General Warnings and Cautions
Danger (May cause serious injury or death)••••

Keep water, flammables, solvents and other liquids clear from actuator.
Never place fingers, arms, toes and other body parts near actuator during operation.
Cut power if actuator emits strange odors or smoke.
Keep actuator out of reach of children.

Warning (May cause injury or damage to actuator)• Before operating, read all applicable instructions and notices found here:
http://docs.hebi.us/#quickstart-guide-x-series-actuator• Comply with the operating temperature (-10℃ to 50℃)
• Turn off power source before connecting or disconnecting actuator power.
• Do not expose the actuator to permanent and strong magnetic fields.
• The actuator must not be exposed to dusty or wet environments.
• If actuator is under load, abruptly removing the power connection can cause permanent damage.
• Do not force screws into the bottom of the actuator.
- X5: 5mm tap depth- X8: 7mm tap depth• Use provided hardware with accessories and hand tighten as needed.
• Do not attempt to disassemble actuator, this will void the warranty and can cause permanent damage.
For more information please visit: docs.hebi.us
X-Series Hexapod Assembly Instructions

2

Bill of Materials - Mechanical
Default Configuration

12 x

6x

X8-9

X8-16

12 x

12 x

12 x

12 x

3x

A-2090-02

A-2039-03

3x

A-2038-03

A-2091-02

A-2070-01R

A-2070-01L

1x

1x

A-2095-01

A-2095-01

2x

4x

12 x

PP-2200-125
125mm Tube

PP-2200-175
175mm Tube

PP-2200-02
300mm Tube

6x
PP-2057-01

3x3x

A-2094-01R

A-2094-01L

6x
A-2127-60-30(Gas Spring – 30lbs.)

6x
A-2188-01

1x
A-2173-01
Wireless Chassis Assembly

fasteners included, not shown
X-Series Hexapod Assembly Instructions

3

Bill of Materials - Electrical

14 x

6x

A-2128-01
Power Distribution Board

PP-2058-01
Ethernet Coupler

8x
A-2046-06
Power Cable, 6” Length

18 x

6x

A-2046-12
Power Cable, 12” Length

A-2046-24
Power Cable, 24” Length

9x

8x

6x

PP-2059-01
Ethernet Cable, 1’ Length

PP-2060-01
Ethernet Cable, 2’ Length

PP-2061-01
Ethernet Cable, 3’ Length

X-Series Hexapod Assembly Instructions

4Table of Contents
AssemblyImagePagesChassis[6-8]

Left Legs[9-16]

Right Legs

[17-24]Final[25-31](includes wiring)

X-Series Hexapod Assembly Instructions

5Chassis
X-Series Hexapod Assembly Instructions

62x

1x
PP-2200-125
125mm Tube

1x
A-2039-03

X-Series Hexapod Assembly Instructions

7

4x

1x
PP-2200-175
175mm Tube

1x
A-2039-03

X-Series Hexapod Assembly Instructions

8

1x

2x
125mm

4x
175mm

1x

1x

A-2095-01

A-2096-01

1x
A-2173-01
Wireless Chassis Assembly

X-Series Hexapod Assembly Instructions

9

Left Legs
X-Series Hexapod Assembly Instructions

103x

1x
X8-9

1xAlign with actuator
output hub tick markA-2070-01L(inside face parallel with tick mark andspring mounting hole going forward)

M6x10mm

X-Series Hexapod Assembly Instructions

11

3x

1x
X8-16

X-Series Hexapod Assembly Instructions

12

3x

1x

1x

A-2038-03

A-2039-03

1x
PP-2200-02
300mm Tube

X-Series Hexapod Assembly Instructions

13

3x

3x
Align with actuator
output hub tick mark(Tube aligns with tick mark)3x

1x
A-2088-60-30(Gas Spring – 30lbs.)

1x
A-2188-01

X-Series Hexapod Assembly Instructions

14

3x

1x

1x

PP-2057-01

A-2038-03

1xPP-2200-02
300mm Tube

X-Series Hexapod Assembly Instructions

15

3x

3x

Align with actuator
output hub tick mark(Tube aligns with tick mark)

3x

1x
X8-9

X-Series Hexapod Assembly Instructions

16

3x

M3 x 14mm

M3 x 14mm

1x2x

A-2091-02

A-2090-02

1x
A-2094-01LM3 x 14mm
M3 x 14mm

X-Series Hexapod Assembly Instructions

17

Right Legs
X-Series Hexapod Assembly Instructions

18

3x

1x
X8-9

Align with actuator
output hub tick mark1xA-2070-01R(inside face parallel with tick mark andspring mounting hole going forward)

M6x10mm

X-Series Hexapod Assembly Instructions

19

3x3x1xX8-16

X-Series Hexapod Assembly Instructions

20

3x1x

1x

A-2038-03

A-2039-03

1x
PP-2200-02
300mm Tube

X-Series Hexapod Assembly Instructions

21

3x3x

Align with actuator
output hub tick mark(Tube aligns with tick mark)3x

1x
A-2088-60-30(Gas Spring – 30lbs.)

1x
A-2188-01

X-Series Hexapod Assembly Instructions

22

3x

1x

1x

PP-2057-01

A-2038-03

1x
PP-2200-02
300mm Tube

X-Series Hexapod Assembly Instructions

23

3x3x

Align with actuator
output hub tick mark(Tube aligns with tick mark)

3x

1x
X8-9

X-Series Hexapod Assembly Instructions24

M3 x 14mm

3x
M3 x 14mm

1x2x

A-2091-02

A-2090-02

1x

M3 x 14mm

A-2094-01R

M3 x 14mm

X-Series Hexapod Assembly Instructions

25

Final Assembly
X-Series Hexapod Assembly Instructions

26

3x

3x

M3 x 14mm

X-Series Hexapod Assembly Instructions

27

Wiring Notes• It is best to wire each limb before moving onto the Final Assembly.
•See the next page for a full robot wiring diagram.

• Keeping wires organized will help prevent tangling and add a nice aesthetic.
•Spiral sleeving is a good accessory for organizing loose wires[Spiral sleeving]• HEBI X-Series actuators have a thru bore specifically designed to fit ethernet and power connectors.
•Please pass connectors thru bore hole 1 at a time.

For more information visit: docs.hebi.us
Power distribution boards are included to help
daisy-chain power connections.
These fit well within the tubes between actuators.

Wires that come from theprevious joint should be inserted
directly to actuator ports.

Wires that connect to the next
joint should be threaded throughthe actuator’s bore hole.

X-Series Hexapod Assembly Instructions

28

Wiring Diagram
View from Bottom of Robot

X-Series Hexapod Assembly Instructions

29

Wiring Lengths
View from Bottom of Robot

Lengths are common across type of Leg* (Left vs Right)

1 open ethernet
port on this module

X-Series Hexapod Assembly Instructions

30

Leg Layout
View from Bottom of Robot

X-Series Hexapod Assembly Instructions

31

Leg Dimensions
View from Bottom of Robot

325mm

187.5mm

325mm
Forward237.5mm
X-Series Hexapod Assembly Instructions

32© HEBI Robotics 2021
X-Series Hexapod Assembly Instructions

33