEM-13130 1 EA
40 WC-SUB Install supercapacitor bank GEM-13140 1 EA
50 WC-SUB Install pre-charge, contactor and fuse set GEM-13150 1 SET
60 WC-SUB Install power distribution and DC-DC PCBA GEM-13160 1 EA
70 WC-SUB Install always-on rail PCBA GEM-13170 1 EA
80 WC-SUB Fasten and torque to drawing GEM-13199 1 SET
90 WC-SUB (consumable) Threadlocker, medium strength GEM-50010 — ML

GEM-13110 Cell stack

Op Work centre Operation Consumes Qty UoM
10 WC-CELL Build cell stack GEM-13111 — EA
20 WC-CAL Cell matching and stack acceptance test

GEM-13120 Battery management PCBA

Op Work centre Operation Consumes Qty UoM
10 WC-EMS Assemble board to its PCBA BOM (from schematic)
20 WC-PROG Program firmware image, battery management GEM-40030 1 EA
30 WC-CAL Board-level functional test

GEM-13200 Compute assembly

Op Work centre Operation Consumes Qty UoM
10 WC-SUB Install edge AI module GEM-13210 1 EA
20 WC-SUB Install edge module carrier PCBA GEM-13220 1 EA
30 WC-SUB Install real-time computer PCBA, EtherCAT master GEM-13230 1 EA
40 WC-SUB Install audit log storage, 2 TB GEM-13240 1 EA
50 WC-SUB Install sDR front-end, 2 ch x 56 MHz GEM-13250 1 EA
60 WC-SUB Install on-board computer (OBC), link-loss kernel GEM-13260 1 EA
70 WC-PROG Install os image, edge ai module GEM-40080 1 EA
80 WC-PROG Install gems software stack, edge ai module GEM-40090 1 EA
90 WC-SUB Fasten and torque to drawing GEM-13299 1 SET
100 WC-SUB (consumable) Threadlocker, medium strength GEM-50010 — ML

GEM-13230 Real-time computer PCBA, EtherCAT master

Op Work centre Operation Consumes Qty UoM
10 WC-EMS Assemble board to its PCBA BOM (from schematic)
20 WC-PROG Program firmware image, real-time computer GEM-40020 1 EA
30 WC-CAL Board-level functional test
Op Work centre Operation Consumes Qty UoM
10 WC-PROG Install kernel image, on-board computer GEM-40100 1 EA
20 WC-SUB (consumable) Threadlocker, medium strength GEM-50010 — ML

GEM-13300 Communications assembly

Op Work centre Operation Consumes Qty UoM
10 WC-SUB Install mmWave uplink radio, 60 GHz GEM-13310 1 EA
20 WC-SUB Install fallback link module, LEO / cellular GEM-13320 1 EA
30 WC-SUB Install low-power beacon radio GEM-13330 1 EA
40 WC-SUB Install spatial RF sensing front-end GEM-13340 1 EA
50 WC-SUB Install secure element GEM-13350 — EA
60 WC-SUB Fasten and torque to drawing GEM-13399 1 SET
70 WC-SUB (consumable) Threadlocker, medium strength GEM-50010 — ML

GEM-13330 Low-power beacon radio

Op Work centre Operation Consumes Qty UoM
10 WC-PROG Install firmware image, beacon radio GEM-40040 1 EA
20 WC-SUB (consumable) Threadlocker, medium strength GEM-50010 — ML

GEM-13350 Secure element

Op Work centre Operation Consumes Qty UoM
10 WC-PROG Install firmware image, secure element GEM-40050 1 EA
20 WC-SUB (consumable) Threadlocker, medium strength GEM-50010 — ML

GEM-14000 Arm assembly, left

Op Work centre Operation Consumes Qty UoM
10 WC-SUB Install joint module, shoulder pitch GEM-20900 1 EA
20 WC-SUB Install joint module, shoulder roll GEM-21000 1 EA
30 WC-SUB Install joint module, shoulder yaw GEM-21100 1 EA
40 WC-SUB Install upper arm structure, left GEM-14010 1 EA
50 WC-SUB Install joint module, elbow GEM-21200 1 EA
60 WC-SUB Install forearm structure, left GEM-14020 1 EA
70 WC-SUB Install joint module, wrist yaw GEM-21300 1 EA
80 WC-SUB Install joint module, wrist pitch GEM-21400 1 EA
90 WC-SUB Install joint module, wrist roll GEM-21500 1 EA
100 WC-SUB Install hand assembly, left, 5 DOF GEM-14900 1 EA
110 WC-SUB Fasten and torque to drawing GEM-14099 1 SET
120 WC-SUB (consumable) Threadlocker, medium strength GEM-50010 — ML

