Last modified by Eric Nantel on 2026/04/02 15:35
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edited by Eric Nantel
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1 -Direct-Drive Parallelogram 2DoF Leg Pair Assembly Guide
1 +Aluminum Direct-Drive Parallelogram 2DOF Leg Pair Assembly Guide
Parent
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1 -ses-v1.ses-v1-robots.ses-v1-2dof-hexapods.WebHome
1 +servo-erector-set-robots-kits.ses-v1-robots.ses-v1-2dof-hexapods.WebHome
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2 -<style>
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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>
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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