Mini Inline Hexapod Body Assembly Instructions Rev. 1.2

through and understand the <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/ssc-32/ssc-32-manual/">SSC-32

88

User Guide</a>.

89

If you have the SSC-32U USB servo controller, please read through and

90

understand the <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-electronics/ses-modules/ssc-32u/WebHome/lynxmotion_ssc-32u_usb_user_guide.pdf" target="_blank">SSC-32U User Guide</a>.

91

92

If you purchase the version with the

93

BotBoarduino, read and understand the <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/botboarduino/botboarduino-manual/">BotBoarduino

94

User Guide</a>.

95

The MH2 + BotBoarduino uses the arduino software downloadable from <a href="http://www.lynxmotion.com/images/html/www.arduino.cc" target="blank" rel="nofollow">www.arduino.cc</a>.

96

This guide does not teach you how to use the Arduino programming

97

language.

98

The sample code available from GitHub uses a Lynxmotion PS2 controller as input (sold separately).

</td>

Figure

1 (SSC-32U shown as example)

</td>

</tr>

<tr>

</td>

</td>

</tr>

<tr>

<td align="left" valign="top" >Step 2a.

113

(BotBoarduino and SSC-32 / SSC-32U)

114

If you have a kit which uses both the

115

BotBoarduino and either the SSC-32 or SSC-32U, you will need to install

116

both boards to the top Lexan plate using eight 4-40 x 1/4" hex socket

117

screws

118

to attach the spacers. The "top" plate of the robot has a cutout for

119

the servo (the servo cutout is the

120

"front" of the robot) while the bottom only has cutouts and is symmetric.

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</table>

</td>

Figure 2a.</td>

</tr>

<tr>

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<tr>

<td align="left" valign="top" >Step 2b.

144

(SSC-32 or SSC-32U only)

145

If you have a kit which includes only

146

the SSC-32 or SSC-32U (as is the case with FlowBotics), use eight 4-40

147

x 1/4" hex socket screws

148

to attach the spacers to the top body plate.

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</tr>

<tr>

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</tbody>

</table>

</td>

Figure

2b. (top of top plate)

</div>

</td>

</tr>

<tr>

</td>

</td>

</tr>

<tr>

<td align="left" valign="top" >Step 3a.

178

(BotBoarduino and SSC-32 / SSC-32U)

179

Flip

180

the plate over and use eight 4-40 x 1/4" hex socket screws to attach

181

the long aluminum spacers to the underside of the top body plate.

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</tr>

<tr>

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</table>

</td>

Figure 3a. underside of top plate)

</td>

</tr>

<tr>

</td>

</tr>

<tr>

<td align="left" valign="top" >Step 3b.

206

(SSC-32 or SSC-32U only)

207

Flip

208

the plate over and use eight 4-40 x 1/4" hex socket screws to attach

209

the long aluminum spacers to the underside of the top body plate.

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</tr>

<tr>

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</tbody>

</table>

</td>

Figure

3b. (underside of top plate)

</div>

</td>

</tr>

<tr>

</td>

</td>

</tr>

<tr>

<td align="left" valign="top" >Step 4a. (BotBoarduino

239

and SSC-32 / SSC-32U)

240

241

Mount the bottom of the robot to the

242

top using eight 1/4" hex screws.

243

244

Note, it would be a good idea to install the battery into the chassis

245

at this point before you connect the bottom plate. Place the battery in

246

the center of the chassis with the wire closest to the rear of the bot.

247

You can use velcro, double sided tape or tie-wraps to hold it in place.

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</table>

</td>

Figure 4a (Mounting for BotBoarduino w/ SSC-32 / 32U).</td>

</tr>

<tr>

</tr>

<tr>

<td align="left" valign="top" >Step 4b. (SSC-32 or

271

SSC-32U only)

272

273

Mount the bottom of the robot to the

274

top using eight 1/4" hex screws.

