> For the complete documentation index, see [llms.txt](https://anonymous-humanoid.gitbook.io/docs/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://anonymous-humanoid.gitbook.io/docs/getting-started-hardware/tools.md).

# Tools

Humanoid\* is designed for low-cost manufacturing, straightforward assembly and repair, and easy modification. Getting started requires only a desktop 3D printer, access to a waterjet cutter, and a few common workshop tools.

## 3D Printer

You can print humanoid components on any desktop 3D printer with a build volume of at least 256mm × 256mm × 256mm. We use the **Bambu Lab H2D** to print most of the parts. A **Bambu Lab X1** can be used alongside to print compatible parts and reduce the printing time. However, the X1 does not meet the minimum required build volume; it cannot be used to print the entire robot.

<table data-card-wrap="false" data-view="cards"><thead><tr><th></th><th></th><th data-hidden data-card-cover data-type="image">Cover image</th><th data-hidden data-card-target data-type="content-ref"></th></tr></thead><tbody><tr><td><strong>Bambu Lab H2D</strong></td><td>$1,999 (AMS Combo)</td><td><a href="https://3830802523-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FHes4aC9tJcLREA5OZOli%2Fuploads%2F9y6h6n7qcCbhnIC39oDy%2Fimage.png?alt=media&amp;token=dfb0b4c9-c622-4287-8ba1-194807a68673">image.png</a></td><td><a href="https://bambulab.com/en-us/h2d">https://bambulab.com/en-us/h2d</a></td></tr><tr><td><strong>Bambu Lab X1</strong></td><td>$1,249 (X1-Carbon Combo)</td><td><a href="https://store.bblcdn.com/s7/default/ecc1d2ff97b04585af34a614f6f321a8/X1CC-compressed.jpg">https://store.bblcdn.com/s7/default/ecc1d2ff97b04585af34a614f6f321a8/X1CC-compressed.jpg</a></td><td><a href="https://bambulab.com/en-us/x1">https://bambulab.com/en-us/x1</a></td></tr></tbody></table>

## **WaterJet**

We use an **OMAX MicroMAX abrasive waterjet** to cut the metal linkages. You can cut the part on any waterjet with a minimum usable cutting area of 400mm × 40mm depending on local availability.&#x20;

<table data-view="cards"><thead><tr><th></th><th></th><th data-hidden data-card-cover data-type="image">Cover image</th><th data-hidden data-card-target data-type="content-ref"></th></tr></thead><tbody><tr><td>OMAX MicroMAX Waterjet</td><td>Price on request</td><td><a href="https://www.omax.com/globalassets/omax/products/omax_micromax_0.png">https://www.omax.com/globalassets/omax/products/omax_micromax_0.png</a></td><td><a href="https://www.omax.com/en/omax/omax/micromax/">https://www.omax.com/en/omax/omax/micromax/</a></td></tr></tbody></table>

## Reamer

Several waterjet-cut holes are intentionally undersized and must be reamed after cutting. The required nominal reamed-hole diameters are **9 mm, 13 mm, 15 mm, 17 mm, and 19 mm.**

We use Rannb HSS adjustable hand reamers. Select the compatible adjustment range below:

| Required hole diameter | Compatible adjustable reamer |
| ---------------------- | ---------------------------- |
| 9 mm                   | 8.5–9.25 mm                  |
| 13 mm                  | 12.75–13.75 mm               |
| 15 mm                  | 13.75–15.25 mm               |
| 17 mm                  | 15.25–17 mm or 17–19 mm      |
| 19 mm                  | 17–19 mm or 19–21 mm         |

Refer to the [Waterjet Plate Post Processing](/docs/getting-started-hardware/waterjet-embedded-metal-manufacturing/waterjet-plate-post-processing.md) section for instructions on using the adjustable reamer. Use a caliper or micrometer to measure and set its diameter. Because the measured reamer diameter may not produce the exact required fit, ream several test holes in scrap material of the same type and thickness. Check each test hole with the mating component until a consistent press fit is achieved. Once confirmed, record the setting and use it as the qualified reamer size for mass production.

