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4 <td valign="top" align="left"><b><font face="Verdana" size="2">Aluminum Direct-Drive Parallelogram 2DOF Leg Pair Assembly Guide.
5 Updated <!--webbot bot="Timestamp" startspan s-type="EDITED" s-format="%m/%d/%Y" -->08/30/2007<!--webbot bot="Timestamp" i-checksum="12530"
6 endspan --></font></b>
7 <p><font size="2"><b><font face="Verdana">Hardware:</font></b><font face="Verdana"><br>
8 &nbsp; - 2 x Multi-Purpose Servo Bracket Two Pack<br>
9 &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Black (ASB-04) / Brushed (ASB-04B)<br>
10 &nbsp; - 2 x "L" Connector Bracket Two Pack<br>
11 &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Black (ASB-06) / Brushed (ASB-06B)<br>
12 &nbsp; - 2 x "C" Servo Bracket w/ Ball Bearings Two Pack<br>
13 &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Black (ASB-09) / Brushed (ASB-09B)<br>
14 &nbsp; - 2 x Passive Hinge Bracket w/ Ball Bearings Single Pack<br>
15 &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; Black (ASB-12) / Brushed (ASB-12B)<br>
16 &nbsp; - 1</font></font><font face="Verdana" size="2"> x Aluminum Tubing Connector Hub (pair) (HUB-08)<br>
17 &nbsp; - 2 x Aluminum Tubing - 3.0" (AT-02)<br>
18 &nbsp; - 1 x Rubber End Cap - .500" x 1.50" (pair) (REC-06)<br>
19 &nbsp; - 1 x Ball Link Set - 4-40 (2 pair) (BLS-03)<br>
20 &nbsp; - 3.0" x 4-40 Threaded Rod<br>
21 &nbsp; - 4 x HS-475HB (76 oz. in.) Standard Servo (S475HB)<br>
22 &nbsp;&nbsp;&nbsp;&nbsp; *Note: Angle of leg is adjustable by varying the length of the dogbone in Step 10.</font></p>
23 <p><font size="2"><b><font face="Verdana">Goal:</font></b><font face="Verdana"><br>
24 &nbsp; - Assemble two 2DOF legs using servo brackets and aluminum tubing.</font></font></p></td>
25 <td align="center" valign="top" width="320"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/direct-drive-parallelogram-2-dof-leg/WebHome/2dfddp11.jpg" border="2" hspace="10" ><br>
26 <strong>Image of DDP 2DOF Leg.</strong></font></td>
27 </tr>
28 <tr>
29 <td valign="top" align="left"><font face="Verdana" size="2">&nbsp;</font></td>
30 <td align="center" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
31 </tr>
32 <tr>
33 <td valign="top" align="center" colspan="2">
34 <hr noshade="" color="#808080">
35 </td>
36 </tr>
37 <tr>
38 <td valign="top" align="left"><font face="Verdana" size="2">&nbsp;</font></td>
39 <td align="center" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
40 </tr>
41 <tr>
42 <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 1.<br>
43 </strong>Attach an "L" connector bracket to a Multi-Purpose bracket as shown, using two 2-56 x .250 screws and 2-56 nuts.</font>
44 <p><font face="Verdana" size="2"><b>2 x <img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/direct-drive-parallelogram-2-dof-leg/WebHome/256025ph.GIF" > 2 x <img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/direct-drive-parallelogram-2-dof-leg/WebHome/256zpn.GIF" ></b></font></p>
45 </td>
46 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/direct-drive-parallelogram-2-dof-leg/WebHome/2dfddp01.jpg" border="2" hspace="10" ><br>
47 Figure 1.</font></td>
48 </tr>
49 <tr>
50 <td valign="top" align="left"><font face="Verdana" size="2">&nbsp;</font></td>
51 <td align="center" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
52 </tr>
53 <tr>
54 <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 2.</strong><br>
55 Attach a Passive Hinge bracket to the "L" bracket as shown, using two 2-56 x .250 screws and 2-56 nuts.</font>
56 <p><font face="Verdana" size="2"><b>2 x <img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/direct-drive-parallelogram-2-dof-leg/WebHome/256025ph.GIF" > 2 x <img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/direct-drive-parallelogram-2-dof-leg/WebHome/256zpn.GIF" ></b></font></p>
57 </td>
58 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/direct-drive-parallelogram-2-dof-leg/WebHome/2dfddp02.jpg" border="2" hspace="10" ><br>
59 Figure 2.</font></td>
60 </tr>
61 <tr>
62 <td valign="top" align="left"><font face="Verdana" size="2">&nbsp;</font></td>
63 <td align="center" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
64 </tr>
65 <tr>
66 <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 3.</strong><br>
67 Attach the ball bearing that comes with the Long "C" bracket to the Multi-Purpose bracket as shown. See the diagram below for detailed
68 information.</font>
69 <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/direct-drive-parallelogram-2-dof-leg/WebHome/ballb02.GIF" border="2" hspace="10" ><br>
70 Figure 3-1.</font></p>