GEM-14900 Hand assembly, left, 5 DOF

Op Work centre Operation Consumes Qty UoM
10 WC-SUB Install hand structure, left GEM-14910 1 EA
20 WC-SUB Install finger actuator, left GEM-14920 5 EA
30 WC-SUB Fasten and torque to drawing GEM-14999 1 SET
40 WC-SUB (consumable) Threadlocker, medium strength GEM-50010 — ML

GEM-15000 Arm assembly, right

Op Work centre Operation Consumes Qty UoM
10 WC-SUB Install joint module, shoulder pitch GEM-20900 1 EA
20 WC-SUB Install joint module, shoulder roll GEM-21000 1 EA
30 WC-SUB Install joint module, shoulder yaw GEM-21100 1 EA
40 WC-SUB Install upper arm structure, right GEM-15010 1 EA
50 WC-SUB Install joint module, elbow GEM-21200 1 EA
60 WC-SUB Install forearm structure, right GEM-15020 1 EA
70 WC-SUB Install joint module, wrist yaw GEM-21300 1 EA
80 WC-SUB Install joint module, wrist pitch GEM-21400 1 EA
90 WC-SUB Install joint module, wrist roll GEM-21500 1 EA
100 WC-SUB Install hand assembly, right, 5 DOF GEM-15900 1 EA
110 WC-SUB Fasten and torque to drawing GEM-15099 1 SET
120 WC-SUB (consumable) Threadlocker, medium strength GEM-50010 — ML

GEM-15900 Hand assembly, right, 5 DOF

Op Work centre Operation Consumes Qty UoM
10 WC-SUB Install hand structure, right GEM-15910 1 EA
20 WC-SUB Install finger actuator, right GEM-15920 5 EA
30 WC-SUB Fasten and torque to drawing GEM-15999 1 SET
40 WC-SUB (consumable) Threadlocker, medium strength GEM-50010 — ML

GEM-16000 Leg assembly, left

Op Work centre Operation Consumes Qty UoM
10 WC-SUB Install joint module, hip roll GEM-20200 1 EA
20 WC-SUB Install joint module, hip pitch GEM-20100 1 EA
30 WC-SUB Install joint module, hip yaw GEM-20300 1 EA
40 WC-SUB Install thigh structure, left GEM-16010 1 EA
50 WC-SUB Install joint module, knee GEM-20400 1 EA
60 WC-SUB Install shank structure, left GEM-16020 1 EA
70 WC-SUB Install joint module, ankle pitch GEM-20500 1 EA
80 WC-SUB Install joint module, ankle roll GEM-20600 1 EA
90 WC-SUB Install foot structure, left GEM-16030 1 EA
100 WC-SUB Install foot contact sensing, left GEM-16040 1 EA
110 WC-SUB Fasten and torque to drawing GEM-16099 1 SET
120 WC-SUB (consumable) Threadlocker, medium strength GEM-50010 — ML

GEM-17000 Leg assembly, right

Op Work centre Operation Consumes Qty UoM
10 WC-SUB Install joint module, hip roll GEM-20200 1 EA
20 WC-SUB Install joint module, hip pitch GEM-20100 1 EA
30 WC-SUB Install joint module, hip yaw GEM-20300 1 EA
40 WC-SUB Install thigh structure, right GEM-17010 1 EA
50 WC-SUB Install joint module, knee GEM-20400 1 EA
60 WC-SUB Install shank structure, right GEM-17020 1 EA
70 WC-SUB Install joint module, ankle pitch GEM-20500 1 EA
80 WC-SUB Install joint module, ankle roll GEM-20600 1 EA
90 WC-SUB Install foot structure, right GEM-17030 1 EA
100 WC-SUB Install foot contact sensing, right GEM-17040 1 EA
110 WC-SUB Fasten and torque to drawing GEM-17099 1 SET
120 WC-SUB (consumable) Threadlocker, medium strength GEM-50010 — ML

GEM-18000 Shell and protection assembly

Op Work centre Operation Consumes Qty UoM
10 WC-SUB Apply armour panel, integrated multi-threat GEM-18010 1.04 M2
20 WC-SUB Apply sense-and-heal layer, e-skin and self-healing polymer GEM-18020 1.60 M2
30 WC-SUB Apply variable-stiffness layer, mr / er / jamming GEM-18030 — M2
40 WC-SUB Apply fire layer, sacrificial GEM-18040 — M2
50 WC-SUB Apply electrochromic colour layer GEM-18050 — M2
60 WC-SUB Install tactile taxel, fine region (hands, face) GEM-18060 150000 EA
70 WC-SUB Install tactile taxel, ordinary region GEM-18070 350000 EA
80 WC-SUB Install tactile readout PCBA GEM-18080 — EA
90 WC-SUB Install shell field driver PCBA (MR coils / ER HV / electrochromic) GEM-18090 — EA
100 WC-SUB Fasten and torque to drawing GEM-18099 1 SET
110 WC-SUB (consumable) Adhesive, shell layer bonding GEM-50040 — ML
120 WC-SUB (consumable) Threadlocker, medium strength GEM-50010 — ML

