Disassembling the Unitree A1

  1. 1.
    Remove the battery.
  2. 2.
    Remove the 6 screws and remove the carbon fixture of the head.
  3. 3.
    Remove the 8 screws connecting the front of the frame to the top cover.
  4. 4.
    Remove the 8 screws connecting the back of the frame to the top cover.
Front view
Back view
  1. 5.
    Remove the battery fixture by removing the 4 screws on top. Note that the screw on the left end of the L-shaped fixture is longer than the others. To prevent mix-ups, screw these screws back into their correct position.
Battery fixture
  1. 6.
    Remove the 6 screws holding the Nvidia board, Raspberry Pi and the power supply in place.
  2. 7.
    Remove the remaining screws and remove the top cover.
Top view
  1. 8.
    You now have access to the Raspberry Pi, the Nvidia Board, the WiFi antenna and the power supply.
  2. 9.
    View of the internals

Removing the Nvidia Board

  1. 1.
    The Nvidia board is fixed to the main frame by one screw on the bottom of the frame.
  2. 2.
    Ideally elevate the robot by placing it onto a box or similar. Remove the screw by turning the robot onto one side.
Tilt robot to access the screw of the nvidia board
  1. 3.
    Finally, unplug the USB-Cable of the camera and remove the Nvidia board carefully.
Nvidia Board
  1. 4.
    You now have access to the Nvidia board mounted on a custom base board.
Nvidia board