Changes for page Direct-Drive Parallelogram 2DoF Leg Pair Assembly Guide
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... ... @@ -1,1 +1,1 @@ 1 -Direct-Drive Parallelogram 2D oF Leg Pair Assembly Guide1 +Aluminum Direct-Drive Parallelogram 2DOF Leg Pair Assembly Guide - Content
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... ... @@ -1,218 +1,3 @@ 1 1 {{html wiki="false" clean="true"}} 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> 2 + 218 218 {{/html}}
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