MHBKR Body Assembly Instructions v1.0

electronics. This document shows the MAH3-R (Mega AH3-R Hexapod) in the images. The assembly procedure for the body is the same for all the kits which use this body.

20

Note that the MHBKR can be considered to be a larger version of the HBKR, and is part of the H3 series. As such, all of the electrical and programming tutorials for the H3-R series can be used.</td>

21

MAH3-R-BRU</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step 1.

29

Use the 4-40 x 1/4" hex socket screws to attach the 12 aluminum hex spacers to the bottom panel.

</tr>

<tr>

</tr>

</tbody></table>

</td>

Figure 1.</td>

</tr>

<tr>

</td>

</tr>

<tr>

<td valign="top" align="left">Step 2.

51

Use four (4x) 4-40 x 1/4" hex socket screws to attach the four (4x) 4-40 x 3/8" M/F plastic hex spacers to the bottom of the robot as shown. Note, the bottom panel is symmetrical, meaning there is no front or back.

</tr>

<tr>

</tr>

</tbody></table>

</td>

Figure 2.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step 3.

71

The SSC-32 should be configured for 115.2 kbaud and DB9 communication. Remove the VL=VS jumper as well as both VS2=VS1 jumpers. Consult the

72

<a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/ssc-32/ssc-32-manual/">SSC-32 manual</a> if needed. Attach the 9V battery wiring harness to VL; this will provide power for the electronics. Depending on which kit you purchased, you may also need to connect the ~8" length of twisted wire to VL as well. Make sure that the red wires go to (+) and the black wires go to (-). For now, put some electrical tape on

73

the end of the wire. Next, attach a battery connector to VS1, again ensuring that the red wire goes to + and the black wire goes to -. Last, attach the other battery wiring harness to VS2.

</td>

</tr>

<tr>

</td>

</tr>

<tr>

Schematic.

Double check your connections against the schematic below. Note that two main battery connectors are used since the 755 servos consume a lot of current.

Servo Letter Definitions</td>

93

</tr>

94

<tr>

95

<td bordercolor="#C0C0C0" align="left" valign="middle"> Left

96

Right</td>

97

<td bordercolor="#C0C0C0" align="left" valign="middle"> Rear

98

Middle

99

Front</td>

100

<td bordercolor="#C0C0C0" align="left" valign="middle"> Knee

Vertical

Horizontal</td>

</tr>

</tbody></table>

</center>

</div>

Schematic 3-1.

</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step 4.

117

Slip the SSC-32 onto the 4-40 x 3/8" hex spacers as shown.

</td>

Figure 4.</td>

</tr>

<tr>

<td valign="top" align="left">Step 5.

125

Plug the servos into the SSC-32 as illustrated in Figure 5. Simply plug in the servo associated with the function to the corresponding pin. If

126

oriented correctly, the I/O port (group of four pins) will be closest to its corresponding leg. You can leave the legs themselves closeby. The rest of these instructions do not show the servos wires connected in order to keep them as clear as possible.

127

The orientation of the three wire connector is very important. The yellow wire should be connected to the signal line, the red wire to the V line and the black wire to the GND line.

128

Follow steps 2 to 4 from the <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/the-complete-h3-h3-r-tutorial-v2-bbu/">H3 BotBoarduino Guide</a> in order to connect the BotBoarduino to the SSC-32 controller. If you did not purchase the PS2 option, skip the Note and schematic.

</td>

Figure 5.</td>

</tr>

<tr>

<td valign="top" align="left">Step 6.

135

Attach the 1" x 4-40 hex spacers to the 3/8" hex spacers. Connect the second board (Bot Board or BotBoarduino) to the 1" spacers using four 4-40 x 0.250" screws. Once again, the power and signal connections are not shown in Figure 6 for simplicity, though yours should be connected.

</tr>

<tr>

</tr>

</tbody></table>

</td>

Figure 6.</td>

</tr>

<tr>

</td>

</tr>

<tr>

<td valign="top" align="left">Step 7.

159

Install the top plate, ensuring the rectangular opening lines up with the board. The three small holes (as can be seen at the very top of figure 6) should be on the side with all the wires. Leave the screws a little loose.

</tr>

<tr>

</tr>

</tbody></table>

</td>

Figure 7.</td>

</tr>

<tr>

<td valign="top" align="left">Step 8.

177

Install the three power sitches to the top plate. The switches come with all the hardware needed. Be sure to mount them all in the same orientation (one side for ON, the other side for OFF.

</td>

Figure 8.</td>

</tr>

<tr>

<td valign="top" align="left">Step 9.