GEM-18080 Tactile readout PCBA

Op Work centre Operation Consumes Qty UoM
10 WC-EMS Assemble board to its PCBA BOM (from schematic)
20 WC-PROG Program firmware image, tactile readout GEM-40060 1 EA
30 WC-CAL Board-level functional test

GEM-18090 Shell field driver PCBA (MR coils / ER HV / electrochromic)

Op Work centre Operation Consumes Qty UoM
10 WC-EMS Assemble board to its PCBA BOM (from schematic)
20 WC-PROG Program firmware image, shell field driver GEM-40070 1 EA
30 WC-CAL Board-level functional test

GEM-19000 Harness assembly

Op Work centre Operation Consumes Qty UoM
10 WC-HARN Install etherCAT joint chain cable set GEM-19010 1 SET
20 WC-HARN Install cAN FD sensing bus cable set GEM-19020 1 SET
30 WC-HARN Install hV power distribution cable set GEM-19030 1 SET
40 WC-HARN Install sensor link cable set (camera, LiDAR, audio) GEM-19040 1 SET
50 WC-HARN Fasten and torque to drawing GEM-19099 1 SET
60 WC-HARN (consumable) Cable ties and heat-shrink GEM-50050 — SET

GEM-20100 Joint module, hip pitch

Op Work centre Operation Consumes Qty UoM
10 WC-JNT Prepare housing GEM-20108 1 EA
20 WC-JNT Press in output bearing GEM-20103 1 EA
30 WC-JNT Install motor stator and rotor GEM-20101 1 EA
40 WC-JNT Install reducer; grease per work instruction GEM-20102 1 EA
50 WC-JNT (consumable) Reducer grease GEM-50020 — G
60 WC-JNT Install motor-side encoder GEM-20104 1 EA
70 WC-JNT Install output-side encoder GEM-20105 1 EA
80 WC-JNT Install joint torque sensor GEM-20106 1 EA
90 WC-JNT Mount drive PCBA; thermal interface to housing GEM-20107 1 EA
100 WC-JNT (consumable) Thermal interface material GEM-50030 — G
110 WC-JNT Fasten and torque to drawing GEM-20109 1 SET
120 WC-JNT (consumable) Threadlocker, medium strength GEM-50010 — ML
130 WC-CAL Commutation offset and encoder calibration, hip pitch
140 WC-CAL Joint torque sensor calibration
150 WC-CAL End-of-line test: peak torque, backdrive, thermal

GEM-20107 Joint drive PCBA, hip pitch

Op Work centre Operation Consumes Qty UoM
10 WC-EMS Assemble board to its PCBA BOM (from schematic)
20 WC-PROG Program firmware image, joint drive GEM-40010 1 EA
30 WC-CAL Board-level functional test

GEM-20200 Joint module, hip roll

Op Work centre Operation Consumes Qty UoM
10 WC-JNT Prepare housing GEM-20208 1 EA
20 WC-JNT Press in output bearing GEM-20203 1 EA
30 WC-JNT Install motor stator and rotor GEM-20201 1 EA
40 WC-JNT Install reducer; grease per work instruction GEM-20202 1 EA
50 WC-JNT (consumable) Reducer grease GEM-50020 — G
60 WC-JNT Install motor-side encoder GEM-20204 1 EA
70 WC-JNT Install output-side encoder GEM-20205 1 EA
80 WC-JNT Install joint torque sensor GEM-20206 1 EA
90 WC-JNT Mount drive PCBA; thermal interface to housing GEM-20207 1 EA
100 WC-JNT (consumable) Thermal interface material GEM-50030 — G
110 WC-JNT Fasten and torque to drawing GEM-20209 1 SET
120 WC-JNT (consumable) Threadlocker, medium strength GEM-50010 — ML
130 WC-CAL Commutation offset and encoder calibration, hip roll
140 WC-CAL Joint torque sensor calibration
150 WC-CAL End-of-line test: peak torque, backdrive, thermal

GEM-20207 Joint drive PCBA, hip roll

Op Work centre Operation Consumes Qty UoM
10 WC-EMS Assemble board to its PCBA BOM (from schematic)
20 WC-PROG Program firmware image, joint drive GEM-40010 1 EA
30 WC-CAL Board-level functional test

