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1 -2 DOF B Leg Assembly Instructions
1 +2 DoF B Leg Assembly Instructions
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1 -servo-erector-set-robots-kits.ses-v1-robots.ses-v1-2dof-hexapods.WebHome
1 +ses-v1.ses-v1-robots.ses-v1-2dof-hexapods.WebHome
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23 +</style>
2 2  
25 +<div class="asm">
26 +
27 + <!-- Header -->
28 + <div style="padding: 0.5rem 0 1.5rem 0;">
29 + <h1>2 DOF B Leg Assembly Instructions</h1>
30 + <p><b>Updated October 12, 2010</b></p>
31 + <p><span class="safety">Safety first!</span> Wear eye protection and never touch a powered robot!</p>
32 + <p>Note: Do not use Loctite or thread locks on the assembly. They are not necessary and may cause damage to the PVC. Remember that the PVC parts DO have a definite good and a bad side. Try to keep the good sides facing the outside.</p>
33 + <p>The PVC panels are laser cut and need to be cleaned before use. Using a damp paper towel, clean the top and bottom while the parts are still attached to the panel, then snap each part from the panel and clean the edges with the paper towel.</p>
34 + <p><b>Important! You need to build three right legs (following these instructions), and three left legs (by mirroring these instructions)!</b></p>
35 + </div>
36 +
37 + <!-- Step 1 -->
38 + <div class="asm-step">
39 + <div class="asm-step-header">
40 + <div class="asm-step-name">2 DOF B Leg — Assembly</div>
41 + <div class="asm-step-num">Step 1 / 12</div>
42 + </div>
43 + <div class="asm-step-body">
44 + <div class="asm-step-text">
45 + <p>Attach the upper crossmember to the tibia as shown. Note the placement of the "driven" crossmember with the three extra holes. Use caution when tightening the screws. <b>Note, it is possible to over tighten and squish the leg parts if you don't pay attention.</b></p>
46 + <div class="asm-parts">
47 + <div class="asm-part">
48 + <div class="asm-part-info">
49 + <div class="asm-part-qty">—</div>
50 + <div class="asm-part-name">Assembly diagram</div>
51 + </div>
52 + <div class="asm-part-img">
53 + <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/2-dof-leg-b/WebHome/2dofa01.gif">
54 + </div>
55 + </div>
56 + </div>
57 + </div>
58 + <div class="asm-step-figure">
59 + <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/2-dof-leg-b/WebHome/2dofa01.jpg">
60 + <span>Figure 1-2.</span>
61 + </div>
62 + </div>
63 + </div>
64 +
65 + <!-- Step 2 -->
66 + <div class="asm-step">
67 + <div class="asm-step-header">
68 + <div class="asm-step-name">2 DOF B Leg — Assembly</div>
69 + <div class="asm-step-num">Step 2 / 12</div>
70 + </div>
71 + <div class="asm-step-body">
72 + <div class="asm-step-text">
73 + <p>Attach the lower, passive crossmembers to the tibia as shown.</p>
74 + <div class="asm-parts">
75 + <div class="asm-part">
76 + <div class="asm-part-info">
77 + <div class="asm-part-qty">—</div>
78 + <div class="asm-part-name">Assembly diagram</div>
79 + </div>
80 + <div class="asm-part-img">
81 + <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/2-dof-leg-b/WebHome/2dofa01.gif">
82 + </div>
83 + </div>
84 + </div>
85 + </div>
86 + <div class="asm-step-figure">
87 + <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/2-dof-leg-b/WebHome/2dofa02.jpg">
88 + <span>Figure 2.</span>
89 + </div>
90 + </div>
91 + </div>
92 +
93 + <!-- Step 3 -->
94 + <div class="asm-step">
95 + <div class="asm-step-header">
96 + <div class="asm-step-name">2 DOF B Leg — Assembly</div>
97 + <div class="asm-step-num">Step 3 / 12</div>
98 + </div>
99 + <div class="asm-step-body">
100 + <div class="asm-step-text">
101 + <p>Attach the multi purpose bracket to the mechanical advantage bracket, using three 2-56 x .250 screws and 2-56 nuts.</p>
102 + <div class="asm-parts">
103 + <div class="asm-part">
104 + <div class="asm-part-info">
105 + <div class="asm-part-qty">3x</div>
106 + <div class="asm-part-name">2-56 x .250" Phillips screw</div>
107 + </div>
108 + <div class="asm-part-img">
109 + <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/2-dof-leg-b/WebHome/256025ph.GIF">
110 + </div>
111 + </div>
112 + <div class="asm-part">
113 + <div class="asm-part-info">
114 + <div class="asm-part-qty">3x</div>
115 + <div class="asm-part-name">2-56 nut</div>
116 + </div>
117 + <div class="asm-part-img">
118 + <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/2-dof-leg-b/WebHome/256zpn.gif">
119 + </div>
120 + </div>
121 + </div>
122 + </div>
123 + <div class="asm-step-figure">
