3DoF MEGA Leg Assembly Instructions v1.0

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3 DOF MEGA Leg Assembly Instructions v1.0.

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Updated 10/30/2012.

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Safety first! Wear eye protection and never touch a powered robot!

8

Note: Do not use Loctite or thread locks on the assembly. They are not necessary and may cause damage to Lexan.

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10

11

Important! In order to build the 3-R Mega Hexapod Kit, you need to build three right legs (following these instructions), and three left legs (by mirroring these instructions)!

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</td>

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14

Image of completed 3DOF Mega leg.</td>

</tr>

<tr>

</tr>

<tr>

Step 1.

Attach the ball bearing that comes with the chassis kit to the Multi-Purpose bracket as shown. If you purchased the leg pair separately (i.e no chassis or body kit), you will not have this bearing and can skip this step. Note that a ball bearing is strongly suggested for supporting the leg. See the diagram below for detailed information.

Figure 1-1.

</td>

Figure 1-2.

</td>

</tr>

<tr>

</tr>

<tr>

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

40

Attach the Multi-Purpose bracket from step 1 to the other multipurpose bracket exactly as shown, using two 2-56 x .250 screws and 2-56 nuts.

</tr>

<tr>

</tr>

</tbody></table>

</td>

Figure 2.</td>

</tr>

<tr>

</td>

</tr>

<tr>

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

61

In a separate assembly, attach two "C" brackets together, using two 2-56 x .250 screws and 2-56 nuts.

</tr>

<tr>

</tr>

</tbody></table>

</td>

Figure 3.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step

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84

4.

85

Attach the "C" bracket assembly from step 3 to the Multi-Purpose bracket assembly from step 2 as shown. See the diagram below for detailed information.

Figure 4-1.

</td>

Figure 4-2.</td>

</tr>

<tr>

</tr>

<tr>

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

97

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

</tr>

<tr>

</tr>

</tbody></table>

</td>

Figure 5.</td>

</tr>

<tr>

</td>

</tr>

<tr>

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

120

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.

</tr>

<tr>

</tr>

</tbody></table>

</td>

Figure 6.</td>

</tr>

<tr>

</tr>

<tr>

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

141

Attach the Multi-Purpose bracket from step 6 to the "C" bracket assembly from step 3 as shown, using the ball bearing. See the diagram below for detailed information.

Figure 7-1.

</td>

Figure 7-2.</td>

</tr>

<tr>

</tr>

<tr>

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

155

Connect a 3.375" tube to the hub using a 4-40 x .250" screw.

</tr>

<tr>

</tr>

</tbody></table>

</td>

Figure 8.</td>

</tr>

<tr>

</td>

</tr>

<tr>

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

178

Attach a rubber foot to the end of the tube.

</td>

Figure 9-2.</td>

</tr>

<tr>

Step 10.

Remove the plastic horn from all three servos and install the aluminum servo horn as shown. Note that the angle between the servo horn and the spline is very important. Use the SSC-32 or a servo positioner to position the servo at 90 degrees (1500us pulse).

189

Refer to this tutorial: http://www.lynxmotion.com/images/html/build046.htm

190

Note: If you position the plastic servo horn parallel to the length of the servo (as it is shipped from Hitec), it should be properly centered. Note that the holes on the aluminum servo horn should be parallel and perpendicular to the servo (not at some weird angle).

</td>

Figure 10.</td>

</tr>

<tr>

<td valign="top" align="left">Step 11.

200

Install the servos as shown, using the included 3mm servo mounting hardware.

</tr>

<tr>

</tr>

</tbody></table>

</td>

Figure 11.</td>

</tr>

<tr>

<td valign="top" align="left">Step 12.

217

Connect the 6" servo extension cable to the knee servo. Do not use tie wraps yet.

</td>

Figure 12.</td>

</tr>

</tbody></table>

You can now move on to the body assembly instructions.

