Last modified by Eric Nantel on 2026/04/02 15:35
From version < 26.2 >
edited by Eric Nantel
on 2024/07/03 09:20
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edited by Eric Nantel
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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 - &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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18 + .asm-part-img { display: flex; align-items: center; justify-content: center; padding: 0.6rem; min-height: 100px; background: #fff; }
19 + .asm-part-img img { max-width: 120px; max-height: 90px; height: auto; display: block; }
20 + .asm-info { background: #f9f9f9; border: 1px solid #ddd; border-radius: 8px; padding: 1rem; margin-bottom: 1.5rem; font-size: 13px; line-height: 1.8; }
21 + .asm-info h2 { font-size: 15px; margin: 0 0 0.5rem 0; color: #2C1A00; }
22 + .safety { color: #c00; font-weight: bold; }
23 + h1 { font-size: 18px; margin-bottom: 0.25rem; }
24 +</style>
25 +
26 +<div class="asm">
27 +
28 + <!-- Header -->
29 + <div style="padding: 0.5rem 0 1rem 0;">
30 + <h1>Aluminum Direct-Drive Parallelogram 2DOF Leg Pair Assembly Guide</h1>
31 + <p><b>Updated August 30, 2007</b></p>
32 + </div>
33 +
34 + <!-- Hardware & Goal info block -->
35 + <div class="asm-info">
36 + <h2>Hardware</h2>
37 + <p>
38 + 2 x Multi-Purpose Servo Bracket Two Pack — Black (ASB-04) / Brushed (ASB-04B)<br>
39 + 2 x "L" Connector Bracket Two Pack — Black (ASB-06) / Brushed (ASB-06B)<br>
40 + 2 x "C" Servo Bracket w/ Ball Bearings Two Pack — Black (ASB-09) / Brushed (ASB-09B)<br>
41 + 2 x Passive Hinge Bracket w/ Ball Bearings Single Pack — Black (ASB-12) / Brushed (ASB-12B)<br>
42 + 1 x Aluminum Tubing Connector Hub (pair) (HUB-08)<br>
43 + 2 x Aluminum Tubing - 3.0" (AT-02)<br>
44 + 1 x Rubber End Cap - .500" x 1.50" (pair) (REC-06)<br>
45 + 1 x Ball Link Set - 4-40 (2 pair) (BLS-03)<br>
46 + 3.0" x 4-40 Threaded Rod<br>
47 + 4 x HS-475HB (76 oz. in.) Standard Servo (S475HB)<br>
48 + <i>*Note: Angle of leg is adjustable by varying the length of the dogbone in Step 10.</i>
49 + </p>
50 + <h2>Goal</h2>
51 + <p>Assemble two 2DOF legs using servo brackets and aluminum tubing.</p>
52 + </div>
53 +
54 + <!-- Step 1 -->
55 + <div class="asm-step">
56 + <div class="asm-step-header">
57 + <div class="asm-step-name">DDP 2DOF Leg — Assembly</div>
58 + <div class="asm-step-num">Step 1 / 14</div>
59 + </div>
60 + <div class="asm-step-body">
61 + <div class="asm-step-text">
62 + <p>Attach an "L" connector bracket to a Multi-Purpose bracket as shown, using two 2-56 x .250 screws and 2-56 nuts.</p>
63 + <div class="asm-parts">
64 + <div class="asm-part">
65 + <div class="asm-part-info">
66 + <div class="asm-part-qty">2x</div>
67 + <div class="asm-part-name">2-56 x .250" Phillips screw</div>
68 + </div>
69 + <div class="asm-part-img">
70 + <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/256025ph.GIF">
71 + </div>
72 + </div>
73 + <div class="asm-part">
74 + <div class="asm-part-info">
75 + <div class="asm-part-qty">2x</div>
76 + <div class="asm-part-name">2-56 nut</div>
77 + </div>
78 + <div class="asm-part-img">
79 + <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/256zpn.GIF">
80 + </div>
81 + </div>
82 + </div>
83 + </div>
84 + <div class="asm-step-figure">
85 + <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">
86 + <span>Figure 1.</span>
87 + </div>
88 + </div>
89 + </div>
90 +
91 + <!-- Step 2 -->
92 + <div class="asm-step">
93 + <div class="asm-step-header">
94 + <div class="asm-step-name">DDP 2DOF Leg — Assembly</div>
95 + <div class="asm-step-num">Step 2 / 14</div>
96 + </div>
97 + <div class="asm-step-body">
98 + <div class="asm-step-text">
99 + <p>Attach a Passive Hinge bracket to the "L" bracket as shown, using two 2-56 x .250 screws and 2-56 nuts.</p>
100 + <div class="asm-parts">
101 + <div class="asm-part">
102 + <div class="asm-part-info">
103 + <div class="asm-part-qty">2x</div>
104 + <div class="asm-part-name">2-56 x .250" Phillips screw</div>
105 + </div>
106 + <div class="asm-part-img">
107 + <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/256025ph.GIF">
108 + </div>