185

Install all the legs. Note that you will need to a) loosen the screws b) insert the bearing into the hole c) insert the servo between the top and bottom plate d) connect the servo horn at 0 degrees to the top plate (i.e. perpendicular). Refer to Figure 8 for clarification. Note that the bearings and associated hardware should be used with the leg assembly guide.

</tr>

<tr>

</tr>

</tbody></table>

</td>

Figure 9.</td>

</tr>

<tr>

</tr>

This completes the mechanical assembly. You can now move on to the <a href="http://www.lynxmotion.com/images/html/build99f.htm">Complete H3/H3-R Tutorial</a>.

</td></tr>

</tbody></table>

</body></html>

Wiki source code of MHBKR Body Assembly Instructions v1.0

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1	{{html wiki="false" clean="true"}}
2
3	<!-- saved from url=(0056)http://www.lynxmotion.com/images/html/mhbkr-assembly.htm -->
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7	<link rel="stylesheet" href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/mhbkr-body/WebHome/default.css" type="text/css">
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10
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12	<body><table border="0" cellpadding="0" cellspacing="0" >
13	<tbody><tr>
14	<td valign="top" align="left"><b><font size="2" face="Verdana, Helvetica, sans-serif">MHBKR Body Assembly Instructions Rev. 1.</font></b>
15	<p><b><font size="2" face="Verdana, Helvetica, sans-serif">Updated <!--webbot bot="Timestamp" startspan s-type="EDITED" s-format="%m/%d/%Y" -->November 6, 2012<!--webbot
16	bot="Timestamp" i-checksum="12624" endspan -->.</font></b></p>
17	<p><font face="Verdana" size="2"><b>Safety first!</b> Wear eye protection and never touch a powered robot!</font></p>
18	<p><font size="2" face="Verdana, Helvetica, sans-serif">The purpose of this guide is to construct the chassis, attach the legs, and install the
19	electronics. This document shows the MAH3-R (Mega AH3-R Hexapod) in the images. The assembly procedure for the body is the same for all the kits which use this body.<br><br>
20	Note that the MHBKR can be considered to be a larger version of the HBKR, and is part of the H3 series. As such, all of the electrical and programming tutorials for the H3-R series can be used.</font></p></td>
21	<td align="center" valign="top" width="320"><font size="2" face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/mhbkr-body/WebHome/mah3-r-bru.jpg" border="2" hspace="10" ><br>
22	<b>MAH3-R-BRU</b></font></td>
23	</tr>
24	<tr>
25	<td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"> </font></td>
26	</tr>
27	<tr>
28	<td valign="top" align="left"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Step 1.<br>
29	</b>Use the 4-40 x 1/4" hex socket screws to attach the 12 aluminum hex spacers to the bottom panel.<br>
30	</font>
31	<table border="0" >
32	<tbody><tr>
33	<td ><font size="2" face="Verdana, Helvetica, sans-serif"><b>12 x</b></font></td>
34	<td ><font size="2" face="Verdana, Helvetica, sans-serif"><b>12 x</b></font></td>
35	</tr>
36	<tr>
37	<td ><font size="2" face="Verdana, Helvetica, sans-serif"><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/mhbkr-body/WebHome/4250hscs.gif" ></font></td>
38	<td ><font face="Verdana, Helvetica, sans-serif"><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/mhbkr-body/WebHome/42438nhs.gif" ></font></td>
39	</tr>
40	</tbody></table>
41	</td>
42	<td align="center" valign="top" ><font size="2" face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/mhbkr-body/WebHome/mhbkr-step-1.jpg" border="2" hspace="10" ><br>
43	Figure 1.</font></td>
44	</tr>
45	<tr>
46	<td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"><br class="pb">
47	</font></td>
48	</tr>
49	<tr>
50	<td valign="top" align="left"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Step 2.<br>
51	</b>Use four (4x) 4-40 x 1/4" hex socket screws to attach the four (4x) 4-40 x 3/8" M/F plastic hex spacers to the bottom of the robot as shown. Note, the bottom panel is symmetrical, meaning there is no front or back.<br> <br></font>
52	<table border="0" >
53	<tbody><tr>
54	<td ><font size="2" face="Verdana, Helvetica, sans-serif"><b>4 x</b></font></td>
55	<td ><font size="2" face="Verdana, Helvetica, sans-serif"><b>4 x</b></font></td>
56	</tr>
57	<tr>
58	<td ><font size="2" face="Verdana, Helvetica, sans-serif"><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/mhbkr-body/WebHome/4250hscs.gif" ></font></td>
59	<td ><font size="2" face="Verdana, Helvetica, sans-serif"><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/mhbkr-body/WebHome/4375hns2.gif" ></font></td>