</body>

Wiki source code of 3DoF MEGA Leg Assembly Instructions v1.0

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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">
5	3 DOF MEGA Leg Assembly Instructions v1.0.</font></b>
6	<p><b><font face="Verdana" size="2">Updated 10/30/2012.</font></b></p>
7	<p><font face="Verdana" size="2"><b>Safety first!</b> Wear eye protection and never touch a powered robot!</font></p>
8	<p><font face="Verdana" size="2">Note: Do not use Loctite or thread locks on the assembly. They are not necessary and may cause damage to Lexan.<br>
9	<br>
10	<b>
11	Important! In order to build the 3-R Mega Hexapod Kit, you need to build three right legs (following these instructions), and three left legs (by mirroring these instructions)!
12	</b></font></p></td>
13	<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-v1-3-4-dof-hexapods/3-dof-mega-leg/WebHome/lynxmotion-3dof-mega-12.jpg" border="2" hspace="10" ><br>
14	<b>Image of completed 3DOF Mega leg.</b></font></td>
15	</tr>
16	<tr>
17	<td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td>
18	</tr>
19	<tr>
20	<td valign="top" align="left">
21	<font face="Verdana" size="2">
22	<strong>Step 1.</strong><br>
23	Attach the ball bearing that comes with the chassis kit to the Multi-Purpose bracket as shown. If you purchased the leg pair separately (i.e no chassis or body kit), you will not have this bearing and can skip this step. Note that a ball bearing is strongly suggested for supporting the leg. See the diagram below for detailed information.</font>
24	<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-v1-3-4-dof-hexapods/3-dof-mega-leg/WebHome/ballb02.gif" border="2" hspace="10" ><br>
25	Figure 1-1.
26	</font></p>
27	</td>
28	<td align="center" valign="top" >
29	<font face="Verdana" size="2">
30	<img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/3-dof-mega-leg/WebHome/lynxmotion-3dof-mega-1.jpg" border="2" hspace="10" ><br>
31	Figure 1-2.
32	</font>
33	</td>
34	</tr>
35	<tr>
36	<td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td>
37	</tr>
38	<tr>
39	<td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 2.</strong><br>
40	Attach the Multi-Purpose bracket from step 1 to the other multipurpose bracket exactly as shown, using two 2-56 x .250 screws and 2-56 nuts. </font><font face="Verdana, Helvetica, sans-serif" size="2"><br></font>
41	<table border="0" >
42	<tbody><tr>
43	<td ><font size="2" face="Verdana"><b>2 x</b></font></td>
44	<td ><font size="2" face="Verdana"><b>2 x</b></font></td>
45	</tr>
46	<tr>
47	<td ><font face="Verdana" size="2"><b><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/3-dof-mega-leg/WebHome/256025ph.GIF" ></b></font></td>
48	<td ><font face="Verdana" size="2"><b><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/3-dof-mega-leg/WebHome/256zpn.gif" ></b></font></td>
49	</tr>
50	</tbody></table>
51	</td>
52	<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-v1-3-4-dof-hexapods/3-dof-mega-leg/WebHome/lynxmotion-3dof-mega-2.jpg" border="2" hspace="10" ><br>
53	Figure 2.</font></td>
54	</tr>
55	<tr>
56	<td valign="top" align="left" colspan="2"><br class="pb">
57	</td>
58	</tr>
59	<tr>
60	<td valign="top" align="left"><font face="Verdana" size="2"><b>Step 3.</b><br>
61	In a separate assembly, attach two "C" brackets together, using two 2-56 x .250 screws and 2-56 nuts.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
62	</font>
63	<table border="0" >
64	<tbody><tr>
65	<td ><font size="2" face="Verdana"><b>2 x</b></font></td>
66	<td ><font size="2" face="Verdana"><b>2 x</b></font></td>
67	</tr>
68	<tr>
69	<td ><font face="Verdana" size="2"><b><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/3-dof-mega-leg/WebHome/256025ph.GIF" ></b></font></td>
70	<td ><font face="Verdana" size="2"><b><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/3-dof-mega-leg/WebHome/256zpn.gif" ></b></font></td>