GEM-20300 Joint module, hip yaw

Op Work centre Operation Consumes Qty UoM
10 WC-JNT Prepare housing GEM-20308 1 EA
20 WC-JNT Press in output bearing GEM-20303 1 EA
30 WC-JNT Install motor stator and rotor GEM-20301 1 EA
40 WC-JNT Install reducer; grease per work instruction GEM-20302 1 EA
50 WC-JNT (consumable) Reducer grease GEM-50020 — G
60 WC-JNT Install motor-side encoder GEM-20304 1 EA
70 WC-JNT Install output-side encoder GEM-20305 1 EA
80 WC-JNT Install joint torque sensor GEM-20306 1 EA
90 WC-JNT Mount drive PCBA; thermal interface to housing GEM-20307 1 EA
100 WC-JNT (consumable) Thermal interface material GEM-50030 — G
110 WC-JNT Fasten and torque to drawing GEM-20309 1 SET
120 WC-JNT (consumable) Threadlocker, medium strength GEM-50010 — ML
130 WC-CAL Commutation offset and encoder calibration, hip yaw
140 WC-CAL Joint torque sensor calibration
150 WC-CAL End-of-line test: peak torque, backdrive, thermal

GEM-20307 Joint drive PCBA, hip yaw

Op Work centre Operation Consumes Qty UoM
10 WC-EMS Assemble board to its PCBA BOM (from schematic)
20 WC-PROG Program firmware image, joint drive GEM-40010 1 EA
30 WC-CAL Board-level functional test

GEM-20400 Joint module, knee

Op Work centre Operation Consumes Qty UoM
10 WC-JNT Prepare housing GEM-20408 1 EA
20 WC-JNT Press in output bearing GEM-20403 1 EA
30 WC-JNT Install motor stator and rotor GEM-20401 1 EA
40 WC-JNT Install reducer; grease per work instruction GEM-20402 1 EA
50 WC-JNT (consumable) Reducer grease GEM-50020 — G
60 WC-JNT Install motor-side encoder GEM-20404 1 EA
70 WC-JNT Install output-side encoder GEM-20405 1 EA
80 WC-JNT Install joint torque sensor GEM-20406 1 EA
90 WC-JNT Mount drive PCBA; thermal interface to housing GEM-20407 1 EA
100 WC-JNT (consumable) Thermal interface material GEM-50030 — G
110 WC-JNT Fasten and torque to drawing GEM-20409 1 SET
120 WC-JNT (consumable) Threadlocker, medium strength GEM-50010 — ML
130 WC-CAL Commutation offset and encoder calibration, knee
140 WC-CAL Joint torque sensor calibration
150 WC-CAL End-of-line test: peak torque, backdrive, thermal

GEM-20407 Joint drive PCBA, knee

Op Work centre Operation Consumes Qty UoM
10 WC-EMS Assemble board to its PCBA BOM (from schematic)
20 WC-PROG Program firmware image, joint drive GEM-40010 1 EA
30 WC-CAL Board-level functional test

GEM-20500 Joint module, ankle pitch

Op Work centre Operation Consumes Qty UoM
10 WC-JNT Prepare housing GEM-20508 1 EA
20 WC-JNT Press in output bearing GEM-20503 1 EA
30 WC-JNT Install motor stator and rotor GEM-20501 1 EA
40 WC-JNT Install reducer; grease per work instruction GEM-20502 1 EA
50 WC-JNT (consumable) Reducer grease GEM-50020 — G
60 WC-JNT Install motor-side encoder GEM-20504 1 EA
70 WC-JNT Install output-side encoder GEM-20505 1 EA
80 WC-JNT Install joint torque sensor GEM-20506 1 EA
90 WC-JNT Mount drive PCBA; thermal interface to housing GEM-20507 1 EA
100 WC-JNT (consumable) Thermal interface material GEM-50030 — G
110 WC-JNT Fasten and torque to drawing GEM-20509 1 SET
120 WC-JNT (consumable) Threadlocker, medium strength GEM-50010 — ML
130 WC-CAL Commutation offset and encoder calibration, ankle pitch
140 WC-CAL Joint torque sensor calibration
150 WC-CAL End-of-line test: peak torque, backdrive, thermal

GEM-20507 Joint drive PCBA, ankle pitch

Op Work centre Operation Consumes Qty UoM
10 WC-EMS Assemble board to its PCBA BOM (from schematic)
20 WC-PROG Program firmware image, joint drive GEM-40010 1 EA
30 WC-CAL Board-level functional test

GEM-20600 Joint module, ankle roll

Op Work centre Operation Consumes Qty UoM
10 WC-JNT Prepare housing GEM-20608 1 EA
20 WC-JNT Press in output bearing GEM-20603 1 EA
30 WC-JNT Install motor stator and rotor GEM-20601 1 EA
40 WC-JNT Install reducer; grease per work instruction GEM-20602 1 EA
50 WC-JNT (consumable) Reducer grease GEM-50020 — G
60 WC-JNT Install motor-side encoder GEM-20604 1 EA
70 WC-JNT Install output-side encoder GEM-20605 1 EA
80 WC-JNT Install joint torque sensor GEM-20606 1 EA
90 WC-JNT Mount drive PCBA; thermal interface to housing GEM-20607 1 EA
100 WC-JNT (consumable) Thermal interface material GEM-50030 — G
110 WC-JNT Fasten and torque to drawing GEM-20609 1 SET
120 WC-JNT (consumable) Threadlocker, medium strength GEM-50010 — ML
130 WC-CAL Commutation offset and encoder calibration, ankle roll
140 WC-CAL Joint torque sensor calibration
150 WC-CAL End-of-line test: peak torque, backdrive, thermal