275

276

Note, it would be a good idea to install the battery into the chassis

277

at this point before you connect the bottom plate. Place the battery in

278

the center of the chassis with the wire closest to the rear of the bot.

279

You can use velcro, double sided tape or tie-wraps to hold it in place.

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</tr>

<tr>

</tr>

</tbody>

</table>

</td>

Figure

4b (SSC-32 / 32U alone).</div>

</td>

</tr>

<tr>

</td>

</td>

</tr>

<tr>

<td align="left" valign="top" >Step 5. Install the Legs

309

Attach the legs which you assembled in

310

the <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/simple-2-dof-leg/">Mini 2DoF Leg guide</a>

311

as shown, making sure

312

to use right or left legs as indicated. If a servo horn from the leg

313

assembly moved from center during assembly, be sure to re-center it as

314

close as possible before installing it. Orientation is important, so

315

pay close attention to the photo.

316

Use twelve #2 x .250" tapping

317

screws. Once again, the "front" of the robot has the cutout for a servo

(sold separately).

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</td>

Figure 5.</td>

</tr>

<tr>

</tr>

<tr>

<td align="left" valign="top" >Step 6. Using Screw Terminals

341

Here are some general guidelines when inserting the wires into the

342

SSC-32, SSC-32U and/or BotBoarduino. Use a 2mm wide flat blade screw

343

driver. Rotate

344

the screw both directions looking into the end of the terminal. When

345

you see it opening (moving downwards), keep turning until it is open

346

completely. Wrap / twist the wires by hand to ensure they are aligned

347

as in Figure 6. Be sure that the wires are fully inserted into the

348

terminals and that no stray wires are able to touch each other

349

as this is a short and can cause the battery to discharge rapidly,

350

causing heat and possibly fire.

</td>

Figure 6.</td>

</tr>

<tr>

</td>

</td>

</tr>

<tr>

<td align="left" valign="top" >Step 7a.

364

(Bot Board + SSC-32 + PS2 V1)

365

Install both boards into the chassis using eight 1/4" hex

366

screws. Orient the board with the

367

connector facing the servo cutout is best, but not required. Connect

368

the loose power cable from the SSC-32's VL terminal to the Bot Board

369

II's VL terminal. Finally, attach the BotBoarduino and secure it using

370

four 1/4" hex screws. You can install the power switch(es) to the body

371

in the holes at the rear of the robot.  Do not connect the servos yet.

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</tr>

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</table>

</td>

Figure 7. (SSC-32 + BotBoarduino shown as example)

</td>

</tr>

<tr>

</td>

</td>

</tr>

<tr>

<td colspan="2" align="left" valign="top" >Double

400

check your connections against the image below. Be sure that red

401

wires go to positive (+) and black wires go to negative (-). Also be

402

sure that your jumpers are connected the exact same way as detailed

403

below. Note that the VL=VS jumper on the SSC-32 is removed, as are the

404

Tx and Rx jumpers. Depending on the code used, you may also need to

405

change the baud rate jumpers. The sample code provided uses 38.4,

406

so the jumper on the left also needs to be removed. Note that the

407

wiring from the SSC-32's Tx / Rx pinsto the BotBoarduino's pins are NOT

408

in line - the red / center / power pin needs to be removed and

409

connected to pin 12 on the BotBoarduino.

<tbody>

<tr>

Servo Letter Definitions

417

(Bot Board + SSC-32 +

PS2 V1).

</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="left" valign="middle" > Left

423

Right</td>

424

<td bordercolor="#C0C0C0" align="left" valign="middle" > Rear

425

Middle / Center

426

Front</td>

427

<td bordercolor="#C0C0C0" align="left" valign="middle" > Vertical

Horizontal</td>

</tr>

</tbody>

</table>

</center>

</div>

Bot Board 2 + Basic Atom + SSC-32

<li>SSC-32:

VL

terminal is connected to the 9V battery (ensure red wire to + and black

441

wire to -). Ensure no loose wires touch each other.