71	</tr>
72	</tbody></table>
73	</td>
74	<td align="left" valign="top" >
75	<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-v1-3-4-dof-hexapods/3-dof-mega-leg/WebHome/lynxmotion-3dof-mega-3.jpg" border="2" hspace="10" ><br>
76	Figure 3.</font></p></td>
77	</tr>
78	<tr>
79	<td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td>
80	</tr>
81	<tr>
82	<td valign="top" align="left"><font face="Verdana" size="2"><strong>Step
83
84	4.</strong><br>
85	Attach the "C" bracket assembly from step 3 to the Multi-Purpose bracket assembly from step 2 as shown. See the diagram below for detailed information.</font>
86	<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-v1-3-4-dof-hexapods/3-dof-mega-leg/WebHome/ballb01.gif" border="2" hspace="10" ><br>
87	Figure 4-1.</font></p>
88	</td>
89	<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-v1-3-4-dof-hexapods/3-dof-mega-leg/WebHome/lynxmotion-3dof-mega-4.jpg" border="2" hspace="10" ><br>
90	Figure 4-2.</font></td>
91	</tr>
92	<tr>
93	<td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td>
94	</tr>
95	<tr>
96	<td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 5.</strong><br>
97	Attach a Tubing Connector Hub to an "L" bracket as shown, using two 2-56 x .250 screws and 2-56 nuts.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
98	</font>
99	<table border="0" >
100	<tbody><tr>
101	<td ><font size="2" face="Verdana"><b>2 x</b></font></td>
102	<td ><font size="2" face="Verdana"><b>2 x</b></font></td>
103	</tr>
104	<tr>
105	<td ><font face="Verdana" size="2"><b><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/3-dof-mega-leg/WebHome/256025ph.GIF" ></b></font></td>
106	<td ><font face="Verdana" size="2"><b><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/3-dof-mega-leg/WebHome/256zpn.gif" ></b></font></td>
107	</tr>
108	</tbody></table>
109	</td>
110	<td valign="top" >
111	<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-v1-3-4-dof-hexapods/3-dof-mega-leg/WebHome/lynxmotion-3dof-mega-5.jpg" border="2" hspace="10" ><br>
112	Figure 5.</font></p></td>
113	</tr>
114	<tr>
115	<td valign="top" align="left" colspan="2"><br class="pb">
116	</td>
117	</tr>
118	<tr>
119	<td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 6.</strong><br>
120	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>
121	<font face="Verdana, Helvetica, sans-serif" size="2"><br></font>
122	<table border="0" >
123	<tbody><tr>
124	<td ><font size="2" face="Verdana"><b>2 x</b></font></td>
125	<td ><font size="2" face="Verdana"><b>2 x</b></font></td>
126	</tr>
127	<tr>
128	<td ><font face="Verdana" size="2"><b><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/3-dof-mega-leg/WebHome/256025ph.GIF" ></b></font></td>
129	<td ><font face="Verdana" size="2"><b><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/3-dof-mega-leg/WebHome/256zpn.gif" ></b></font></td>
130	</tr>
131	</tbody></table>
132	</td>
133	<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-v1-3-4-dof-hexapods/3-dof-mega-leg/WebHome/lynxmotion-3dof-mega-6.jpg" border="2" hspace="10" ><br>
134	Figure 6.</font></td>
135	</tr>
136	<tr>
137	<td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td>
138	</tr>
139	<tr>
140	<td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 7.</strong><br>
141	Attach the Multi-Purpose bracket from step 6 to the "C" bracket assembly from step 3 as shown, using the ball bearing. See the diagram below for detailed information.</font>
142	<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-v1-3-4-dof-hexapods/3-dof-mega-leg/WebHome/ballb01.gif" border="2" hspace="10" ><br>
143	Figure 7-1.</font></p>
144	</td>
145	<td valign="top" >
146	<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-v1-3-4-dof-hexapods/3-dof-mega-leg/WebHome/lynxmotion-3dof-mega-7.jpg" border="2" hspace="10" ><br>
