Wiki source code of Direct-Drive Parallelogram 2DoF Leg Pair Assembly Guide
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24.1 | 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> | ||
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