Assembly Guide

Before assembly

Power supply cord preparation

Please refer to this video for the necessary preparation of the power supply cord.

Killswitch installation on power supply

The killswitch should be installed before beginning the assembly. The wiring connections are as follows.
The killswitch should be installed firmly on the power supply, we used tie wraps as shown below.

Protoboard soldering

The protoboard will be used to feed power to the servo motors and manage PWM and feeback wiring. The tracks on the board must be as follow:

Hip, Femur and Tibia servo motor calibration

The servo motors must be calibrated before being assembled to ensure optimal operating ranges. The code used to calibrate the servo motors is available in the Assembly Sub-Folder. The only thing to do is to plug the motor to be calibrated into its corresponding output in the PWM Servo Driver and change the index 0 in the code below to the same index.

void loop() {

  driver.writeMicroseconds(0,degToPulse(135,0));
  //delay(1000);
}

Parts needed

• Appropriate electrical wires for the electrical connections
• 1x Arduino Mega2560
• 1x Power supply
• 1x Step-down converter to 6.8V
• 12x Servo motor
• 1x Servo motor driver
• 12x Servo motor horn

Please refer to the electrical scheme section in order to do the appropriate wiring between the power supply, drive, arduino, motors, step down and protoboard. The feedback wiring is not necessary for this section.

Hip servo motor calibration assembly steps

• Connect 4 servos to the protoboard (feedback connections are not necessary)
• Send a 135 degrees target to the servo motors
• Insert the motor horns on the rotating shafts of the servo motors at a 90 degree angle
  • Two of each at opposite sides for right and left side legs (See image for reference)

Femur servo motor calibration assembly steps

• Connect 4 servos to the protoboard (feedback connections are not necessary)
• Send a 135 degrees target to the servo motors
• Insert the motor horns on the rotating shafts of the servo motors at a 90 degree angle
  • Two of each at opposite sides for right and left side legs (See image for reference)

Tibia servo motor calibration assembly steps

• Connect 4 servos to the protoboard (feedback connections are not necessary)
• Send a 135 degrees target to the servo motors
• Insert the motor horns on the rotating shafts of the servo motors at a 45 degree angle
  • Two of each at opposite sides for right and left side legs (See image for reference)

Leg Assembly

This section explains how to assemble the robot's legs. It is suggested to follow these instructions in the order they are shown to facilitate the assembly process. The steps to follow are the same for the right and left side legs.

Regroup all the 3D prints needed for the 4 legs.

Femur

Parts needed

• 1x Femur
• 1x Servo motor (Mounted with the horn)
• 1x Pivot cylinder
• 2x M4x25mm socket head cap screw
• 2x M4 nut

Assembly steps

• Insert the servo motor into the Femur
• Add 1 M4 screw on both extremities of the servo motor
• Tighten both screws with the M4 nuts
• Insert a pivot cylinder in the Femur

Hip

Parts needed

• 1x Hip - servo motor part
• 1x Hip - bearing part
• 1x Servo motor (Mounted with the horn)
• 1x Bearing
• 2x M2x12mm socket head cap screw
• 2x M3x30mm socket head cap screw
• 2x M3 nut
• 2x M4x20mm socket head cap screw
• 2x M4 nut
• 1x Pivot cylinder

Assembly steps

• Tighten the servo horn of the previously assembled motor with the 2 M2 screws

• Insert the motor horn into the hip (servo motor part)
  Here is a close-up without the Femur to show this assembly step.

• Insert a servo motor into the hip

• Add 1 M4 screw on both extremities of the servo motor

• Tighten both screws with the M4 nuts

• Insert a pivot cylinder in the hip - servo motor part

• Add the bearing into the hip - bearing part

• Insert the bearing into the pivot cylinder located on the Femur
  
  

• Align both hip parts and add both M3 screws

• Tighten both screws with the M3 nuts
  
  

Tibia

Parts needed

• 1x Tibia - main part
• 1x Tibia - motor support part
• 1x foot end
• 1x Knee - bearing support part
• 1x Knee - servo horn support part
• 1x Servo motor (Mounted with the horn)
• 1x Bearing
• 2x M2x8mm socket head cap screw
• 1x M3x15mm screw
• 1x M3 flat washer
• 1x M4x25mm socket head cap screw
• 3x M4x30mm socket head cap screw
• 4x M4 nut
• 1x Pivot cylinder

Assembly steps

• Insert the servo motor into the tibia main part

• Add the tibia - bearing part

  • Make sure that the wires pass through the top side of the part( see image for reference)
    
    

• Add 1 M4 screw on both extremities of the servo motor

• Tighten both screws with the M4 nuts
  
  

• Insert the servo motor horn into the knee - servo horn part

• Tighten the servo horn with the 2 M2 screws
  
  
  

• Insert the bearing into the tibia - bearing part

• Insert the pivot cylinder into the bearing

• Insert the pivot cylinder into the knee - bearing part
  

• Take the assembled femur-hip and align the femur holes with the knee holes

• Add 2 M4 screws into the knee parts and the femur

• Tighten both screws with the M4 nuts

• Pass the cables from the tibia motor into the slots located on the femur
  

• Align the foot end with the tibia main part

• Insert the M3 flat washer in the foot's hole

• Tighten with the M3 screw

• Add glue for stronger assembly

Body fixtures

Parts needed

• 1x Servo horn bloc
• 1x Bearing bloc
• 1x Bearing
• 2x M2x20mm socket head cap screw

Assembly steps

• Take the assembled tibia-femur-hip and insert the servo horn bloc onto the servo horn of the hip's servo motor
• Tighten the servo horn with the 2 M2 screws Here is a view of the bloc assembled on the servo motor without the leg assembled
  
  
• Insert the bearing into the bearing bloc
• Insert the bearing onto the hip's pivot cylinder
  

Body Assembly

This section explains how to assemble the robot's body. It is suggested to follow these instructions in the order they are shown to facilitate the assembly process. It is also recommended to prepare the protoboard and add all the necessary wires before installing it into the body.

Assembling the wooden body

Parts needed

• 1x Top body part
• 1x Bottom body part
• 2x Longitudinal beam
• 2x Access panel
• 2x Access panel hinge
• 2x Access panel lock
• 4x C-clamp
• 2x M3x8mm screw
• Wood glue

Assembly steps

• Add glue to the top body part along both of the longitudinal holes
• Insert one longitudinal beam into the top body part longitudinal holes
  • Use hammer to ease insertion of the beam
• Insert the second longitudinal beam into the top body part longitudinal holes
  • Use hammer to ease insertion of the beam
• Add glue to the bottom body part along both of the longitudinal holes
• Insert the longitudinal beams into the bottom body part longitudinal holes
  • Use hammer to ease insertion of the beams
• Hold the parts together with C-clamps for as long as recommended by the glue manufacturer

Adding the electrical components

Parts needed

• 1x Arduino (1)
• 1x Raspberry Pi (1)
• 1x Servo motor driver (1)
• 1x Protoboard (1)
• 2x Step-down converter (2)
• 12x M3x8mm screw (12)

Assembly steps (INCOMPLETE)

Refer to CAD for electrical component locations.

• Add both step-downs
• Connect PWM of protoboard to servo motor driver
• Add protoboard and servo motor driver
• Add Arduino
• Connect all Arduino necessary connections
• Connect step-down + and -