109 + </div>
110 + <div class="asm-part">
111 + <div class="asm-part-info">
112 + <div class="asm-part-qty">2x</div>
113 + <div class="asm-part-name">2-56 nut</div>
114 + </div>
115 + <div class="asm-part-img">
116 + <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/256zpn.GIF">
117 + </div>
118 + </div>
119 + </div>
120 + </div>
121 + <div class="asm-step-figure">
122 + <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">
123 + <span>Figure 2.</span>
124 + </div>
125 + </div>
126 + </div>
127 +
128 + <!-- Step 3 -->
129 + <div class="asm-step">
130 + <div class="asm-step-header">
131 + <div class="asm-step-name">DDP 2DOF Leg — Assembly</div>
132 + <div class="asm-step-num">Step 3 / 14</div>
133 + </div>
134 + <div class="asm-step-body">
135 + <div class="asm-step-text">
136 + <p>Attach the ball bearing that comes with the Long "C" bracket to the Multi-Purpose bracket as shown. See the diagram below for detailed information.</p>
137 + <div class="asm-parts">
138 + <div class="asm-part">
139 + <div class="asm-part-info">
140 + <div class="asm-part-qty">—</div>
141 + <div class="asm-part-name">Ball bearing assembly diagram</div>
142 + </div>
143 + <div class="asm-part-img">
144 + <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">
145 + </div>
146 + </div>
147 + </div>
148 + </div>
149 + <div class="asm-step-figure">
150 + <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">
151 + <span>Figure 3-2.</span>
152 + </div>
153 + </div>
154 + </div>
155 +
156 + <!-- Step 4 -->
157 + <div class="asm-step">
158 + <div class="asm-step-header">
159 + <div class="asm-step-name">DDP 2DOF Leg — Assembly</div>
160 + <div class="asm-step-num">Step 4 / 14</div>
161 + </div>
162 + <div class="asm-step-body">
163 + <div class="asm-step-text">
164 + <p>Attach the "C" bracket to the Passive Hinge bracket as shown, using two ball bearings. See the diagram below for detailed information.</p>
165 + <div class="asm-parts">
166 + <div class="asm-part">
167 + <div class="asm-part-info">
168 + <div class="asm-part-qty">—</div>
169 + <div class="asm-part-name">Ball bearing assembly diagram</div>
170 + </div>
171 + <div class="asm-part-img">
172 + <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">
173 + </div>
174 + </div>
175 + </div>
176 + </div>
177 + <div class="asm-step-figure">
178 + <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">
179 + <span>Figure 4-2.</span>
180 + </div>
181 + </div>
182 + </div>
183 +
184 + <!-- Step 5 -->
185 + <div class="asm-step">
186 + <div class="asm-step-header">
187 + <div class="asm-step-name">DDP 2DOF Leg — Assembly</div>
188 + <div class="asm-step-num">Step 5 / 14</div>
189 + </div>
190 + <div class="asm-step-body">
191 + <div class="asm-step-text">
192 + <p>Attach another "C" bracket to the "C" bracket already there, using two 2-56 x .250 screws and 2-56 nuts.</p>
193 + <div class="asm-parts">
194 + <div class="asm-part">
195 + <div class="asm-part-info">
196 + <div class="asm-part-qty">2x</div>
197 + <div class="asm-part-name">2-56 x .250" Phillips screw</div>
198 + </div>
199 + <div class="asm-part-img">
200 + <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/256025ph.GIF">
201 + </div>
202 + </div>
203 + <div class="asm-part">
204 + <div class="asm-part-info">
205 + <div class="asm-part-qty">2x</div>
206 + <div class="asm-part-name">2-56 nut</div>
207 + </div>
208 + <div class="asm-part-img">
209 + <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/256zpn.GIF">
210 + </div>
211 + </div>
212 + </div>
213 + </div>
214 + <div class="asm-step-figure">
215 + <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">
216 + <span>Figure 5.</span>
217 + </div>
218 + </div>
219 + </div>
220 +
221 + <!-- Step 6 -->
222 + <div class="asm-step">
223 + <div class="asm-step-header">
224 + <div class="asm-step-name">DDP 2DOF Leg — Assembly</div>
225 + <div class="asm-step-num">Step 6 / 14</div>
226 + </div>
227 + <div class="asm-step-body">
228 + <div class="asm-step-text">
229 + <p>Attach the "C" bracket to a Multi-Purpose bracket as shown. See the diagram below for detailed information.</p>
230 + <div class="asm-parts">