60	</tr>
61	</tbody></table>
62	</td>
63	<td align="center" valign="top" ><font size="2" face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/mhbkr-body/WebHome/mhbkr-step-2.jpg" border="2" hspace="10" ><br>
64	Figure 2.</font></td>
65	</tr>
66	<tr>
67	<td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"> </font></td>
68	</tr>
69	<tr>
70	<td valign="top" align="left"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Step 3.</b><br>
71	The SSC-32 should be configured for 115.2 kbaud and DB9 communication. Remove the VL=VS jumper as well as both VS2=VS1 jumpers. Consult the
72	<a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/ssc-32/ssc-32-manual/">SSC-32 manual</a> if needed. Attach the 9V battery wiring harness to VL; this will provide power for the electronics. Depending on which kit you purchased, you may also need to connect the ~8" length of twisted wire to VL as well. Make sure that the red wires go to (+) and the black wires go to (-). For now, put some electrical tape on
73	the end of the wire. Next, attach a battery connector to VS1, again ensuring that the red wire goes to + and the black wire goes to -. Last, attach the other battery wiring harness to VS2.<br>
74	</font>
75
76	</td>
77
78	</tr>
79	<tr>
80	<td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"><br class="pb">
81	</font></td>
82	</tr>
83	<tr>
84	<td valign="top" align="left" colspan="2">
85	<p align="left"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Schematic</b></font><font face="Verdana, Helvetica, sans-serif"><b><font size="2">.</font></b><br>
86	<font size="2">Double check your connections against the schematic below. Note that two main battery connectors are used since the 755 servos consume a lot of current.<br>
87	</font></font></p><div align="center">
88	<center>
89	<table border="1" bordercolor="#FFFFFF">
90	<tbody><tr>
91	<td bordercolor="#808080" bgcolor="#C0C0C0" colspan="3">
92	<p align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Servo Letter Definitions</font></p></td>
93	</tr>
94	<tr>
95	<td bordercolor="#C0C0C0" align="left" valign="middle"><font size="2" face="Verdana, Helvetica, sans-serif"><b> L</b>eft<br>
96	<b>R</b>ight</font></td>
97	<td bordercolor="#C0C0C0" align="left" valign="middle"><font size="2" face="Verdana, Helvetica, sans-serif"><b> R</b>ear<br>
98	<b>M</b>iddle<br>
99	<b>F</b>ront</font></td>
100	<td bordercolor="#C0C0C0" align="left" valign="middle"><font size="2" face="Verdana, Helvetica, sans-serif"><b> K</b>nee<br>
101	<b>V</b>ertical<br>
102	<b>H</b>orizontal</font></td>
103	</tr>
104	</tbody></table>
105	</center>
106	</div>
107	<p align="center"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/mhbkr-body/WebHome/h3wire01b.jpg" border="0" hspace="10" ><br>
108	<br>
109	<font size="2" face="Verdana, Helvetica, sans-serif">Schematic 3-1.</font></p>
110	</td>
111	</tr>
112	<tr>
113	<td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"> </font></td>
114	</tr>
115	<tr>
116	<td valign="top" align="left"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Step 4.</b><br>
117	Slip the SSC-32 onto the 4-40 x 3/8" hex spacers as shown.<br><br></font>
118
119	</td>
120	<td align="center" valign="top" ><font size="2" face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/mhbkr-body/WebHome/mhbkr-step-3.jpg" border="2" hspace="10" ><br>
121	Figure 4.</font></td>
122	</tr>
123	<tr>
124	<td valign="top" align="left"><b><font size="2" face="Verdana, Helvetica, sans-serif">Step 5.</font></b><font size="2" face="Verdana, Helvetica, sans-serif">
125	Plug the servos into the SSC-32 as illustrated in Figure 5. Simply plug in the servo associated with the function to the corresponding pin. If
126	oriented correctly, the I/O port (group of four pins) will be closest to its corresponding leg. You can leave the legs themselves closeby. The rest of these instructions do not show the servos wires connected in order to keep them as clear as possible.
127	The orientation of the three wire connector is very important. The yellow wire should be connected to the signal line, the red wire to the V line and the black wire to the GND line.<br>
128	<br>Follow steps 2 to 4 from the <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/the-complete-h3-h3-r-tutorial-v2-bbu/">H3 BotBoarduino Guide</a> in order to connect the BotBoarduino to the SSC-32 controller. If you did not purchase the PS2 option, skip the Note and schematic.</font>
129	</td>
130	<td align="center" valign="top" ><font size="2" face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/mhbkr-body/WebHome/mhbkr-step-8.jpg" border="2" hspace="10" ><br>