442

</li>

443

<li>SSC-32:

444

VS1 terminal is connected to the switch (ensure red wire to +

445

and black wire to -). Ensure no loose wires touch each other.

446

</li>

447

<li>SSC-32:

448

VL = VS jumper is REMOVED</li>

449

<li>SSC-32:

450

VS1 = VS2 jumpers are left in place.</li>

451

<li>Bot

452

Board 2: Take note of the jumpers</li>

453

<li>Bot Board 2: Power the Bot Board from the SSC-32 using the extra wires in the kit (ensure red wire to + and black

wire to -)</li>

</ul>

</div>

</td>

</tr>

<tr>

</tr>

<tr>

<td colspan="2" align="left" valign="top" >Step 7b (SSC-32 +

464

Bluetooth)

465

Double

466

check your connections against the image below. Be sure that red

467

wires go to positive (+) and black wires go to negative (-) of each terminal. Also be

468

sure that your jumpers are connected the exact same way as detailed

469

below. Note that the VL=VS jumper on the SSC-32 is removed, as are the

470

Tx and Rx jumpers. Depending on the code used, you may also need to

471

change the baud rate jumpers. The sample code provided uses 38.4,

472

so the jumper on the left also needs to be removed. Verify this with whichever software you are using.

<tbody>

<tr>

</tr>

<tr>

</tr>

</tbody>

</table>

SSC-32 + Bluetooth Bee

488

489

<li>VL

490

terminal is connected to the 9V battery (ensure red wire to + and black

491

wire to -). Ensure no loose wires touch each other.

492

</li>

493

<li>VS1

494

terminal is connected to the switch (ensure red wire to +

495

and black wire to -). Ensure no loose wires touch each other.

496

</li>

497

<li>VL =

498

VS jumper is REMOVED</li>

499

<li>VS1 =

500

VS2 jumpers are left in place.</li>

501

<li>Baud

502

rate jumpers set to 9600</li>

503

<li>Bluetooth

504

Bee connected to breakout board, powered as shown

</li>

</ul>

</div>

</td>

</tr>

<tr>

<td colspan="2" align="left" valign="top" >Step 7c (SSC-32U +

512

Bluetooth).

513

Double

514

check your connections against the image below. Note that the VL=VS

515

jumper on the SSC-32U is in place, as are the VS1=VS2 jumpers. Depending on the code used, you may need to

516

change the baud, but for now we suggest leaving it as default. The sample code provided here uses 38.4,

517

so the jumper on the left also needs to be removed.

<tbody>

<tr>

</tr>

<tr>

</tr>

</tbody>

</table>

SSC-32U + Bluetooth Bee

533

534

<li>VS1

535

terminal is connected to the 6V battery switch (ensure red wire to +

536

and black wire to -). Ensure no loose wires touch each other.

537

</li>

538

<li>VL =

539

VS jumper is in place

540

</li>

541

<li>VS1 =

542

VS2 jumpers are left in place.</li>

543

<li>Baud

544

rate is set to 9600</li>

545

<li>Bluetooth

546

Bee connected to board as shown

</li>

</ul>

</div>

</td>

</tr>

<tr>

Step 7d (SSC-32U + BotBoarduino + Optional PS2v3).

556

Install

557

both boards into the chassis using eight 1/4" hex screws. Double

558

check your connections against the schematic below. Be sure that red

559

wires go to positive (+) and black wires go to negative (-). Also be

560

sure that your jumpers are connected the exact same way as detailed

561

below. Note that the VL=VS jumper on the SSC-32 is removed, as are the

562

Tx and Rx jumpers. Depending on the code used, you may also need to

563

change the baud rate jumpers. The sample code provided here uses 38.4,

564

so the jumper on the left also needs to be removed. Note that the

565

wiring from the SSC-32's Tx / Rx pins to the BotBoarduino's pins are NOT

566

in line - the red / center / power pin needs to be removed and

567

connected to pin 12 on the BotBoarduino.