71 </td>
72 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/direct-drive-parallelogram-2-dof-leg/WebHome/2dfddp03.jpg" border="2" hspace="10" ><br>
73 Figure 3-2.</font></td>
74 </tr>
75 <tr>
76 <td valign="top" align="left"><font face="Verdana" size="2">&nbsp;</font></td>
77 <td align="center" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
78 </tr>
79 <tr>
80 <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 4.</strong><br>
81 Attach the "C" bracket to the Passive Hinge bracket as shown, using two ball bearings. See the diagram below for detailed information.</font>
82 <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/direct-drive-parallelogram-2-dof-leg/WebHome/ballb03.GIF" border="2" hspace="10" ><br>
83 Figure 4-1.</font></p>
84 </td>
85 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/direct-drive-parallelogram-2-dof-leg/WebHome/2dfddp04.jpg" border="2" hspace="10" ><br>
86 Figure 4-2.</font></td>
87 </tr>
88 <tr>
89 <td valign="top" align="left"><font face="Verdana" size="2">&nbsp;</font></td>
90 <td align="center" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
91 </tr>
92 <tr>
93 <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 5.</b><br>
94 Attach another "C" bracket to the "C" bracket already there, using two 2-56 x .250 screws and 2-56 nuts.</font>
95 <p><font face="Verdana" size="2"><b>2 x <img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/direct-drive-parallelogram-2-dof-leg/WebHome/256025ph.GIF" > 2 x <img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/direct-drive-parallelogram-2-dof-leg/WebHome/256zpn.GIF" ></b></font></p>
96 </td>
97 <td align="left" valign="top" >
98 <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/direct-drive-parallelogram-2-dof-leg/WebHome/2dfddp05.jpg" border="2" hspace="10" ><br>
99 Figure 5.</font></p></td>
100 </tr>
101 <tr>
102 <td valign="top" align="left"><font face="Verdana" size="2">&nbsp;</font></td>
103 <td align="center" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
104 </tr>
105 <tr>
106 <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 6.</strong><br>
107 Attach the "C" bracket to a Multi-Purpose bracket as shown. See the diagram below for detailed information.</font>
108 <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/direct-drive-parallelogram-2-dof-leg/WebHome/ballb01.GIF" border="2" hspace="10" ><br>
109 Figure 6-1.</font></p>
110 </td>
111 <td valign="top" >
112 <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/direct-drive-parallelogram-2-dof-leg/WebHome/2dfddp06.jpg" border="2" hspace="10" ><br>
113 Figure 6-2.</font></p></td>
114 </tr>
115 <tr>
116 <td valign="top" align="left"><font face="Verdana" size="2">&nbsp;</font></td>
117 <td align="center" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
118 </tr>
119 <tr>
120 <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 7.</strong><br>
121 Attach a Tubing Connector Hub to an "L" bracket as shown, using two 2-56 x .250 screws and 2-56 nuts.</font>
122 <p><font face="Verdana" size="2"><b>2 x <img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/direct-drive-parallelogram-2-dof-leg/WebHome/256025ph.GIF" > 2 x <img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/direct-drive-parallelogram-2-dof-leg/WebHome/256zpn.GIF" ></b></font></p>
123 </td>
124 <td valign="top" >
125 <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/direct-drive-parallelogram-2-dof-leg/WebHome/2dfddp07.jpg" border="2" hspace="10" ><br>
126 Figure 7.</font></p></td>
127 </tr>
128 <tr>
129 <td valign="top" align="left"><font face="Verdana" size="2">&nbsp;</font></td>
130 <td align="center" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
131 </tr>
132 <tr>
133 <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 8.</strong><br>
134 Attach the other side of the "L" connector bracket to the Multi-Purpose bracket as shown, using two 2-56 x .250 screws and 2-56 nuts.</font>
135 <p><font face="Verdana" size="2"><b>2 x <img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/direct-drive-parallelogram-2-dof-leg/WebHome/256025ph.GIF" > 2 x <img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/direct-drive-parallelogram-2-dof-leg/WebHome/256zpn.GIF" ></b></font></p>
136 </td>
137 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/direct-drive-parallelogram-2-dof-leg/WebHome/2dfddp08.jpg" border="2" hspace="10" ><br>
138 Figure 8.</font></td>
139 </tr>
140 <tr>
141 <td valign="top" align="left"><font face="Verdana" size="2">&nbsp;</font></td>
142 <td align="center" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
143 </tr>
144 <tr>
