Biped BRAT Jr. Assembly Guide

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4	<td valign="top" align="left"><font face="Verdana" size="2"><b>Biped BRAT Jr. Assembly Guide. Updated <!--webbot bot="Timestamp"
5	startspan s-type="EDITED" s-format="%m/%d/%Y" -->08/06/2009<!--webbot bot="Timestamp" i-CheckSum="12606" endspan -->.</b></font>
6	<p><font size="2"><b><font face="Verdana">Hardware:</font></b><font face="Verdana"><br>
7	- 1 x Alum. Channel - 3" Single Pack (ASB-503)<br>
8	- 2 x Multi-Purpose Servo Bracket Two Pack (ASB-04)<br>
9	- 1 x "L" Connector Bracket Two Pack (ASB-06)<br>
10	- 1 x "C" Servo Bracket w/ Ball Bearings Two Pack (ASB-09)<br>
11	- 1 x Robot Feet Pair (ARF-01)<br>
12	- 1 x SES Electronics Carrier (EC-02)<br>
13	- 1 x SSC-32 Servo Controller (SSC-32)<br>
14	- 4 x HS-422 (57oz.in.) Standard Servo (S422)</font></font></p></td>
15	<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-bipeds/brat-biped-jr/WebHome/bratjr00.jpg" border="2" hspace="10" ><br>
16	<strong>Image of Biped BRAT Jr.</strong></font></td>
17	</tr>
18	<tr>
19	<td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td>
20	</tr>
21	<tr>
22	<td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 1.<br>
23	</strong>Attach a multi-purpose bracket to the foot as shown, using three 2-56 x .188" screws and 2-56 nuts.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
24	</font>
25	<table border="0" >
26	<tbody><tr>
27	<td ><font size="2" face="Verdana"><b>3 x</b></font></td>
28	<td ><font size="2" face="Verdana"><b>3 x</b></font></td>
29	</tr>
30	<tr>
31	<td ><font face="Verdana" size="2"><b><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-jr/WebHome/256cs188.GIF" ></b></font></td>
32	<td ><font face="Verdana" size="2"><b><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-jr/WebHome/256zpn.GIF" ></b></font></td>
33	</tr>
34	</tbody></table>
35	</td>
36	<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-bipeds/brat-biped-jr/WebHome/bratjr01.jpg" border="2" hspace="10" ><br>
37	Figure 1.</font></td>
38	</tr>
39	<tr>
40	<td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td>
41	</tr>
42	<tr>
43	<td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 2.</strong><br>
44	Attach the "L" bracket to a short "C" bracket as shown, using two 2-56 x .250" screws and 2-56 nuts.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
45	</font>
46	<table border="0" >
47	<tbody><tr>
48	<td ><font size="2" face="Verdana"><b>2 x</b></font></td>
49	<td ><font size="2" face="Verdana"><b>2 x</b></font></td>
50	</tr>
51	<tr>
52	<td ><font face="Verdana" size="2"><b><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-jr/WebHome/256025ph.GIF" ></b></font></td>
53	<td ><font face="Verdana" size="2"><b><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-jr/WebHome/256zpn.GIF" ></b></font></td>
54	</tr>
55	</tbody></table>
56	</td>
57	<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-bipeds/brat-biped-jr/WebHome/bratjr02.jpg" border="2" hspace="10" ><br>
58	Figure 2.</font></td>
59	</tr>
60	<tr>
61	<td valign="top" align="left" colspan="2"><br class="pb">
62	</td>
63	</tr>
64	<tr>
65	<td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 3.</strong><br>
66	Attach a multi-purpose bracket to the "L" bracket as shown, using two 2-56 x .250" screws and 2-56 nuts.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
67	</font>
68	<table border="0" >
69	<tbody><tr>
70	<td ><font size="2" face="Verdana"><b>2 x</b></font></td>
71	<td ><font size="2" face="Verdana"><b>2 x</b></font></td>
72	</tr>
73	<tr>
74	<td ><font face="Verdana" size="2"><b><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-jr/WebHome/256025ph.GIF" ></b></font></td>
75	<td ><font face="Verdana" size="2"><b><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-jr/WebHome/256zpn.GIF" ></b></font></td>
76	</tr>
77	</tbody></table>
78	</td>
79	<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-bipeds/brat-biped-jr/WebHome/bratjr03.jpg" border="2" hspace="10" ><br>
80	Figure 3.</font></td>
81	</tr>
82	<tr>
83	<td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td>
84	</tr>
85	<tr>
86	<td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 4.</strong><br>
87	Attach the assembly from Step 3 to the multi-purpose bracket on the foot. See figure 4-1 for detailed information.</font>
88	<p align="center"><font face="Verdana" size="2"><img hspace="10" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-jr/WebHome/ballb01.GIF" border="2"><br>
89	Figure 4-1.</font></p></td>
90	<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-bipeds/brat-biped-jr/WebHome/bratjr04.jpg" border="2" hspace="10" ><br>
91	Figure 4-2.</font></td>
92	</tr>
93	<tr>
94	<td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td>
95	</tr>
96	<tr>
97	<td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 5.</strong><br>
98	Your two leg assemblies should look like the image so far.</font></td>