<tbody>

<tr>

</tr>

<tr>

</tr>

</tbody>

</table>

BotBoarduino + SSC-32U + PS2v3

<li>VL

terminal is connected to the 9V battery (ensure red wire to + and black

587

wire to -). Ensure no loose wires touch each other.

588

</li>

589

<li>VS1

590

terminal is connected to the switch (ensure red wire to +

591

and black wire to -). Ensure no loose wires touch each other.

592

</li>

593

<li>VL =

594

VS jumper is REMOVED</li>

595

<li>VS1 =

596

VS2 jumpers are left in place.</li>

597

<li>Baud

598

rate jumpers set to 9600</li>

599

<li>Bluetooth

600

Bee connected to breakout board, powered as shown

</li>

</ul>

</div>

Step 7e (SSC-32 +

BotBoarduino + Optional PS2v2).

607

Install

608

both boards into the chassis using eight 1/4" hex screws. Double

609

check your connections against the schematic below. Be sure that red

610

wires go to positive (+) and black wires go to negative (-). Also be

611

sure that your jumpers are connected the exact same way as detailed

612

below. Note that the VL=VS jumper on the SSC-32 is removed, as are the

613

Tx and Rx jumpers. Depending on the code used, you may also need to

614

change the baud rate jumpers. The sample code provided here uses 38.4,

615

so the jumper on the left also needs to be removed. Note that the

616

wiring from the SSC-32's Tx / Rx pinsto the BotBoarduino's pins are NOT

617

in line - the red / center / power pin needs to be removed and

618

connected to pin 12 on the BotBoarduino.

619

620

BotBoarduino + SSC-32 + PS2v2

<li>VL

terminal is connected to the 9V battery (ensure red wire to + and black

625

wire to -). Ensure no loose wires touch each other.

626

</li>

627

<li>VS1

628

terminal is connected to the switch (ensure red wire to +

629

and black wire to -). Ensure no loose wires touch each other.

630

</li>

631

<li>VL =

632

VS jumper is REMOVED</li>

633

<li>VS1 =

634

VS2 jumpers are left in place.</li>

</ul>

</td>

</tr>

<tr>

</td>

</td>

</tr>

<tr>

<td align="left" valign="top" >Step 8. Plug

646

the Servos In (SSC-32 / SSC-32U)

647

Plug the servos into the SSC-32 or

648

SSC-32U as

649

indicated in Table 8. Simply plug in the servo

650

associated with the function to the corresponding pin. Be sure the

651

black wire is near the outside of the board and the yellow wire is near

652

the center of the board. Proper cable routing can be done later.</td>

<tbody>

<tr>

<td bordercolor="#C0C0C0" bgcolor="#ffffff" >Right

659

Rear Vertical</td>

660

661

<td bordercolor="#C0C0C0" bgcolor="#ffffff" >Left

Rear Vertical</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" bgcolor="#ffffff" >Right

667

Rear Horizontal</td>

668

669

<td bordercolor="#C0C0C0" bgcolor="#ffffff" >Left

Rear Horizontal</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" bgcolor="#ffffff" >Right

675

Center Vertical</td>

676

677

<td bordercolor="#C0C0C0" bgcolor="#ffffff" >Left

Center Vertical</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" bgcolor="#ffffff" >Right

683

Center Horizontal</td>

684

685

<td bordercolor="#C0C0C0" bgcolor="#ffffff" >Left

686

Center Horizontal</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" bgcolor="#ffffff" >Right

691

Front Vertical</td>

692

693

<td bordercolor="#C0C0C0" bgcolor="#ffffff" >Left

Front Vertical</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" bgcolor="#ffffff" >Right

699

Front Horizontal</td>

700

701

<td bordercolor="#C0C0C0" bgcolor="#ffffff" >Left

702

Front Horizontal</td>

</tr>

</tbody>

</table>

Table 8.

