Last modified by Eric Nantel on 2023/01/23 13:59
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4 <td valign="top" align="left"><b><font face="Verdana" size="2">Humanoid Biped Leg Pair Assembly Guide. Updated <!--webbot
5 bot="Timestamp" startspan s-type="EDITED" s-format="%m/%d/%Y" -->08/30/2007<!--webbot bot="Timestamp" i-checksum="12530" endspan --></font></b>
6 <p><font size="2"><b><font face="Verdana">Hardware:</font></b><font face="Verdana"><br>
7 &nbsp; - 4 x Multi-Purpose Servo Bracket Two Pack (ASB-04)<br>
8 &nbsp; - 5 x "C" Servo Bracket w/ Ball Bearings Two Pack (ASB-09)<br>
9 &nbsp; - 1 x Alum. Robot Feet Two Pack (ARF-01)<br>
10 &nbsp; - 8 x HS-5645 (168 oz. in.) Digital Standard Servo (S5645MG)</font></font></p>
11 <p><font size="2"><b><font face="Verdana">Goal:</font></b><font face="Verdana"><br>
12 &nbsp; - Assemble a pair of humanoid biped legs using servo brackets.</font></font></p>
13 <p><font face="Verdana" size="2"><b>Notes:<br>
14 </b>&nbsp; - This assembly guide covers the assembly of one leg for the robot's right side. You will need to repeat these steps, making a mirror
15 image of the leg for the robot's left side.<br>
16 &nbsp; - Know that this is only an example! There are countless other ways for you to make legs for your biped. You might choose to have fewer
17 degrees of freedom, or use tubing; whatever you want to do, you can!</font></p>
18 </td>
19 <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/humanoid-biped-leg-pair/WebHome/bl00.jpg" border="2" hspace="10" ><br>
20 <strong>Image of Humanoid Biped's Right Leg.</strong></font></td>
21 </tr>
22 <tr>
23 <td valign="top" align="left"><font face="Verdana" size="2">&nbsp;</font></td>
24 <td align="center" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
25 </tr>
26 <tr>
27 <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 1.<br>
28 </strong>Attach a multi-purpose servo bracket to a "C" bracket as shown, using two 2-56 x .250" screws and 2-56 nuts.</font>
29 <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-bipeds/humanoid-biped-leg-pair/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-bipeds/humanoid-biped-leg-pair/WebHome/256zpn.GIF" ></b></font></p>
30 </td>
31 <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/humanoid-biped-leg-pair/WebHome/bl01.jpg" border="2" hspace="10" ><br>
32 Figure 1.</font></td>
33 </tr>
34 <tr>
35 <td valign="top" align="left"><font face="Verdana" size="2">&nbsp;</font></td>
36 <td align="center" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
37 </tr>
38 <tr>
39 <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 2.<br>
40 </strong>Attach two "C" brackets as shown, using two 2-56 x .250 screws and 2-56 nuts.</font>
41 <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-bipeds/humanoid-biped-leg-pair/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-bipeds/humanoid-biped-leg-pair/WebHome/256zpn.GIF" ></b></font></p>
42 </td>
43 <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/humanoid-biped-leg-pair/WebHome/bl02.jpg" border="2" hspace="10" ><br>
44 Figure 2.</font></td>
45 </tr>
46 <tr>
47 <td valign="top" align="left"><font face="Verdana" size="2">&nbsp;</font></td>
48 <td align="center" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
49 </tr>
50 <tr>
51 <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 3.<br>
52 </strong>Connect the "C" bracket to the multi-purpose bracket as shown. See figure 3-1 for detailed information.</font>
53 <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/humanoid-biped-leg-pair/WebHome/ballb01.GIF" border="2" hspace="10" ><br>
54 Figure 3-1.</font></p>
55 </td>
56 <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/humanoid-biped-leg-pair/WebHome/bl03.jpg" border="2" hspace="10" ><br>
57 Figure 3-2.</font></td>
58 </tr>
59 <tr>
60 <td valign="top" align="left"><font face="Verdana" size="2">&nbsp;</font></td>
61 <td align="center" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
62 </tr>
63 <tr>
64 <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 4.<br>
65 </strong>Attach a multi-purpose servo bracket to a "C" bracket as shown, using two 2-56 x .250" screws and 2-56 nuts.</font>
66 <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-bipeds/humanoid-biped-leg-pair/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-bipeds/humanoid-biped-leg-pair/WebHome/256zpn.GIF" ></b></font></p>
67 </td>
68 <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/humanoid-biped-leg-pair/WebHome/bl04.jpg" border="2" hspace="10" ><br>
69 Figure 4.</font></td>
70 </tr>
71 <tr>
72 <td valign="top" align="left"><font face="Verdana" size="2">&nbsp;</font></td>
73 <td align="center" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
74 </tr>
75 <tr>
76 <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 5.<br>
77 </b>Connect the "C" bracket to a multi-purpose bracket as shown. See figure 5-1 for detailed information.</font>
78 <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/humanoid-biped-leg-pair/WebHome/ballb01.GIF" border="2" hspace="10" ><br>
79 Figure 5-1.</font></p>
80 </td>