231 + <div class="asm-part">
232 + <div class="asm-part-info">
233 + <div class="asm-part-qty">—</div>
234 + <div class="asm-part-name">Bracket assembly diagram</div>
235 + </div>
236 + <div class="asm-part-img">
237 + <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">
238 + </div>
239 + </div>
240 + </div>
241 + </div>
242 + <div class="asm-step-figure">
243 + <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">
244 + <span>Figure 6-2.</span>
245 + </div>
246 + </div>
247 + </div>
248 +
249 + <!-- Step 7 -->
250 + <div class="asm-step">
251 + <div class="asm-step-header">
252 + <div class="asm-step-name">DDP 2DOF Leg — Assembly</div>
253 + <div class="asm-step-num">Step 7 / 14</div>
254 + </div>
255 + <div class="asm-step-body">
256 + <div class="asm-step-text">
257 + <p>Attach a Tubing Connector Hub to an "L" bracket as shown, using two 2-56 x .250 screws and 2-56 nuts.</p>
258 + <div class="asm-parts">
259 + <div class="asm-part">
260 + <div class="asm-part-info">
261 + <div class="asm-part-qty">2x</div>
262 + <div class="asm-part-name">2-56 x .250" Phillips screw</div>
263 + </div>
264 + <div class="asm-part-img">
265 + <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/256025ph.GIF">
266 + </div>
267 + </div>
268 + <div class="asm-part">
269 + <div class="asm-part-info">
270 + <div class="asm-part-qty">2x</div>
271 + <div class="asm-part-name">2-56 nut</div>
272 + </div>
273 + <div class="asm-part-img">
274 + <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/256zpn.GIF">
275 + </div>
276 + </div>
277 + </div>
278 + </div>
279 + <div class="asm-step-figure">
280 + <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">
281 + <span>Figure 7.</span>
282 + </div>
283 + </div>
284 + </div>
285 +
286 + <!-- Step 8 -->
287 + <div class="asm-step">
288 + <div class="asm-step-header">
289 + <div class="asm-step-name">DDP 2DOF Leg — Assembly</div>
290 + <div class="asm-step-num">Step 8 / 14</div>
291 + </div>
292 + <div class="asm-step-body">
293 + <div class="asm-step-text">
294 + <p>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.</p>
295 + <div class="asm-parts">
296 + <div class="asm-part">
297 + <div class="asm-part-info">
298 + <div class="asm-part-qty">2x</div>
299 + <div class="asm-part-name">2-56 x .250" Phillips screw</div>
300 + </div>
301 + <div class="asm-part-img">
302 + <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/256025ph.GIF">
303 + </div>
304 + </div>
305 + <div class="asm-part">
306 + <div class="asm-part-info">
307 + <div class="asm-part-qty">2x</div>
308 + <div class="asm-part-name">2-56 nut</div>
309 + </div>
310 + <div class="asm-part-img">
311 + <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/256zpn.GIF">
312 + </div>
313 + </div>
314 + </div>
315 + </div>
316 + <div class="asm-step-figure">
317 + <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">
318 + <span>Figure 8.</span>
319 + </div>
320 + </div>
321 + </div>
322 +
323 + <!-- Step 9 -->
324 + <div class="asm-step">
325 + <div class="asm-step-header">
326 + <div class="asm-step-name">DDP 2DOF Leg — Assembly</div>
327 + <div class="asm-step-num">Step 9 / 14</div>
328 + </div>
329 + <div class="asm-step-body">
330 + <div class="asm-step-text">
331 + <p>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.</p>
332 + <div class="asm-parts">
333 + <div class="asm-part">
334 + <div class="asm-part-info">
335 + <div class="asm-part-qty">1x</div>
336 + <div class="asm-part-name">4-40 x .250" socket head screw</div>
337 + </div>
338 + <div class="asm-part-img">
339 + <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/4250hscs.GIF">
340 + </div>
341 + </div>
342 + </div>
343 + </div>
344 + <div class="asm-step-figure">
345 + <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">
346 + <span>Figure 9-2.</span>
347 + </div>
348 + </div>
349 + </div>
350 +
351 + <!-- Step 10 -->
352 + <div class="asm-step">
353 + <div class="asm-step-header">
354 + <div class="asm-step-name">DDP 2DOF Leg — Assembly</div>
355 + <div class="asm-step-num">Step 10 / 14</div>
356 + </div>
357 + <div class="asm-step-body">
358 + <div class="asm-step-text">
