Assembly Guide
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.
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.
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);
}
- Appropriate electrical wires for electrical connections
- 1x Arduino Mega2560
- 1x Power supply
- 1x Step-down converter to 6.8V
- 12x Servo motor
- 1x Servo motor driver
- 12x Flanged Bearing --> ID: 1/4" OD: 1/2"
- 12x Servo motor horn
- All the 3D printed parts for the four legs :
- Connect 4 servos to the motor driver and power supply
- 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)
- Connect 4 servos to the motor driver and power supply
- 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)
- Connect 4 servos to the motor driver and power supply
- 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)
- Femur (1)
- Servo motor (1)
- Pivot cylinder (1)
- M4x25mm socket head cap screw (2)
- M4 nut (2)
- 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 - servo motor part (1)
- Hip - bearing part (1)
- Servo motor (1)
- Bearing (1)
- M2x12mm socket head cap screw (2)
- M3x30mm socket head cap screw (2)
- M3 nut (2)
- M4x20mm socket head cap screw (2)
- M4 nut (2)
- Pivot cylinder (1)
- Insert the motor horn of the servo motor previously assembled with the Femur into the hip - servo motor part
- Tighten the servo horn with the 2 M2 screws
- Insert a servo motor into the hip - servo motor part
- 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 - leg (1)
- Tibia - bearing part (1)
- Tibia - foot (1)
- Knee - bearing part (1)
- Knee - servo horn part (1)
- Servo motor (1)
- Bearing (1)
- M2x8mm socket head cap screw (2)
- M3x15mm screw (1)
- M3 flat washer (1)
- M4x25mm socket head cap screw (1)
- M4x30mm socket head cap screw (3)
- M4 nut (4)
- Pivot cylinder (1)
- Insert the servo motor into the tibia - leg
- 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
- Align the tibia - foot with the tibia - leg
- Insert the M3 flat washer in the foot's hole
- Tighten with the M3 screw
- Servo horn bloc (1)
- Bearing bloc (2)
- Bearing (1)
- M2x20mm socket head cap screw (2)
- Take the assembled 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
- Insert the bearing into the bearing bloc
- Insert the bearing onto the hip's pivot cylinder
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.
- Top body part (1)
- Bottom body part (1)
- Longitudinal beam (2)
- Access panel (2)
- Access panel hinge (2)
- Access panel lock (2)
- C-clamp (4)
- Wood glue
- M3x8mm screw (2)
- 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
- Arduino (1)
- Raspberry Pi (1)
- Servo motor driver (1)
- Protoboard (1)
- Step-down converter (2)
- M3x8mm screw (12)
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 -