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