Direct-Drive Parallelogram 2DoF Leg Pair Assembly Guide

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<h1>Aluminum Direct-Drive Parallelogram 2DOF Leg Pair Assembly Guide</h1>

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<p><b>Updated August 30, 2007</b></p>

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<h2>Hardware</h2>

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2 x Multi-Purpose Servo Bracket Two Pack — Black (ASB-04) / Brushed (ASB-04B)<br>

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2 x "L" Connector Bracket Two Pack — Black (ASB-06) / Brushed (ASB-06B)<br>

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2 x "C" Servo Bracket w/ Ball Bearings Two Pack — Black (ASB-09) / Brushed (ASB-09B)<br>

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2 x Passive Hinge Bracket w/ Ball Bearings Single Pack — Black (ASB-12) / Brushed (ASB-12B)<br>

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1 x Aluminum Tubing Connector Hub (pair) (HUB-08)<br>

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2 x Aluminum Tubing - 3.0" (AT-02)<br>

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1 x Rubber End Cap - .500" x 1.50" (pair) (REC-06)<br>

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1 x Ball Link Set - 4-40 (2 pair) (BLS-03)<br>

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3.0" x 4-40 Threaded Rod<br>

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4 x HS-475HB (76 oz. in.) Standard Servo (S475HB)<br>

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<i>*Note: Angle of leg is adjustable by varying the length of the dogbone in Step 10.</i>

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<p>Assemble two 2DOF legs using servo brackets and aluminum tubing.</p>

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<div class="asm-step-name">DDP 2DOF Leg — Assembly</div>

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<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>

<div class="asm-part-name">2-56 x .250" Phillips screw</div>

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<span>Figure 1.</span>

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<div class="asm-step-name">DDP 2DOF Leg — Assembly</div>

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<p>Attach a Passive Hinge bracket to the "L" bracket as shown, using two 2-56 x .250 screws and 2-56 nuts.</p>

<div class="asm-part-name">2-56 x .250" Phillips screw</div>

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<span>Figure 2.</span>

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<div class="asm-step-name">DDP 2DOF Leg — Assembly</div>

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<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>

<div class="asm-part-name">Ball bearing assembly diagram</div>

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<span>Figure 3-2.</span>

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<div class="asm-step-name">DDP 2DOF Leg — Assembly</div>

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<p>Attach the "C" bracket to the Passive Hinge bracket as shown, using two ball bearings. See the diagram below for detailed information.</p>

<div class="asm-part-name">Ball bearing assembly diagram</div>

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<span>Figure 4-2.</span>

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<div class="asm-step-name">DDP 2DOF Leg — Assembly</div>

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<p>Attach another "C" bracket to the "C" bracket already there, using two 2-56 x .250 screws and 2-56 nuts.</p>

<div class="asm-part-name">2-56 x .250" Phillips screw</div>

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<span>Figure 5.</span>

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<div class="asm-step-name">DDP 2DOF Leg — Assembly</div>

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<p>Attach the "C" bracket to a Multi-Purpose bracket as shown. See the diagram below for detailed information.</p>

<div class="asm-part-name">Bracket assembly diagram</div>

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<span>Figure 6-2.</span>

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<div class="asm-step-name">DDP 2DOF Leg — Assembly</div>

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<p>Attach a Tubing Connector Hub to an "L" bracket as shown, using two 2-56 x .250 screws and 2-56 nuts.</p>

<div class="asm-part-name">2-56 x .250" Phillips screw</div>

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<span>Figure 7.</span>

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<div class="asm-step-name">DDP 2DOF Leg — Assembly</div>

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<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>

<div class="asm-part-name">2-56 x .250" Phillips screw</div>

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<span>Figure 8.</span>

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<div class="asm-step-name">DDP 2DOF Leg — Assembly</div>

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<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>

<div class="asm-part-name">4-40 x .250" socket head screw</div>

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<span>Figure 9-2.</span>

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<div class="asm-step-name">DDP 2DOF Leg — Assembly</div>

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<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>

<div class="asm-part-name">Dog bone assembly diagram</div>

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<span>Figure 10-2.</span>

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<div class="asm-step-name">DDP 2DOF Leg — Assembly</div>

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<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&CategoryID=75">NSRF-01</a>) as illustrated.</p>

<div class="asm-part-name">#2 x .250" tapping screw</div>

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<div class="asm-part-name">3mm servo hardware set</div>

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<span>Figure 11.</span>

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<div class="asm-step-name">DDP 2DOF Leg — Assembly</div>

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<p>You can adjust the angle of the leg by changing the length of the dog bone.</p>

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<span>Figure 12.</span>

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<div class="asm-step-name">DDP 2DOF Leg — Assembly</div>

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<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>

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<span>Figure 13.</span>

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<div class="asm-step-name">DDP 2DOF Leg — Assembly</div>

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<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>

<div class="asm-part-name">#2 x .250" tapping screw</div>

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