Changes for page Direct-Drive Parallelogram 2DoF Leg Pair Assembly Guide
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... ... @@ -1,1 +1,1 @@ 1 - AluminumDirect-Drive Parallelogram 2DOF Leg Pair Assembly Guide1 +Direct-Drive Parallelogram 2DOF Leg Pair Assembly Guide - Content
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... ... @@ -1,3 +1,218 @@ 1 1 {{html wiki="false" clean="true"}} 2 - 2 +<body><table border="0" cellpadding="0" cellspacing="0" > 3 + <tbody><tr> 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 + - 2 x Multi-Purpose Servo Bracket Two Pack<br> 9 + Black (ASB-04) / Brushed (ASB-04B)<br> 10 + - 2 x "L" Connector Bracket Two Pack<br> 11 + Black (ASB-06) / Brushed (ASB-06B)<br> 12 + - 2 x "C" Servo Bracket w/ Ball Bearings Two Pack<br> 13 + Black (ASB-09) / Brushed (ASB-09B)<br> 14 + - 2 x Passive Hinge Bracket w/ Ball Bearings Single Pack<br> 15 + Black (ASB-12) / Brushed (ASB-12B)<br> 16 + - 1</font></font><font face="Verdana" size="2"> x Aluminum Tubing Connector Hub (pair) (HUB-08)<br> 17 + - 2 x Aluminum Tubing - 3.0" (AT-02)<br> 18 + - 1 x Rubber End Cap - .500" x 1.50" (pair) (REC-06)<br> 19 + - 1 x Ball Link Set - 4-40 (2 pair) (BLS-03)<br> 20 + - 3.0" x 4-40 Threaded Rod<br> 21 + - 4 x HS-475HB (76 oz. in.) Standard Servo (S475HB)<br> 22 + *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 + - 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"> </font></td> 30 + <td align="center" valign="top" ><font face="Verdana" size="2"> </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"> </font></td> 39 + <td align="center" valign="top" ><font face="Verdana" size="2"> </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"> </font></td> 51 + <td align="center" valign="top" ><font face="Verdana" size="2"> </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"> </font></td> 63 + <td align="center" valign="top" ><font face="Verdana" size="2"> </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"> </font></td> 77 + <td align="center" valign="top" ><font face="Verdana" size="2"> </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"> </font></td> 90 + <td align="center" valign="top" ><font face="Verdana" size="2"> </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"> </font></td> 103 + <td align="center" valign="top" ><font face="Verdana" size="2"> </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"> </font></td> 117 + <td align="center" valign="top" ><font face="Verdana" size="2"> </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"> </font></td> 130 + <td align="center" valign="top" ><font face="Verdana" size="2"> </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"> </font></td> 142 + <td align="center" valign="top" ><font face="Verdana" size="2"> </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"> </font></td> 154 + <td align="center" valign="top" ><font face="Verdana" size="2"> </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"> </font></td> 168 + <td align="center" valign="top" ><font face="Verdana" size="2"> </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&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"> </font></td> 182 + <td align="center" valign="top" ><font face="Verdana" size="2"> </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"> </font></td> 193 + <td align="center" valign="top" ><font face="Verdana" size="2"> </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"> </font></td> 205 + <td align="center" valign="top" ><font face="Verdana" size="2"> </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"> </p></td> 215 + </tr> 216 +</tbody></table> 217 +</body> 3 3 {{/html}}
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