GEM-20607 Joint drive PCBA, ankle roll

Op Work centre Operation Consumes Qty UoM
10 WC-EMS Assemble board to its PCBA BOM (from schematic)
20 WC-PROG Program firmware image, joint drive GEM-40010 1 EA
30 WC-CAL Board-level functional test

GEM-20700 Joint module, trunk pitch

Op Work centre Operation Consumes Qty UoM
10 WC-JNT Prepare housing GEM-20708 1 EA
20 WC-JNT Press in output bearing GEM-20703 1 EA
30 WC-JNT Install motor stator and rotor GEM-20701 1 EA
40 WC-JNT Install reducer; grease per work instruction GEM-20702 1 EA
50 WC-JNT (consumable) Reducer grease GEM-50020 — G
60 WC-JNT Install motor-side encoder GEM-20704 1 EA
70 WC-JNT Install output-side encoder GEM-20705 1 EA
80 WC-JNT Install joint torque sensor GEM-20706 1 EA
90 WC-JNT Mount drive PCBA; thermal interface to housing GEM-20707 1 EA
100 WC-JNT (consumable) Thermal interface material GEM-50030 — G
110 WC-JNT Fasten and torque to drawing GEM-20709 1 SET
120 WC-JNT (consumable) Threadlocker, medium strength GEM-50010 — ML
130 WC-CAL Commutation offset and encoder calibration, trunk pitch
140 WC-CAL Joint torque sensor calibration
150 WC-CAL End-of-line test: peak torque, backdrive, thermal

GEM-20707 Joint drive PCBA, trunk pitch

Op Work centre Operation Consumes Qty UoM
10 WC-EMS Assemble board to its PCBA BOM (from schematic)
20 WC-PROG Program firmware image, joint drive GEM-40010 1 EA
30 WC-CAL Board-level functional test

GEM-20800 Joint module, trunk yaw

Op Work centre Operation Consumes Qty UoM
10 WC-JNT Prepare housing GEM-20808 1 EA
20 WC-JNT Press in output bearing GEM-20803 1 EA
30 WC-JNT Install motor stator and rotor GEM-20801 1 EA
40 WC-JNT Install reducer; grease per work instruction GEM-20802 1 EA
50 WC-JNT (consumable) Reducer grease GEM-50020 — G
60 WC-JNT Install motor-side encoder GEM-20804 1 EA
70 WC-JNT Install output-side encoder GEM-20805 1 EA
80 WC-JNT Install joint torque sensor GEM-20806 1 EA
90 WC-JNT Mount drive PCBA; thermal interface to housing GEM-20807 1 EA
100 WC-JNT (consumable) Thermal interface material GEM-50030 — G
110 WC-JNT Fasten and torque to drawing GEM-20809 1 SET
120 WC-JNT (consumable) Threadlocker, medium strength GEM-50010 — ML
130 WC-CAL Commutation offset and encoder calibration, trunk yaw
140 WC-CAL Joint torque sensor calibration
150 WC-CAL End-of-line test: peak torque, backdrive, thermal

GEM-20807 Joint drive PCBA, trunk yaw

Op Work centre Operation Consumes Qty UoM
10 WC-EMS Assemble board to its PCBA BOM (from schematic)
20 WC-PROG Program firmware image, joint drive GEM-40010 1 EA
30 WC-CAL Board-level functional test

GEM-20900 Joint module, shoulder pitch

Op Work centre Operation Consumes Qty UoM
10 WC-JNT Prepare housing GEM-20908 1 EA
20 WC-JNT Press in output bearing GEM-20903 1 EA
30 WC-JNT Install motor stator and rotor GEM-20901 1 EA
40 WC-JNT Install reducer; grease per work instruction GEM-20902 1 EA
50 WC-JNT (consumable) Reducer grease GEM-50020 — G
60 WC-JNT Install motor-side encoder GEM-20904 1 EA
70 WC-JNT Install output-side encoder GEM-20905 1 EA
80 WC-JNT Install joint torque sensor GEM-20906 1 EA
90 WC-JNT Mount drive PCBA; thermal interface to housing GEM-20907 1 EA
100 WC-JNT (consumable) Thermal interface material GEM-50030 — G
110 WC-JNT Fasten and torque to drawing GEM-20909 1 SET
120 WC-JNT (consumable) Threadlocker, medium strength GEM-50010 — ML
130 WC-CAL Commutation offset and encoder calibration, shoulder pitch
140 WC-CAL Joint torque sensor calibration
150 WC-CAL End-of-line test: peak torque, backdrive, thermal