124 + <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/2-dof-leg-b/WebHome/2dofa03.jpg">
125 + <span>Figure 3.</span>
126 + </div>
127 + </div>
128 + </div>
129 +
130 + <!-- Step 4 -->
131 + <div class="asm-step">
132 + <div class="asm-step-header">
133 + <div class="asm-step-name">2 DOF B Leg — Assembly</div>
134 + <div class="asm-step-num">Step 4 / 12</div>
135 + </div>
136 + <div class="asm-step-body">
137 + <div class="asm-step-text">
138 + <p>Take the assembly from step 3 and the PVC part that matches the back of the mechanical advantage bracket and line up the servo hole pattern.</p>
139 + <p>Attach the leg's crossmembers to the bracket and PVC as shown.</p>
140 + <div class="asm-parts">
141 + <div class="asm-part">
142 + <div class="asm-part-info">
143 + <div class="asm-part-qty">—</div>
144 + <div class="asm-part-name">Assembly diagram</div>
145 + </div>
146 + <div class="asm-part-img">
147 + <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/2-dof-leg-b/WebHome/2dofa02.gif">
148 + </div>
149 + </div>
150 + </div>
151 + </div>
152 + <div class="asm-step-figure">
153 + <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/2-dof-leg-b/WebHome/2dofa04.jpg">
154 + <span>Figure 4-2.</span>
155 + </div>
156 + </div>
157 + </div>
158 +
159 + <!-- Step 5 -->
160 + <div class="asm-step">
161 + <div class="asm-step-header">
162 + <div class="asm-step-name">2 DOF B Leg — Assembly</div>
163 + <div class="asm-step-num">Step 5 / 12</div>
164 + </div>
165 + <div class="asm-step-body">
166 + <div class="asm-step-text">
167 + <p>Remove the round servo horn and install the servo as shown, using the included 4-40 hardware. Keep the servo horn and screw. You will need them later.</p>
168 + </div>
169 + <div class="asm-step-figure">
170 + <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/2-dof-leg-b/WebHome/2dofa05.jpg">
171 + <span>Figure 5.</span>
172 + </div>
173 + </div>
174 + </div>
175 +
176 + <!-- Step 6 -->
177 + <div class="asm-step">
178 + <div class="asm-step-header">
179 + <div class="asm-step-name">2 DOF B Leg — Assembly</div>
180 + <div class="asm-step-num">Step 6 / 12</div>
181 + </div>
182 + <div class="asm-step-body">
183 + <div class="asm-step-text">
184 + <p>Assemble a dog bone using a 1.25" piece of 4-40 threaded rod and a ball link assembly on each end. There should be 3/8" of exposed rod left between them. Alternately, you can make the ball links 2" center to center.</p>
185 + <p>Be sure to make all 6 links as close to the same length as possible.</p>
186 + </div>
187 + <div class="asm-step-figure">
188 + <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/2-dof-leg-b/WebHome/2dofa06.jpg">
189 + <span>Figure 6.</span>
190 + </div>
191 + </div>
192 + </div>
193 +
194 + <!-- Step 7 -->
195 + <div class="asm-step">
196 + <div class="asm-step-header">
197 + <div class="asm-step-name">2 DOF B Leg — Assembly</div>
198 + <div class="asm-step-num">Step 7 / 12</div>
199 + </div>
200 + <div class="asm-step-body">
201 + <div class="asm-step-text">
202 + <p>Drill a .125" hole in the servo horn that was removed earlier as shown. This can be done by hand using a drill bit like this.</p>
203 + <div class="asm-parts">
204 + <div class="asm-part">
205 + <div class="asm-part-info">
206 + <div class="asm-part-qty">—</div>
207 + <div class="asm-part-name">Drill bit reference</div>
208 + </div>
209 + <div class="asm-part-img">
210 + <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/2-dof-leg-b/WebHome/drill.jpg">
211 + </div>
212 + </div>
213 + </div>
214 + </div>
215 + <div class="asm-step-figure">
216 + <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/2-dof-leg-b/WebHome/2dofa07.jpg">
217 + <span>Figure 7-2.</span>
218 + </div>
219 + </div>
220 + </div>
221 +
222 + <!-- Step 8 -->
223 + <div class="asm-step">
224 + <div class="asm-step-header">
225 + <div class="asm-step-name">2 DOF B Leg — Assembly</div>
226 + <div class="asm-step-num">Step 8 / 12</div>
227 + </div>
228 + <div class="asm-step-body">
229 + <div class="asm-step-text">
230 + <p>Attach the ball link assembly to the servo horn as shown using a 1/2" x 4-40 screw.</p>
231 + <div class="asm-parts">
232 + <div class="asm-part">
233 + <div class="asm-part-info">
234 + <div class="asm-part-qty">—</div>
235 + <div class="asm-part-name">Ball link assembly diagram</div>
236 + </div>
237 + <div class="asm-part-img">
238 + <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/2-dof-leg-b/WebHome/bls03.gif">
239 + </div>
240 + </div>
