HyQ Real 3 — Actuator and Leg Assembly
End-to-End Hands-On Assembly of
12 Custom Actuators and 4 Quadruped Robot Legs
12 Custom Actuators Fully Assembled
Complete Motor, Encoder, Wiring & Gear Integration
Thermally Conductive Stator Installation
Precision Bearing and Rotor Assembly
Torque-Controlled Fastening
Detailed Knowledge of Internal Actuator Architecture
HyQ Real 3 is the next generation of IIT’s HyQ Real quadruped platforms. While the complete robot is still under development, I have been responsible for the full mechanical assembly of its actuator and leg subsystems, starting from individually manufactured components and bringing them to complete, integrated modules.
Custom Actuator Assembly:
Starting from the manufactured mechanical components, I carried out the complete assembly sequence, including:
Installation of the stator inside the motor housing
Application of thermally conductive adhesive for proper stator bonding and heat transfer
Assembly of bearings and rotor components
Integration of washers, springs, gears, and transmission elements
Encoder installation and internal wiring
Mechanical alignment of actuator components
Installation and torque-controlled tightening of fasteners
Completion of the full actuator mechanical assembly
Quadruped Leg Assembly:
Following the actuator assembly, I completed the mechanical assembly of the HyQ Real 3 leg modules from individual manufactured components.
The work included the integration of:
Custom actuators
Bearings and washers
Joint and transmission mechanisms
Structural links and mechanical interfaces
Fasteners and connecting components
Internally routed mechanical and electrical elements
I carried out the complete assembly sequence from loose components to fully integrated leg modules, including mechanism installation, component alignment, fit verification, and torque-controlled fastening.
The result was a complete set of mechanically assembled quadruped legs ready for system-level integration, testing, and future installation on the HyQ Real 3 robot.