<table data-card-wrap="false" data-view="cards"><thead><tr><th></th><th></th><th></th><th></th><th></th><th></th><th data-hidden data-card-target data-type="content-ref"></th><th data-hidden data-card-cover data-type="image">Cover image</th></tr></thead><tbody><tr><td><strong>Product</strong></td><td>Reamer 8.5–9.25 mm</td><td><strong>Req. Hole Dia.</strong> </td><td>9 mm</td><td><strong>Price</strong></td><td>$9.99</td><td><a href="https://www.amazon.com/dp/B07ZPRFPJW">https://www.amazon.com/dp/B07ZPRFPJW</a></td><td><a href="https://m.media-amazon.com/images/I/51pUww38iVL._AC_SX522_.jpg">https://m.media-amazon.com/images/I/51pUww38iVL._AC_SX522_.jpg</a></td></tr><tr><td><strong>Product</strong></td><td>Reamer 12.75–13.75 mm</td><td><strong>Req. Hole Dia.</strong></td><td>13 mm</td><td><strong>Price</strong></td><td>$12.99</td><td><a href="https://www.amazon.com/dp/B07ZLHFZKX">https://www.amazon.com/dp/B07ZLHFZKX</a></td><td><a href="https://m.media-amazon.com/images/I/51Lzc-qFnIL._AC_SX522_.jpg">https://m.media-amazon.com/images/I/51Lzc-qFnIL._AC_SX522_.jpg</a></td></tr><tr><td><strong>Product</strong></td><td>Reamer 13.75–15.25 mm</td><td><strong>Req. Hole Dia.</strong></td><td>15 mm</td><td><strong>Price</strong></td><td>$15.49</td><td><a href="https://www.amazon.com/dp/B07ZPQMNFK">https://www.amazon.com/dp/B07ZPQMNFK</a></td><td><a href="https://m.media-amazon.com/images/I/518HbRoGgmL._AC_SX522_.jpg">https://m.media-amazon.com/images/I/518HbRoGgmL._AC_SX522_.jpg</a></td></tr><tr><td><strong>Product</strong></td><td>Reamer 15.25–17 mm</td><td><strong>Req. Hole Dia.</strong></td><td>17 mm</td><td><strong>Price</strong></td><td>$15.99</td><td><a href="https://www.amazon.com/dp/B07ZPQ7QG7">https://www.amazon.com/dp/B07ZPQ7QG7</a></td><td><a href="https://m.media-amazon.com/images/I/51K5AV+7HdL._AC_SX522_.jpg">https://m.media-amazon.com/images/I/51K5AV+7HdL._AC_SX522_.jpg</a></td></tr><tr><td><strong>Product</strong></td><td>Reamer 17–19 mm</td><td><strong>Req. Hole Dia.</strong></td><td>17 mm or 19 mm</td><td><strong>Price</strong></td><td>$17.99</td><td><a href="https://www.amazon.com/dp/B07ZLHKV43">https://www.amazon.com/dp/B07ZLHKV43</a></td><td><a href="https://m.media-amazon.com/images/I/513ZbxCLSbL._AC_SX522_.jpg">https://m.media-amazon.com/images/I/513ZbxCLSbL._AC_SX522_.jpg</a></td></tr><tr><td><strong>Product</strong></td><td>Reamer 19–21 mm</td><td><strong>Req. Hole Dia.</strong></td><td>19 mm</td><td><strong>Price</strong></td><td>$16.99</td><td><a href="https://www.amazon.com/dp/B07ZPQ7QG6">https://www.amazon.com/dp/B07ZPQ7QG6</a></td><td><a href="https://m.media-amazon.com/images/I/51fWwU1wwAL._AC_SX522_.jpg">https://m.media-amazon.com/images/I/51fWwU1wwAL._AC_SX522_.jpg</a></td></tr></tbody></table>

## Soldering Iron

A soldering iron is required for installing heat-set inserts into the 3D-printed parts and soldering electrical wires. We use the [X-Tronic Model 3020-XTS LED Soldering Station](https://xtronicusa.com/X-Tronic-Model-3020-XTS-LED-Display-Soldering-Station-p74220205), which we found to be a reliable option. However, please feel free to use any suitable temperature-controlled soldering iron based on local availability and convenience.