145 <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 9.</strong><br>
146 Connect a 3.0" tube to the hub using a 4-40 x .250" screw. Attach a rubber foot to the end of the tube.</font>
147 <p><font face="Verdana" size="2"><b>1 x <img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/direct-drive-parallelogram-2-dof-leg/WebHome/4250hscs.GIF" ></b></font></p>
148 </td>
149 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/direct-drive-parallelogram-2-dof-leg/WebHome/2dfddp09.jpg" border="2" hspace="10" ><br>
150 Figure 9-2.</font></td>
151 </tr>
152 <tr>
153 <td valign="top" align="left"><font face="Verdana" size="2">&nbsp;</font></td>
154 <td align="center" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
155 </tr>
156 <tr>
157 <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 10.</strong><br>
158 Use 1.5" of 4-40 threaded rod to make a "dog bone" with a black plastic socket at each end. Attach the dog bone to the
159 Multi-Purpose bracket and the Passive Hinge bracket as shown. See the diagram below for detailed information.</font>
160 <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/direct-drive-parallelogram-2-dof-leg/WebHome/ballb04.GIF" border="2" hspace="10" ><br>
161 Figure 10-1.</font></p>
162 </td>
163 <td align="center" valign="top" ><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/direct-drive-parallelogram-2-dof-leg/WebHome/2dfddp10.jpg" border="2" hspace="10" ><br>
164 Figure 10-2.</font></td>
165 </tr>
166 <tr>
167 <td valign="top" align="left"><font face="Verdana" size="2">&nbsp;</font></td>
168 <td align="center" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
169 </tr>
170 <tr>
171 <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 11.</b><br>
172 Install the servos as shown, using the included 3mm hardware, and two #2 tapping screws. For quick prototype assembly, you can use rivet
173 fasteners (sold separately: <a href="https://www.lynxmotion.com/showproduct.aspx?productID=327&amp;CategoryID=75">NSRF-01</a>) as illustrated.</font>
174 <p><font face="Verdana" size="2"><b>2 x <img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/direct-drive-parallelogram-2-dof-leg/WebHome/2250phts.GIF" > 8 x <img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/direct-drive-parallelogram-2-dof-leg/WebHome/srvhdw.GIF" ></b></font></p>
175 </td>
176 <td align="left" valign="top" >
177 <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/direct-drive-parallelogram-2-dof-leg/WebHome/2dfddp11.jpg" border="2" hspace="10" ><br>
178 Figure 11.</font></p></td>
179 </tr>
180 <tr>
181 <td valign="top" align="left"><font face="Verdana" size="2">&nbsp;</font></td>
182 <td align="center" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
183 </tr>
184 <tr>
185 <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 12.</strong><br>
186 You can adjust the angle of the leg by changing the length of the dog bone.</font></td>
187 <td valign="top" >
188 <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/direct-drive-parallelogram-2-dof-leg/WebHome/2dfddp12.jpg" border="2" hspace="10" ><br>
189 Figure 12.</font></p></td>
190 </tr>
191 <tr>
192 <td valign="top" align="left"><font face="Verdana" size="2">&nbsp;</font></td>
193 <td align="center" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
194 </tr>
195 <tr>
196 <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 13.</strong><br>
197 By adding a spring, the joint can be load-balanced. This is a trade-off because when the leg is in the Down position, the load on the servo is
198 reduced. However, the load when the leg is in the Up position is increased.</font></td>
199 <td valign="top" >
200 <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/direct-drive-parallelogram-2-dof-leg/WebHome/2dfddp13.jpg" border="2" hspace="10" ><br>
201 Figure 13.</font></p></td>
202 </tr>
203 <tr>
204 <td valign="top" align="left"><font face="Verdana" size="2">&nbsp;</font></td>
205 <td align="center" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
206 </tr>
207 <tr>
208 <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 14.</strong><br>
209 Now the leg is ready to be attached to a body. Use two #2 tapping screws. These parts are included in the lexan chassis kits or the Long
210 "C" brackets for an aluminum chassis.</font>
211 <p><font face="Verdana" size="2"><b>2 x <img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/direct-drive-parallelogram-2-dof-leg/WebHome/2250phts.GIF" ></b></font></p>
212 </td>
213 <td valign="top" >
214 <p align="center">&nbsp;</p></td>
215 </tr>
216 </tbody></table>
217 </body>
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