GEM-20907 Joint drive PCBA, shoulder pitch

Op Work centre Operation Consumes Qty UoM
10 WC-EMS Assemble board to its PCBA BOM (from schematic)
20 WC-PROG Program firmware image, joint drive GEM-40010 1 EA
30 WC-CAL Board-level functional test

GEM-21000 Joint module, shoulder roll

Op Work centre Operation Consumes Qty UoM
10 WC-JNT Prepare housing GEM-21008 1 EA
20 WC-JNT Press in output bearing GEM-21003 1 EA
30 WC-JNT Install motor stator and rotor GEM-21001 1 EA
40 WC-JNT Install reducer; grease per work instruction GEM-21002 1 EA
50 WC-JNT (consumable) Reducer grease GEM-50020 — G
60 WC-JNT Install motor-side encoder GEM-21004 1 EA
70 WC-JNT Install output-side encoder GEM-21005 1 EA
80 WC-JNT Install joint torque sensor GEM-21006 1 EA
90 WC-JNT Mount drive PCBA; thermal interface to housing GEM-21007 1 EA
100 WC-JNT (consumable) Thermal interface material GEM-50030 — G
110 WC-JNT Fasten and torque to drawing GEM-21009 1 SET
120 WC-JNT (consumable) Threadlocker, medium strength GEM-50010 — ML
130 WC-CAL Commutation offset and encoder calibration, shoulder roll
140 WC-CAL Joint torque sensor calibration
150 WC-CAL End-of-line test: peak torque, backdrive, thermal

GEM-21007 Joint drive PCBA, shoulder roll

Op Work centre Operation Consumes Qty UoM
10 WC-EMS Assemble board to its PCBA BOM (from schematic)
20 WC-PROG Program firmware image, joint drive GEM-40010 1 EA
30 WC-CAL Board-level functional test

GEM-21100 Joint module, shoulder yaw

Op Work centre Operation Consumes Qty UoM
10 WC-JNT Prepare housing GEM-21108 1 EA
20 WC-JNT Press in output bearing GEM-21103 1 EA
30 WC-JNT Install motor stator and rotor GEM-21101 1 EA
40 WC-JNT Install reducer; grease per work instruction GEM-21102 1 EA
50 WC-JNT (consumable) Reducer grease GEM-50020 — G
60 WC-JNT Install motor-side encoder GEM-21104 1 EA
70 WC-JNT Install output-side encoder GEM-21105 1 EA
80 WC-JNT Install joint torque sensor GEM-21106 1 EA
90 WC-JNT Mount drive PCBA; thermal interface to housing GEM-21107 1 EA
100 WC-JNT (consumable) Thermal interface material GEM-50030 — G
110 WC-JNT Fasten and torque to drawing GEM-21109 1 SET
120 WC-JNT (consumable) Threadlocker, medium strength GEM-50010 — ML
130 WC-CAL Commutation offset and encoder calibration, shoulder yaw
140 WC-CAL Joint torque sensor calibration
150 WC-CAL End-of-line test: peak torque, backdrive, thermal

GEM-21107 Joint drive PCBA, shoulder yaw

Op Work centre Operation Consumes Qty UoM
10 WC-EMS Assemble board to its PCBA BOM (from schematic)
20 WC-PROG Program firmware image, joint drive GEM-40010 1 EA
30 WC-CAL Board-level functional test

GEM-21200 Joint module, elbow

Op Work centre Operation Consumes Qty UoM
10 WC-JNT Prepare housing GEM-21208 1 EA
20 WC-JNT Press in output bearing GEM-21203 1 EA
30 WC-JNT Install motor stator and rotor GEM-21201 1 EA
40 WC-JNT Install reducer; grease per work instruction GEM-21202 1 EA
50 WC-JNT (consumable) Reducer grease GEM-50020 — G
60 WC-JNT Install motor-side encoder GEM-21204 1 EA
70 WC-JNT Install output-side encoder GEM-21205 1 EA
80 WC-JNT Install joint torque sensor GEM-21206 1 EA
90 WC-JNT Mount drive PCBA; thermal interface to housing GEM-21207 1 EA
100 WC-JNT (consumable) Thermal interface material GEM-50030 — G
110 WC-JNT Fasten and torque to drawing GEM-21209 1 SET
120 WC-JNT (consumable) Threadlocker, medium strength GEM-50010 — ML
130 WC-CAL Commutation offset and encoder calibration, elbow
140 WC-CAL Joint torque sensor calibration
150 WC-CAL End-of-line test: peak torque, backdrive, thermal

GEM-21207 Joint drive PCBA, elbow

Op Work centre Operation Consumes Qty UoM
10 WC-EMS Assemble board to its PCBA BOM (from schematic)
20 WC-PROG Program firmware image, joint drive GEM-40010 1 EA
30 WC-CAL Board-level functional test