</td>

</tr>

<tr>

</tr>

<tr>

<td align="left" valign="top" >Step 9a.

714

Powering the Robot (All kits with SSC-32)

715

Connect a 9v battery to the 9V battery

716

clip to power the electronics and turn this On/Off switch to ON. You

717

should see the green LED in the upper right corner of the SSC-32 switch

718

on, as well as the power LED associated with the Bot Board 2 or

719

BotBoarduino if you have one of these kits.  If

720

these LEDs do not switch on, immediately power off your robot and

721

double check your connections.

722

723

Turn

724

the 9V swith to OFF. Connect

725

the 6vdc battery pack to the

726

battery harness to power the servos. Flip the switch to turn the servo

727

power on. The LEDs should NOT switch on this time. If they do,

728

immediately

729

power off your robot and double check your connections.

730

Note, our

731

battery packs do NOT come charged. You will need to charge your battery

732

before proceeding to the next tutorial.

</td>

Figure 9.</td>

</tr>

<tr>

</td>

</td>

</tr>

<tr>

<td align="left" valign="top" >Step 9b.

745

Powering the Robot (SSC-32U Only)

746

Connect

747

the 6vdc battery pack to the

748

battery harness to power both the servos and the electronics. Flip the

749

switch to turn the servo

750

power on. The LEDs should NOT switch on this time. If they do,

751

752

immediately power off your robot and double check your connections.

753

Note, our

754

battery packs do NOT come charged. You will need to charge your battery

755

before proceeding to the next tutorial.

</td>

Figure 9.</td>

</tr>

<tr>

</td>

</td>

</tr>

<tr>

<td style="vertical-align: top;">Step 10. (Bot

768

Board 2 / SSC-32 / SSC-32U)

769

Now that the

770

robot is assembled, you can proceed with the calibration and

programming.

<ul>

<li>MH2F

with SSC-32 and Bluetooth (FlowBotics): Install and open FlowBotics

775

Studio and follow the instructions

776

</li>

777

<li>MH2F

778

with SSC-32U and Bluetooth (FlowBotics): Install and open

779

FlowBotics Studio and follow the instructions*</li>

780

<li>MH2

781

with SSC-32 and Bot Board 2 microcontroller (old model): <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/the-complete-2-dof-hexapod-tutorial/">Programming

782

Guide</a></li>

783

</ul>

784

* Note that the Bluetooth button within the project needs to be pressed

785

in order to change the baud rate to 9600.

</td>

Completed

MH2

(SSC-32U shown as example)

</td>

</tr>

<tr>

<td style="vertical-align: top;">Step 11.

796

(BotBoarduino)

797

Now that the

798

robot is assembled, you can proceed with calibration and programming.

799

onnect the 6vdc battery pack to the

800

battery harness to power the servos. Flip the switch to turn the servo

power on.

<ul>

<li>MH2U

with BotBoarduino microcontroller and SSC-32

805

</li>

806

<li>MH2U

807

with BotBoarduino microcontroller and SSC-32U</li>

808

</ul>

809

To

810

calibrate the servos such that they are all on the ground in the

811

default position, please use <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-software/lynxterm/">Lynxterm</a> and connect to the SSC-32 / 32U directly.

812

Download and install the Arduino IDE from www.arduino.cc

813

Sample code for Arduino for the MH2 is available on the <a href="https://github.com/Lynxmotion/2DOF-Hexapods">Lynxmotion GitHub

814

page</a>.

815

Alternatively, the MH2 can use the SSC-32  / SSC-32U's built-in <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/ssc-32/ssc-32-manual/#hexseqcom">hexapod

sequencer</a>.

</td>

Completed

MH2

</td>

</tr>

</tbody>

</table>

</body>

Wiki source code of Mini Inline Hexapod Body Assembly Instructions Rev. 1.2

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