99	<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-bipeds/brat-biped-jr/WebHome/bratjr05.jpg" border="2" hspace="10" ><br>
100	Figure 5.</font></td>
101	</tr>
102	<tr>
103	<td valign="top" align="left" colspan="2"><br class="pb">
104	</td>
105	</tr>
106	<tr>
107	<td valign="top" align="left"><font face="Verdana" size="2"><b>Step 7.</b><br>
108	Install the servos as shown, using the included 3mm hardware, two #2 tapping screws and the diagram below. For quick prototype assembly, you can
109	use rivet fasteners (sold separately: NSRF-01) as illustrated.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
110	</font>
111	<table border="0" >
112	<tbody><tr>
113	<td ><font size="2" face="Verdana"><b>4 x</b></font></td>
114	<td ><font size="2" face="Verdana"><b> </b></font></td>
115	</tr>
116	<tr>
117	<td ><font face="Verdana" size="2"><b><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-jr/WebHome/2250phts.gif" ></b></font></td>
118	<td ><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-bipeds/brat-biped-jr/WebHome/holes.gif" border="2"></font></td>
119	</tr>
120	</tbody></table>
121	</td>
122	<td align="left" valign="top" >
123	<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-bipeds/brat-biped-jr/WebHome/bratjr06.jpg" border="2" hspace="10" ><br>
124	Figure 7.</font></p></td>
125	</tr>
126	<tr>
127	<td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td>
128	</tr>
129	<tr>
130	<td valign="top" align="left"><font face="Verdana" size="2"><b>Step 8.</b><br>
131	Attach the leg assemblies to the 3" U-Channel as shown, using four #2 tapping screws.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
132	</font>
133	<table border="0" >
134	<tbody><tr>
135	<td ><font size="2" face="Verdana"><b>4 x</b></font></td>
136	<td ><font size="2" face="Verdana"><b> </b></font></td>
137	</tr>
138	<tr>
139	<td ><font face="Verdana" size="2"><b><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-jr/WebHome/2250phts.gif" ></b></font></td>
140	<td ><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-bipeds/brat-biped-jr/WebHome/holes.gif" border="2"></font></td>
141	</tr>
142	</tbody></table>
143	</td>
144	<td align="left" valign="top" >
145	<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-bipeds/brat-biped-jr/WebHome/bratjr07.jpg" border="2" hspace="10" ><br>
146	Figure 8.</font></p></td>
147	</tr>
148	<tr>
149	<td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td>
150	</tr>
151	<tr>
152	<td valign="top" align="left"><font face="Verdana" size="2"><b>Step 10.</b><br>
153	Attach the 3/4" standoffs to the electronics carrier using four 4-40 x 1/4" hex socket head cap screws.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
154	</font>
155	<table border="0" >
156	<tbody><tr>
157	<td ><font size="2" face="Verdana"><b>4 x</b></font></td>
158	<td ><font size="2" face="Verdana"><b>4 x</b></font></td>
159	</tr>
160	<tr>
161	<td ><font face="Verdana" size="2"><b><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-jr/WebHome/4250hscs.gif" ></b></font></td>
162	<td ><font face="Verdana" size="2"><b><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-jr/WebHome/4750hns.gif" ></b></font></td>
163	</tr>
164	</tbody></table>
165	</td>
166	<td align="left" valign="top" >
167	<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-bipeds/brat-biped-jr/WebHome/brat14.jpg" border="2" hspace="10" ><br>
168	Figure 10.</font></p></td>
169	</tr>
170	<tr>
171	<td valign="top" align="left" colspan="2"><br class="pb">
172	</td>
173	</tr>
174	<tr>
175	<td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 11.</strong><br>
176	Attach the 5/16" standoffs to the U-Channel as shown, using two 2-56 x 1/4" screws.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
177	</font>
178	<table border="0" >
179	<tbody><tr>
180	<td ><font size="2" face="Verdana"><b>2 x</b></font></td>
181	<td ><font size="2" face="Verdana"><b>2 x</b></font></td>
182	</tr>
183	<tr>
184	<td ><font face="Verdana" size="2"><b><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-jr/WebHome/256025ph.GIF" ></b></font></td>
185	<td ><font face="Verdana" size="2"><b><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-jr/WebHome/2315hns.GIF" ></b></font></td>
186	</tr>
187	</tbody></table>
188	</td>
189	<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-bipeds/brat-biped-jr/WebHome/bratjr08.jpg" border="2" hspace="10" ><br>
190	Figure 11.</font></td>
191	</tr>
192	<tr>
193	<td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td>
194	</tr>
195	<tr>
196	<td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 12.</strong><br>
197	Attach the electronics carrier as shown, using two 2-56 x 1/4" screws.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
198	</font>
199	<table border="0" >
200	<tbody><tr>
201	<td ><font size="2" face="Verdana"><b>2 x</b></font></td>
202	<td ><font size="2" face="Verdana"><b> </b></font></td>