147	Figure 7-2.</font></p></td>
148	</tr>
149	<tr>
150	<td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td>
151	</tr>
152	<tr>
153
154	<td valign="top" align="left"><font face="Verdana" size="2"><b>Step 8.</b><br>
155	Connect a 3.375" tube to the hub using a 4-40 x .250" screw.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
156	</font>
157	<table border="0" >
158	<tbody><tr>
159	<td ><font size="2" face="Verdana"><b>1 x</b></font></td>
160	</tr>
161	<tr>
162	<td ><font face="Verdana" size="2"><b><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/3-dof-mega-leg/WebHome/4250hscs.GIF" ></b></font></td>
163
164	</tr>
165	</tbody></table>
166	</td>
167	<td align="left" valign="top" >
168	<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-v1-3-4-dof-hexapods/3-dof-mega-leg/WebHome/lynxmotion-3dof-mega-8.jpg" border="2" hspace="10" ><br>
169	Figure 8.</font></p></td>
170	</tr>
171
172	<tr>
173	<td valign="top" align="left" colspan="2"><br class="pb">
174	</td>
175	</tr>
176	<tr>
177	<td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 9.</strong><br>
178	Attach a rubber foot to the end of the tube.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
179	</font>
180	</td>
181	<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-v1-3-4-dof-hexapods/3-dof-mega-leg/WebHome/lynxmotion-3dof-mega-9.jpg" border="2" hspace="10" ><br>
182	Figure 9-2.</font></td>
183	</tr>
184	<tr>
185
186	<td valign="top" align="left">
187	<font face="Verdana" size="2"><b>Step 10.</b><br>
188	Remove the plastic horn from all three servos and install the aluminum servo horn as shown. Note that the angle between the servo horn and the spline is very important. Use the SSC-32 or a servo positioner to position the servo at 90 degrees (1500us pulse).<br>
189	Refer to this tutorial: http://www.lynxmotion.com/images/html/build046.htm <br><br>
190	Note: If you position the plastic servo horn parallel to the length of the servo (as it is shipped from Hitec), it should be properly centered. Note that the holes on the aluminum servo horn should be parallel and perpendicular to the servo (not at some weird angle).
191	</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
192	</font>
193	</td>
194	<td align="left" valign="top" >
195	<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-v1-3-4-dof-hexapods/3-dof-mega-leg/WebHome/lynxmotion-3dof-mega-10.jpg" border="2" hspace="10" ><br>
196	Figure 10.</font></p></td>
197	</tr>
198	<tr>
199	<td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 11.</strong><br>
200	Install the servos as shown, using the included 3mm servo mounting hardware.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
201	</font>
202
203	<table border="0" >
204	<tbody><tr>
205	<td ><font size="2" face="Verdana"><b>12 x</b></font></td>
206	</tr>
207	<tr>
208	<td ><font face="Verdana" size="2"><b><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/3-dof-mega-leg/WebHome/srvhdw.gif" ></b></font></td>
209	</tr>
210	</tbody></table>
211	</td>
212	<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-v1-3-4-dof-hexapods/3-dof-mega-leg/WebHome/lynxmotion-3dof-mega-11.jpg" border="2" hspace="10" ><br>
213	Figure 11.</font></td>
214	</tr>
215	<tr>
216	<td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 12.</strong><br>
217	Connect the 6" servo extension cable to the knee servo. Do not use tie wraps yet.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
218	</font>
219
220	</td>
221	<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-v1-3-4-dof-hexapods/3-dof-mega-leg/WebHome/lynxmotion-3dof-mega-12.jpg" border="2" hspace="10" ><br>
222	Figure 12.</font></td>
223	</tr>
224	</tbody></table>
225	<font size="2" face="Verdana">You can now move on to the body assembly instructions.</font>
226	<br>
227	<br>
228	</body>
229	{{/html}}