359 + <p>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 Multi-Purpose bracket and the Passive Hinge bracket as shown. See the diagram below for detailed information.</p>
360 + <div class="asm-parts">
361 + <div class="asm-part">
362 + <div class="asm-part-info">
363 + <div class="asm-part-qty">—</div>
364 + <div class="asm-part-name">Dog bone assembly diagram</div>
365 + </div>
366 + <div class="asm-part-img">
367 + <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">
368 + </div>
369 + </div>
370 + </div>
371 + </div>
372 + <div class="asm-step-figure">
373 + <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">
374 + <span>Figure 10-2.</span>
375 + </div>
376 + </div>
377 + </div>
378 +
379 + <!-- Step 11 -->
380 + <div class="asm-step">
381 + <div class="asm-step-header">
382 + <div class="asm-step-name">DDP 2DOF Leg — Assembly</div>
383 + <div class="asm-step-num">Step 11 / 14</div>
384 + </div>
385 + <div class="asm-step-body">
386 + <div class="asm-step-text">
387 + <p>Install the servos as shown, using the included 3mm hardware, and two #2 tapping screws. For quick prototype assembly, you can use rivet fasteners (sold separately: <a href="https://www.lynxmotion.com/showproduct.aspx?productID=327&amp;CategoryID=75">NSRF-01</a>) as illustrated.</p>
388 + <div class="asm-parts">
389 + <div class="asm-part">
390 + <div class="asm-part-info">
391 + <div class="asm-part-qty">2x</div>
392 + <div class="asm-part-name">#2 x .250" tapping screw</div>
393 + </div>
394 + <div class="asm-part-img">
395 + <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/2250phts.GIF">
396 + </div>
397 + </div>
398 + <div class="asm-part">
399 + <div class="asm-part-info">
400 + <div class="asm-part-qty">8x</div>
401 + <div class="asm-part-name">3mm servo hardware set</div>
402 + </div>
403 + <div class="asm-part-img">
404 + <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/srvhdw.GIF">
405 + </div>
406 + </div>
407 + </div>
408 + </div>
409 + <div class="asm-step-figure">
410 + <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">
411 + <span>Figure 11.</span>
412 + </div>
413 + </div>
414 + </div>
415 +
416 + <!-- Step 12 -->
417 + <div class="asm-step">
418 + <div class="asm-step-header">
419 + <div class="asm-step-name">DDP 2DOF Leg — Assembly</div>
420 + <div class="asm-step-num">Step 12 / 14</div>
421 + </div>
422 + <div class="asm-step-body">
423 + <div class="asm-step-text">
424 + <p>You can adjust the angle of the leg by changing the length of the dog bone.</p>
425 + </div>
426 + <div class="asm-step-figure">
427 + <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">
428 + <span>Figure 12.</span>
429 + </div>
430 + </div>
431 + </div>
432 +
433 + <!-- Step 13 -->
434 + <div class="asm-step">
435 + <div class="asm-step-header">
436 + <div class="asm-step-name">DDP 2DOF Leg — Assembly</div>
437 + <div class="asm-step-num">Step 13 / 14</div>
438 + </div>
439 + <div class="asm-step-body">
440 + <div class="asm-step-text">
441 + <p>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 reduced. However, the load when the leg is in the Up position is increased.</p>
442 + </div>
443 + <div class="asm-step-figure">
444 + <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">
445 + <span>Figure 13.</span>
446 + </div>
447 + </div>
448 + </div>
449 +
450 + <!-- Step 14 -->
451 + <div class="asm-step">
452 + <div class="asm-step-header">
453 + <div class="asm-step-name">DDP 2DOF Leg — Assembly</div>
454 + <div class="asm-step-num">Step 14 / 14</div>
455 + </div>
456 + <div class="asm-step-body">
457 + <div class="asm-step-text">
458 + <p>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 "C" brackets for an aluminum chassis.</p>
459 + <div class="asm-parts">
460 + <div class="asm-part">
461 + <div class="asm-part-info">
462 + <div class="asm-part-qty">2x</div>
463 + <div class="asm-part-name">#2 x .250" tapping screw</div>
464 + </div>
465 + <div class="asm-part-img">
466 + <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/2250phts.GIF">
467 + </div>
468 + </div>
469 + </div>
470 + </div>
471 + </div>
472 + </div>
473 +
474 +</div>
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