The planetary system was the first sub-system to be assembled. This sub-assembly consists of a sun gear, planetary gears, ring gears, spacers, shafts, and support plates. Bearings are used to interact between the shafts and the support plates to diminish the amount of friction produced. The following sequence of images shows the assembly of the planetary system.

The next step was to assemble the housing and set up all shafts and gears inside of it. Gears were sprayed with a heavy lithium lubricant to alleviate friction between gear teeth.

The final step was to connect all motors to their support plates and assemble the electronics. For more details refer to the assembly manual found under the deliverables tab of the download heading.