203	</tr>
204	<tr>
205	<td ><font face="Verdana" size="2"><b><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-jr/WebHome/256025ph.GIF" ></b></font></td>
206	<td ><font face="Verdana" size="2"><b> </b></font></td>
207	</tr>
208	</tbody></table>
209	</td>
210	<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-bipeds/brat-biped-jr/WebHome/bratjr09.jpg" border="2" hspace="10" ><br>
211	Figure 12.</font></td>
212	</tr>
213	<tr>
214	<td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td>
215	</tr>
216	<tr>
217	<td valign="top" align="left"><font face="Verdana" size="2"><b>Step 13.</b><br>
218	Attach the power switch to the electronics carrier as shown.</font></td>
219	<td align="left" valign="top" >
220	<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-bipeds/brat-biped-jr/WebHome/bratjr10.jpg" border="2" hspace="10" ><br>
221	Figure 13.</font></p></td>
222	</tr>
223	<tr>
224	<td valign="top" align="left" colspan="2"><br class="pb">
225	</td>
226	</tr>
227	<tr>
228	<td valign="top" align="left"><font face="Verdana" size="2"><b>Step 14.<br>
229	</b>Your battery can be attached with a wire tie or Velcro, not included.</font>
230	<p><font face="Verdana" size="2">A 6vdc battery will power the robot fine, however, as the battery discharges, the SSC-32 will reset even though
231	there is still sufficient power for the servos. A 7.2vdc battery will lessen this effect, but it is slightly harder on the servos.</font></p>
232	<p><font face="Verdana" size="2">For maximum run time, power the VL input from a separate 9vdc battery. Remember to remove the VS=VL jumper to
233	isolate the two supplies. The 6 or 7.2vdc battery is still required!</font></p>
234	</td>
235	<td align="left" valign="top" >
236	<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-bipeds/brat-biped-jr/WebHome/bratjr11.jpg" border="2" hspace="10" ><br>
237	Figure 14.</font></p></td>
238	</tr>
239	<tr>
240	<td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td>
241	</tr>
242	<tr>
243	<td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 15.</strong><br>
244	Install the SSC-32 using four 4-40 x 1/4" screws. Make sure to orient the SSC-32 as shown.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
245	</font>
246	<table border="0" >
247	<tbody><tr>
248	<td ><font size="2" face="Verdana"><b>4 x</b></font></td>
249	<td ><font size="2" face="Verdana"><b> </b></font></td>
250	</tr>
251	<tr>
252	<td ><font face="Verdana" size="2"><b><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-jr/WebHome/4250hscs.gif" ></b></font></td>
253	<td ><font face="Verdana" size="2"><b> </b></font></td>
254	</tr>
255	</tbody></table>
256	</td>
257	<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-bipeds/brat-biped-jr/WebHome/bratjr12.jpg" border="2" hspace="10" ><br>
258	Figure 15.</font></td>
259	</tr>
260	<tr>
261	<td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td>
262	</tr>
263	<tr>
264	<td valign="top" align="left"><font face="Verdana" size="2"><b>Step 16.</b><br>
265	Connect the servos to their appropriate I/O channels on the SSC-32. Consult Table 20, and make sure to check your work. Connect the wiring
266	harness to VS1 or VS2 on the SSC-32 as shown. Note, red is (+) and black is (-). If you like, you can flip the SSC-32 around to protect the
267	wires and take up less space.<br>
268	</font>
269	<div align="center">
270	<center>
271	<table border="1" bordercolor="#FFFFFF" >
272	<tbody><tr>
273	<td >
274	<div align="center">
275	<table border="1" bordercolor="#000000" >
276	<tbody><tr>
277	<td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>SSC-32 I/O</b></font></td>
278	<td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>Servo</b></font></td>
279	</tr>
280	<tr>
281	<td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">00</font></td>
282	<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Ankle</font></td>
283	</tr>
284	<tr>
285	<td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">01</font></td>
286	<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Hip</font></td>
287	</tr>
288	<tr>
289	<td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">16</font></td>
290	<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Ankle</font></td>
291	</tr>
292	<tr>
293	<td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">17</font></td>
294	<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Hip</font></td>
295	</tr>
296	</tbody></table>
297	</div></td>
298	</tr>
299	<tr>
300	<td bordercolor="#FFFFFF">
301	<p align="center"><font face="Verdana" size="2">Table 16.</font></p></td>
302	</tr>
303	</tbody></table>
304	</center></div>
305	</td>
306	<td align="left" valign="top" >
307	<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-bipeds/brat-biped-jr/WebHome/bratjr00.jpg" border="2" hspace="10" ><br>
308	Figure 16.</font></p></td>
309	</tr>
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