241 + </div>
242 + </div>
243 + <div class="asm-step-figure">
244 + <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/2-dof-leg-b/WebHome/2dofa08.jpg">
245 + <span>Figure 8-2.</span>
246 + </div>
247 + </div>
248 + </div>
249 +
250 + <!-- Step 9 -->
251 + <div class="asm-step">
252 + <div class="asm-step-header">
253 + <div class="asm-step-name">2 DOF B Leg — Assembly</div>
254 + <div class="asm-step-num">Step 9 / 12</div>
255 + </div>
256 + <div class="asm-step-body">
257 + <div class="asm-step-text">
258 + <p>Attach the servo horn to the servo and the other end of the assembly to the driven crossmember using a 3/4" x 4-40 screw.</p>
259 + <p>Be sure that the leg is able to reach the two positions shown in Figures 9-3 and 9-4.</p>
260 + <div class="asm-parts">
261 + <div class="asm-part">
262 + <div class="asm-part-info">
263 + <div class="asm-part-qty">—</div>
264 + <div class="asm-part-name">Ball link connection diagram</div>
265 + </div>
266 + <div class="asm-part-img">
267 + <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/2-dof-leg-b/WebHome/bls04.gif">
268 + </div>
269 + </div>
270 + </div>
271 + </div>
272 + <div class="asm-step-figure">
273 + <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/2-dof-leg-b/WebHome/2dofa09.jpg">
274 + <span>Figure 9-2.</span>
275 + </div>
276 + </div>
277 + <!-- Range of motion figures -->
278 + <div style="display: flex; flex-wrap: wrap; gap: 0.75rem; padding: 0 1rem 1rem 1rem;">
279 + <div class="asm-step-figure" style="flex: 1 1 200px;">
280 + <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/2-dof-leg-b/WebHome/range1.jpg">
281 + <span>Figure 9-3.</span>
282 + </div>
283 + <div class="asm-step-figure" style="flex: 1 1 200px;">
284 + <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/2-dof-leg-b/WebHome/range2.jpg">
285 + <span>Figure 9-4.</span>
286 + </div>
287 + </div>
288 + </div>
289 +
290 + <!-- Step 10 -->
291 + <div class="asm-step">
292 + <div class="asm-step-header">
293 + <div class="asm-step-name">2 DOF B Leg — Assembly</div>
294 + <div class="asm-step-num">Step 10 / 12</div>
295 + </div>
296 + <div class="asm-step-body">
297 + <div class="asm-step-text">
298 + <p>Attach a ball bearing to the bottom of the multi purpose bracket as shown. See the diagram below for detailed information.</p>
299 + <div class="asm-parts">
300 + <div class="asm-part">
301 + <div class="asm-part-info">
302 + <div class="asm-part-qty">—</div>
303 + <div class="asm-part-name">Ball bearing assembly diagram</div>
304 + </div>
305 + <div class="asm-part-img">
306 + <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/2-dof-leg-b/WebHome/ballb02b.gif">
307 + </div>
308 + </div>
309 + </div>
310 + </div>
311 + <div class="asm-step-figure">
312 + <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/2-dof-leg-b/WebHome/2dofa10.jpg">
313 + <span>Figure 10-2.</span>
314 + </div>
315 + </div>
316 + </div>
317 +
318 + <!-- Step 11 -->
319 + <div class="asm-step">
320 + <div class="asm-step-header">
321 + <div class="asm-step-name">2 DOF B Leg — Assembly</div>
322 + <div class="asm-step-num">Step 11 / 12</div>
323 + </div>
324 + <div class="asm-step-body">
325 + <div class="asm-step-text">
326 + <p>Install the servo as shown, using the included 3mm hardware.</p>
327 + <div class="asm-parts">
328 + <div class="asm-part">
329 + <div class="asm-part-info">
330 + <div class="asm-part-qty">1x</div>
331 + <div class="asm-part-name">3mm servo hardware set</div>
332 + </div>
333 + <div class="asm-part-img">
334 + <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/2-dof-leg-b/WebHome/srvhdw.gif">
335 + </div>
336 + </div>
337 + </div>
338 + </div>
339 + <div class="asm-step-figure">
340 + <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/2-dof-leg-b/WebHome/2dofa11.jpg">
341 + <span>Figure 11.</span>
342 + </div>
343 + </div>
344 + </div>
345 +
346 + <!-- Step 12 -->
347 + <div class="asm-step">
348 + <div class="asm-step-header">
349 + <div class="asm-step-name">2 DOF B Leg — Assembly</div>
350 + <div class="asm-step-num">Step 12 / 12</div>
351 + </div>
352 + <div class="asm-step-body">
353 + <div class="asm-step-text">
354 + <p>Slide a rubber end cap over the tibia, and you're finished!</p>
355 + </div>
356 + <div class="asm-step-figure">
357 + <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/2-dof-leg-b/WebHome/2dofa12.jpg">
358 + <span>Figure 12.</span>
359 + </div>
360 + </div>
361 + </div>
362 +
363 +</div>
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