81 <td align="left" valign="top" >
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-bipeds/humanoid-biped-leg-pair/WebHome/bl05.jpg" border="2" hspace="10" ><br>
83 Figure 5-2.</font></p></td>
84 </tr>
85 <tr>
86 <td valign="top" align="left"><font face="Verdana" size="2">&nbsp;</font></td>
87 <td align="center" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
88 </tr>
89 <tr>
90 <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 6.<br>
91 </strong>Attach a multi-purpose servo bracket to a "C" bracket as shown, using two 2-56 x .250" screws and 2-56 nuts.</font>
92 <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-bipeds/humanoid-biped-leg-pair/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-bipeds/humanoid-biped-leg-pair/WebHome/256zpn.GIF" ></b></font></p>
93 </td>
94 <td valign="top" >
95 <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/humanoid-biped-leg-pair/WebHome/bl06.jpg" border="2" hspace="10" ><br>
96 Figure 6.</font></p></td>
97 </tr>
98 <tr>
99 <td valign="top" align="left"><font face="Verdana" size="2">&nbsp;</font></td>
100 <td align="center" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
101 </tr>
102 <tr>
103 <td valign="top" ><font face="Verdana" size="2"><strong>Step 7.<br>
104 </strong>Connect the "C" bracket to a multi-purpose bracket as shown. See figure 7-1 for detailed information.</font>
105 <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/humanoid-biped-leg-pair/WebHome/ballb01.GIF" border="2" hspace="10" ><br>
106 Figure 7-1.</font></p>
107 </td>
108 <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/humanoid-biped-leg-pair/WebHome/bl07.jpg" border="2" hspace="10" ><br>
109 Figure 7-2.</font></td>
110 </tr>
111 <tr>
112 <td valign="top" align="left"><font face="Verdana" size="2">&nbsp;</font></td>
113 <td align="center" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
114 </tr>
115 <tr>
116 <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 8.</strong><br>
117 Attach a multi-purpose servo bracket to the foot panel as shown, using three 2-56 x .125" screws and 2-56 nuts.</font>
118 <p><font face="Verdana" size="2"><b>3 x <img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/humanoid-biped-leg-pair/WebHome/256cs188.GIF" > 3 x <img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/humanoid-biped-leg-pair/WebHome/256zpn.GIF" ></b></font></p>
119 </td>
120 <td valign="top" >
121 <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/humanoid-biped-leg-pair/WebHome/bl08.jpg" border="2" hspace="10" ><br>
122 Figure 8.</font></p></td>
123 </tr>
124 <tr>
125 <td valign="top" align="left"><font face="Verdana" size="2">&nbsp;</font></td>
126 <td align="center" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
127 </tr>
128 <tr>
129 <td valign="top" align="left"><font size="2"><strong><font face="Verdana">Step 9.</font></strong><font face="Verdana"><br>
130 </font></font><font face="Verdana" size="2">Connect the "C" bracket to a multi-purpose bracket as shown. See figure 9-1 for detailed
131 information.</font>
132 <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/humanoid-biped-leg-pair/WebHome/ballb01.GIF" border="2" hspace="10" ><br>
133 Figure 9-1.</font></p>
134 </td>
135 <td valign="top" >
136 <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/humanoid-biped-leg-pair/WebHome/bl09.jpg" border="2" hspace="10" ><br>
137 Figure 9-2.</font></p></td>
138 </tr>
139 <tr>
140 <td valign="top" align="left"><font face="Verdana" size="2">&nbsp;</font></td>
141 <td align="center" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
142 </tr>
143 <tr>
144 <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 10.<br>
145 </strong>Attach the servos as shown, using the included 3mm hardware, and two #2 tapping screws. For quick prototype assembly, you can use rivet
146 fasteners (sold separately: <a href="https://www.lynxmotion.com/showproduct.aspx?productID=327&amp;CategoryID=75">NSRF-01</a>) as illustrated.</font>
147 <p><font face="Verdana" size="2"><b>16 x <img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/humanoid-biped-leg-pair/WebHome/srvhdw.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-bipeds/humanoid-biped-leg-pair/WebHome/2250phts.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-bipeds/humanoid-biped-leg-pair/WebHome/bl00.jpg" border="2" hspace="10" ><br>
150 Figure 10.</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 11.</strong><br>
158 When you are ready to attach the legs to your biped torso, attach the "C" brackets as shown, using the ball bearing hardware and four
159 #2 tapping screws.</font>
160 <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-bipeds/humanoid-biped-leg-pair/WebHome/bb01.gif" > 4 x <img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/humanoid-biped-leg-pair/WebHome/2250phts.GIF" ></b></font></p>
161 </td>
162 <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/humanoid-biped-leg-pair/WebHome/bl10.jpg" border="2" hspace="10" ><br>
163 Figure 11.</font></td>
164 </tr>
165 </tbody></table>
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