<table data-view="cards"><thead><tr><th></th><th></th><th data-hidden data-card-cover data-type="image">Cover image</th><th data-hidden data-card-target data-type="content-ref"></th></tr></thead><tbody><tr><td>X-Tronic Model 3020-XTS LED Soldering Station</td><td>$54.80</td><td><a href="https://3830802523-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FHes4aC9tJcLREA5OZOli%2Fuploads%2F9oA4H5tzXjicHngRfLQn%2Fimage.png?alt=media&amp;token=bc84072c-f221-4d15-8193-124562d2b612">image.png</a></td><td><a href="https://xtronicusa.com/X-Tronic-Model-3020-XTS-LED-Display-Soldering-Station-p74220205">https://xtronicusa.com/X-Tronic-Model-3020-XTS-LED-Display-Soldering-Station-p74220205</a></td></tr></tbody></table>

## Hex Tool Set

A Metric Hex Tool Set is required for assembly, as most of the robot's fasteners are M3 socket-head screws, while there are a few M2, M2.5, M4, and M5 socket-head screws used in several locations. ***The selected Hex Tool Set should include metric bits or keys that match the internal hex sockets of these fasteners.***&#x20;

For reference, we use the [STREBITO 144-Piece Upgraded Electric Screwdriver Kit](https://strebito.com/products/strebito-mini-electric-screwdriver-67-in-1-precision-screwdriver-set-50-s2-magnetic-bits-5-torque-settings-4-led-lights-electric-screwdriver-cordless-for-electronics-pc-and-eyeglass-%E5%89%AF%E6%9C%AC) for routine assembly and [Wera 950 SPKL/9 SM N SB Long-Arm Metric Hex Key Set](https://www.amazon.com/Wera-Tools-05073593001-SPKL-Multi/dp/B009ODV0OE/ref=sr_1_1?adgrpid=1342504259930203\&dib=eyJ2IjoiMSJ9.Fept7OYd5E6PBE42AkHaRDN5EJA2ETKkqK0SEmAOASPKVx-dOZFTeIZLllb0xfpD1dDLs_6Rrtk6udqiJ9a6NGSZyY0_fD9mipYFiMzs6-zFvGaLdj-1A_4u_MP2frWjt-I95m-4Wlq_F791a0IIfrzDK2ajj-QQjwf5hqNBIBUpzAoKJxeV-dWsaYF8I7nEW6NU35q-ZJlUHjjgJ-uiNaMRi8GCxngYIbHF4FANE-_QswsebxopHOuvNobRzrHerJ1N96dgwOIWmGo5vzfL5KaXObZ149Civ9WbBLSGZoQ.mfrOHGC4GJndkyYxHsZb-oVZ7WO7s4b4p5ITvxgwnpw\&dib_tag=se\&gb=2\&hvadid=83906755305988\&hvbmt=be\&hvdev=c\&hvexpln=0\&hvlocphy=103480\&hvnetw=o\&hvocijid=7921630010925073860--\&hvqmt=e\&hvtargid=kwd-83906856308201%3Aloc-190\&hydadcr=1613_13458079\&keywords=wera%2Ballen%2Bwrench\&mcid=dc03a496bcce3eafa45371deaf5bd904\&qid=1784831012\&sr=8-1\&th=1) for higher-torque applications.

<table data-view="cards"><thead><tr><th></th><th></th><th data-hidden data-card-cover data-type="image">Cover image</th><th data-hidden data-card-target data-type="content-ref"></th></tr></thead><tbody><tr><td>STREBITO 144-Piece Upgraded Electric Screwdriver Kit </td><td>$49.99</td><td><a href="https://3830802523-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FHes4aC9tJcLREA5OZOli%2Fuploads%2FR5vuS3SZcuQKZF70EoEN%2Fimage.png?alt=media&amp;token=493472fe-985d-423f-ad0c-986c53b84f8b">image.png</a></td><td><a href="https://strebito.com/products/strebito-mini-electric-screwdriver-67-in-1-precision-screwdriver-set-50-s2-magnetic-bits-5-torque-settings-4-led-lights-electric-screwdriver-cordless-for-electronics-pc-and-eyeglass-%E5%89%AF%E6%9C%AC">https://strebito.com/products/strebito-mini-electric-screwdriver-67-in-1-precision-screwdriver-set-50-s2-magnetic-bits-5-torque-settings-4-led-lights-electric-screwdriver-cordless-for-electronics-pc-and-eyeglass-%E5%89%AF%E6%9C%AC</a></td></tr><tr><td>Wera 950 SPKL/9 SM N SB Long-Arm Metric Hex Key Set</td><td>$44.10</td><td><a href="https://m.media-amazon.com/images/I/61K5LpBcGiL._AC_SX522_.jpg">https://m.media-amazon.com/images/I/61K5LpBcGiL._AC_SX522_.jpg</a></td><td><a href="https://www.amazon.com/Wera-Tools-05073593001-SPKL-Multi/dp/B009ODV0OE">https://www.amazon.com/Wera-Tools-05073593001-SPKL-Multi/dp/B009ODV0OE</a></td></tr></tbody></table>


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