GEM-21300 Joint module, wrist yaw

Op Work centre Operation Consumes Qty UoM
10 WC-JNT Prepare housing GEM-21308 1 EA
20 WC-JNT Press in output bearing GEM-21303 1 EA
30 WC-JNT Install motor stator and rotor GEM-21301 1 EA
40 WC-JNT Install reducer; grease per work instruction GEM-21302 1 EA
50 WC-JNT (consumable) Reducer grease GEM-50020 — G
60 WC-JNT Install motor-side encoder GEM-21304 1 EA
70 WC-JNT Install output-side encoder GEM-21305 1 EA
80 WC-JNT Install joint torque sensor GEM-21306 1 EA
90 WC-JNT Mount drive PCBA; thermal interface to housing GEM-21307 1 EA
100 WC-JNT (consumable) Thermal interface material GEM-50030 — G
110 WC-JNT Fasten and torque to drawing GEM-21309 1 SET
120 WC-JNT (consumable) Threadlocker, medium strength GEM-50010 — ML
130 WC-CAL Commutation offset and encoder calibration, wrist yaw
140 WC-CAL Joint torque sensor calibration
150 WC-CAL End-of-line test: peak torque, backdrive, thermal

GEM-21307 Joint drive PCBA, wrist yaw

Op Work centre Operation Consumes Qty UoM
10 WC-EMS Assemble board to its PCBA BOM (from schematic)
20 WC-PROG Program firmware image, joint drive GEM-40010 1 EA
30 WC-CAL Board-level functional test

GEM-21400 Joint module, wrist pitch

Op Work centre Operation Consumes Qty UoM
10 WC-JNT Prepare housing GEM-21408 1 EA
20 WC-JNT Press in output bearing GEM-21403 1 EA
30 WC-JNT Install motor stator and rotor GEM-21401 1 EA
40 WC-JNT Install reducer; grease per work instruction GEM-21402 1 EA
50 WC-JNT (consumable) Reducer grease GEM-50020 — G
60 WC-JNT Install motor-side encoder GEM-21404 1 EA
70 WC-JNT Install output-side encoder GEM-21405 1 EA
80 WC-JNT Install joint torque sensor GEM-21406 1 EA
90 WC-JNT Mount drive PCBA; thermal interface to housing GEM-21407 1 EA
100 WC-JNT (consumable) Thermal interface material GEM-50030 — G
110 WC-JNT Fasten and torque to drawing GEM-21409 1 SET
120 WC-JNT (consumable) Threadlocker, medium strength GEM-50010 — ML
130 WC-CAL Commutation offset and encoder calibration, wrist pitch
140 WC-CAL Joint torque sensor calibration
150 WC-CAL End-of-line test: peak torque, backdrive, thermal

GEM-21407 Joint drive PCBA, wrist pitch

Op Work centre Operation Consumes Qty UoM
10 WC-EMS Assemble board to its PCBA BOM (from schematic)
20 WC-PROG Program firmware image, joint drive GEM-40010 1 EA
30 WC-CAL Board-level functional test

GEM-21500 Joint module, wrist roll

Op Work centre Operation Consumes Qty UoM
10 WC-JNT Prepare housing GEM-21508 1 EA
20 WC-JNT Press in output bearing GEM-21503 1 EA
30 WC-JNT Install motor stator and rotor GEM-21501 1 EA
40 WC-JNT Install reducer; grease per work instruction GEM-21502 1 EA
50 WC-JNT (consumable) Reducer grease GEM-50020 — G
60 WC-JNT Install motor-side encoder GEM-21504 1 EA
70 WC-JNT Install output-side encoder GEM-21505 1 EA
80 WC-JNT Install joint torque sensor GEM-21506 1 EA
90 WC-JNT Mount drive PCBA; thermal interface to housing GEM-21507 1 EA
100 WC-JNT (consumable) Thermal interface material GEM-50030 — G
110 WC-JNT Fasten and torque to drawing GEM-21509 1 SET
120 WC-JNT (consumable) Threadlocker, medium strength GEM-50010 — ML
130 WC-CAL Commutation offset and encoder calibration, wrist roll
140 WC-CAL Joint torque sensor calibration
150 WC-CAL End-of-line test: peak torque, backdrive, thermal

GEM-21507 Joint drive PCBA, wrist roll

Op Work centre Operation Consumes Qty UoM
10 WC-EMS Assemble board to its PCBA BOM (from schematic)
20 WC-PROG Program firmware image, joint drive GEM-40010 1 EA
30 WC-CAL Board-level functional test