131	Figure 5.</font></td>
132	</tr>
133	<tr>
134	<td valign="top" align="left"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Step 6.</b><br>
135	Attach the 1" x 4-40 hex spacers to the 3/8" hex spacers. Connect the second board (Bot Board or BotBoarduino) to the 1" spacers using four 4-40 x 0.250" screws. Once again, the power and signal connections are not shown in Figure 6 for simplicity, though yours should be connected.<br>
136	<br>
137	<br><br>
138	</font>
139	<table border="0" >
140	<tbody><tr>
141	<td ><font size="2" face="Verdana, Helvetica, sans-serif"><b>4 x</b></font></td>
142	<td ><font size="2" face="Verdana, Helvetica, sans-serif"><b>4 x</b></font></td>
143	</tr>
144	<tr>
145	<td ><font size="2" face="Verdana, Helvetica, sans-serif"><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/mhbkr-body/WebHome/41000hns.jpg" ></font></td>
146	<td ><font size="2" face="Verdana, Helvetica, sans-serif"><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/mhbkr-body/WebHome/4250hscs.gif" ></font></td>
147	</tr>
148	</tbody></table>
149	</td>
150	<td align="center" valign="top" ><font size="2" face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/mhbkr-body/WebHome/mhbkr-step-4.jpg" border="2" hspace="10" ><br>
151	Figure 6.</font></td>
152	</tr>
153	<tr>
154	<td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"><br class="pb">
155	</font></td>
156	</tr>
157	<tr>
158	<td valign="top" align="left"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Step 7.<br>
159	</b>Install the top plate, ensuring the rectangular opening lines up with the board. The three small holes (as can be seen at the very top of figure 6) should be on the side with all the wires. Leave the screws a little loose.<br>
160	</font>
161	<table border="0" >
162	<tbody><tr>
163	<td ><b><font size="2" face="Verdana, Helvetica, sans-serif">12 x</font></b></td>
164	<td ><font size="2" face="Verdana, Helvetica, sans-serif"> </font></td>
165	</tr>
166	<tr>
167	<td ><font size="2" face="Verdana, Helvetica, sans-serif"><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/mhbkr-body/WebHome/4250hscs.gif" ></font></td>
168	<td ><font size="2" face="Verdana, Helvetica, sans-serif"> </font></td>
169	</tr>
170	</tbody></table>
171	</td>
172	<td align="center" valign="top" ><font size="2" face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/mhbkr-body/WebHome/mhbkr-step-5.jpg" border="2" hspace="10" ><br>
173	Figure 7.</font></td>
174	</tr>
175	<tr>
176	<td valign="top" align="left"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Step 8.<br>
177	</b>Install the three power sitches to the top plate. The switches come with all the hardware needed. Be sure to mount them all in the same orientation (one side for ON, the other side for OFF.</font>
178
179	</td>
180	<td align="center" valign="top" ><font size="2" face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/mhbkr-body/WebHome/mhbkr-step-6.jpg" border="2" hspace="10" ><br>
181	Figure 8.</font></td>
182	</tr>
183	<tr>
184	<td valign="top" align="left"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Step 9.<br>
185	</b>Install all the legs. Note that you will need to a) loosen the screws b) insert the bearing into the hole c) insert the servo between the top and bottom plate d) connect the servo horn at 0 degrees to the top plate (i.e. perpendicular). Refer to Figure 8 for clarification. Note that the bearings and associated hardware should be used with the leg assembly guide.<br>
186	</font>
187	<table border="0" >
188	<tbody><tr>
189	<td ><b><font size="2" face="Verdana, Helvetica, sans-serif">12 x</font></b></td>
190	<td ><font size="2" face="Verdana, Helvetica, sans-serif"> </font></td>
191	</tr>
192	<tr>
193	<td ><font size="2" face="Verdana, Helvetica, sans-serif"><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/mhbkr-body/WebHome/256025ph.gif" ></font></td>
194	<td ><font size="2" face="Verdana, Helvetica, sans-serif"> </font></td>
195	</tr>
196	</tbody></table>
197	</td>
198	<td align="center" valign="top" ><font size="2" face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/mhbkr-body/WebHome/mhbkr-step-7.jpg" border="2" hspace="10" ><br>
199	Figure 9.</font></td>
200	</tr>
201	<tr>
202	<td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"> </font></td>
203	</tr>
204
205	<tr><td>
206	<font size="2" face="Verdana, Helvetica, sans-serif">This completes the mechanical assembly. You can now move on to the <a href="http://www.lynxmotion.com/images/html/build99f.htm">Complete H3/H3-R Tutorial</a>.</font>
207	</td></tr>
208	</tbody></table>
209	</body></html>
210	{{/html}}