GEM-21600 Joint module, neck yaw

Op Work centre Operation Consumes Qty UoM
10 WC-JNT Prepare housing GEM-21608 1 EA
20 WC-JNT Press in output bearing GEM-21603 1 EA
30 WC-JNT Install motor stator and rotor GEM-21601 1 EA
40 WC-JNT Install reducer; grease per work instruction GEM-21602 1 EA
50 WC-JNT (consumable) Reducer grease GEM-50020 — G
60 WC-JNT Install motor-side encoder GEM-21604 1 EA
70 WC-JNT Install output-side encoder GEM-21605 1 EA
80 WC-JNT Install joint torque sensor GEM-21606 1 EA
90 WC-JNT Mount drive PCBA; thermal interface to housing GEM-21607 1 EA
100 WC-JNT (consumable) Thermal interface material GEM-50030 — G
110 WC-JNT Fasten and torque to drawing GEM-21609 1 SET
120 WC-JNT (consumable) Threadlocker, medium strength GEM-50010 — ML
130 WC-CAL Commutation offset and encoder calibration, neck yaw
140 WC-CAL Joint torque sensor calibration
150 WC-CAL End-of-line test: peak torque, backdrive, thermal

GEM-21607 Joint drive PCBA, neck yaw

Op Work centre Operation Consumes Qty UoM
10 WC-EMS Assemble board to its PCBA BOM (from schematic)
20 WC-PROG Program firmware image, joint drive GEM-40010 1 EA
30 WC-CAL Board-level functional test

GEM-21700 Joint module, neck pitch

Op Work centre Operation Consumes Qty UoM
10 WC-JNT Prepare housing GEM-21708 1 EA
20 WC-JNT Press in output bearing GEM-21703 1 EA
30 WC-JNT Install motor stator and rotor GEM-21701 1 EA
40 WC-JNT Install reducer; grease per work instruction GEM-21702 1 EA
50 WC-JNT (consumable) Reducer grease GEM-50020 — G
60 WC-JNT Install motor-side encoder GEM-21704 1 EA
70 WC-JNT Install output-side encoder GEM-21705 1 EA
80 WC-JNT Install joint torque sensor GEM-21706 1 EA
90 WC-JNT Mount drive PCBA; thermal interface to housing GEM-21707 1 EA
100 WC-JNT (consumable) Thermal interface material GEM-50030 — G
110 WC-JNT Fasten and torque to drawing GEM-21709 1 SET
120 WC-JNT (consumable) Threadlocker, medium strength GEM-50010 — ML
130 WC-CAL Commutation offset and encoder calibration, neck pitch
140 WC-CAL Joint torque sensor calibration
150 WC-CAL End-of-line test: peak torque, backdrive, thermal

GEM-21707 Joint drive PCBA, neck pitch

Op Work centre Operation Consumes Qty UoM
10 WC-EMS Assemble board to its PCBA BOM (from schematic)
20 WC-PROG Program firmware image, joint drive GEM-40010 1 EA
30 WC-CAL Board-level functional test

GEM-21800 Joint module, trunk roll

Op Work centre Operation Consumes Qty UoM
10 WC-JNT Prepare housing GEM-21808 1 EA
20 WC-JNT Press in output bearing GEM-21803 1 EA
30 WC-JNT Install motor stator and rotor GEM-21801 1 EA
40 WC-JNT Install reducer; grease per work instruction GEM-21802 1 EA
50 WC-JNT (consumable) Reducer grease GEM-50020 — G
60 WC-JNT Install motor-side encoder GEM-21804 1 EA
70 WC-JNT Install output-side encoder GEM-21805 1 EA
80 WC-JNT Install joint torque sensor GEM-21806 1 EA
90 WC-JNT Mount drive PCBA; thermal interface to housing GEM-21807 1 EA
100 WC-JNT (consumable) Thermal interface material GEM-50030 — G
110 WC-JNT Fasten and torque to drawing GEM-21809 1 SET
120 WC-JNT (consumable) Threadlocker, medium strength GEM-50010 — ML
130 WC-CAL Commutation offset and encoder calibration, trunk roll
140 WC-CAL Joint torque sensor calibration
150 WC-CAL End-of-line test: peak torque, backdrive, thermal

GEM-21807 Joint drive PCBA, trunk roll

Op Work centre Operation Consumes Qty UoM
10 WC-EMS Assemble board to its PCBA BOM (from schematic)
20 WC-PROG Program firmware image, joint drive GEM-40010 1 EA
30 WC-CAL Board-level functional test

GEM-30000 Dock, seat form, with charging contacts

Op Work centre Operation Consumes Qty UoM
10 WC-SUB Install dock structure GEM-30010 1 EA
20 WC-SUB Install charging contact set GEM-30020 1 SET
30 WC-SUB Install dock charger PCBA GEM-30030 1 EA
40 WC-SUB Fasten and torque to drawing GEM-30099 1 SET
50 WC-SUB (consumable) Threadlocker, medium strength GEM-50010 — ML
60 WC-PACK Pack for shipment GEM-50060 1 SET