BH3 3DoF Body Assembly Instructions v2.0

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 size="2" face="Verdana, Helvetica, sans-serif">BH3 Body Assembly Instructions Rev. 1.</font></b>
5	<p><b><font size="2" face="Verdana, Helvetica, sans-serif">Updated <!--webbot bot="Timestamp" startspan s-type="EDITED" s-format="%m/%d/%Y" -->01/28/2009<!--webbot
6	bot="Timestamp" i-checksum="12640" endspan -->.</font></b></p>
7	<p><b><font face="Verdana" size="2">Safety first!</font></b><font face="Verdana" size="2"> Wear eye protection and never touch a powered robot!</font></p>
8	<p><font size="2" face="Verdana, Helvetica, sans-serif">The purpose of this guide is to construct the chassis, attach the legs, and install the
9	electronics. As long as the servo horns have not been removed from the servos, you do not have to center them during the assembly process.</font></p></td>
10	<td align="center" valign="top" width="320"><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/bh3-body-v2/WebHome/h313.jpg" border="2" hspace="10" ><br>
11	<font size="2"><b>Image of completed Robot.</b></font></font></td>
12	</tr>
13	<tr>
14	<td valign="top" align="left" colspan="2"><font face="Verdana, Helvetica, sans-serif"> </font></td>
15	</tr>
16	<tr>
17	<td valign="top" align="left"><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 1.<br>
18	</font></b><font size="2">Use eight 4-40 x 1/4" hex socket screws to attach the spacers to the bottom of the robot.<br>
19	</font></font>
20	<table border="0" >
21	<tbody><tr>
22	<td ><font size="2" face="Verdana, Helvetica, sans-serif"><b>8 x</b></font></td>
23	<td ><font size="2" face="Verdana, Helvetica, sans-serif"><b>8 x</b></font></td>
24	</tr>
25	<tr>
26	<td ><font face="Verdana, Helvetica, sans-serif"><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/bh3-body-v2/WebHome/4250hscs.gif" ></font></td>
27	<td ><font face="Verdana, Helvetica, sans-serif"><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/bh3-body-v2/WebHome/41875hns.gif" ></font></td>
28	</tr>
29	</tbody></table>
30	</td>
31	<td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/bh3-body-v2/WebHome/h301.jpg" border="2" hspace="10" ><br>
32	<font size="2">Figure 1.</font></font></td>
33	</tr>
34	<tr>
35	<td valign="top" align="left" colspan="2"><font face="Verdana, Helvetica, sans-serif"> </font></td>
36	</tr>
37	<tr>
38	<td valign="top" align="left"><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 2.<br>
39	</font></b><font size="2">Mount the top of the robot using eight 1/4" hex screws.<br>
40	</font></font>
41	<table border="0" >
42	<tbody><tr>
43	<td ><font size="2" face="Verdana, Helvetica, sans-serif"><b>8 x</b></font></td>
44	<td ><font size="2" face="Verdana, Helvetica, sans-serif"> </font></td>
45	</tr>
46	<tr>
47	<td ><font face="Verdana, Helvetica, sans-serif"><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/bh3-body-v2/WebHome/4250hscs.gif" ></font></td>
48	<td ><font size="2" face="Verdana, Helvetica, sans-serif"> </font></td>
49	</tr>
50	</tbody></table>
51	</td>
52	<td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/bh3-body-v2/WebHome/h302.jpg" border="2" hspace="10" ><br>
53	<font size="2">Figure 2.</font></font></td>
54	</tr>
55	<tr>
56	<td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"><br class="pb">
57	</font></td>
58	</tr>
59	<tr>
60	<td valign="top" align="left"><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 3.<br>
61	</font></b><font size="2">Slide the end panels in as shown, and attach using eight 3mm x 6mm screws.</font></font><font size="2" face="Verdana, Helvetica, sans-serif"><br>
62	</font>
63	<table border="0" >
64	<tbody><tr>
65	<td ><font size="2" face="Verdana, Helvetica, sans-serif"><b>8 x</b></font></td>
66	<td ><font size="2" face="Verdana, Helvetica, sans-serif"> </font></td>
67	</tr>
68	<tr>
69	<td ><font face="Verdana, Helvetica, sans-serif"><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/bh3-body-v2/WebHome/36mphs.gif" ></font></td>
70	<td ><font size="2" face="Verdana, Helvetica, sans-serif"> </font></td>
71	</tr>
72	</tbody></table>
73	</td>
74	<td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/bh3-body-v2/WebHome/h303.jpg" border="2" hspace="10" ><br>
75	<font size="2">Figure 3.</font></font></td>
76	</tr>
77	<tr>
78	<td valign="top" align="left" colspan="2"><font face="Verdana, Helvetica, sans-serif"> </font></td>
79	</tr>
80	<tr>
81	<td valign="top" align="left"><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 4.</font></b><font size="2"><br>
82	The SSC-32 should be configured for 115.2 kbaud and DB9 communication, with the VS2=VS1 jumper installed. Remove the VL=VS jumper. Consult the
83	SSC-32 manual if needed. Attach the wiring harness to VS1. Connect 8" of 24awg wire (not included) AND the 9v battery clip to VL; this will
84	provide power for the electronics. Make sure that the red wires go to (+) and the black wires go to (-). For now, put some electrical tape on
85	the end of the wire. Use four 1/4" hex screws to attach four 3/4" nylon hex spacers to the SSC-32 as shown.<br>
86	</font></font>
87	<table border="0" >
88	<tbody><tr>
89	<td ><b><font size="2" face="Verdana, Helvetica, sans-serif">4 x</font></b></td>
90	<td ><b><font size="2" face="Verdana, Helvetica, sans-serif">4 x</font></b></td>
91	</tr>
92	<tr>
93	<td ><font face="Verdana, Helvetica, sans-serif"><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/bh3-body-v2/WebHome/4250hscs.gif" ></font></td>
94	<td ><font face="Verdana, Helvetica, sans-serif"><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/bh3-body-v2/WebHome/4750hns.gif" ></font></td>
95	</tr>
96	</tbody></table>
97	</td>
98	<td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/bh3-body-v2/WebHome/h3r103.jpg" border="2" hspace="10" ><br>
99	<font size="2">Figure 4.</font></font></td>
100	</tr>
101	<tr>
102	<td valign="top" align="left" colspan="2"><font face="Verdana, Helvetica, sans-serif"> </font></td>
103	</tr>
104	<tr>
105	<td valign="top" align="left"><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 5.</font></b><font size="2"><br>
106	Install the Atom 28 as shown, taking care not to damage the delicate pins. Remove the following jumpers: VS=VL, ABC buttons / LED. Install the
107	following jumpers: speaker enable, VL to I/O 4-7 bus. Consult the Bot Board manual if needed. Use four 1/4" hex screws to attach four
108	3/4" nylon hex spacers to the Bot Board as shown.<br>
109	</font></font>
110	<table border="0" >
111	<tbody><tr>
112	<td ><b><font size="2" face="Verdana, Helvetica, sans-serif">4 x</font></b></td>
113	<td ><b><font size="2" face="Verdana, Helvetica, sans-serif">4 x</font></b></td>
114	</tr>
115	<tr>
116	<td ><font face="Verdana, Helvetica, sans-serif"><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/bh3-body-v2/WebHome/4250hscs.gif" ></font></td>
117	<td ><font face="Verdana, Helvetica, sans-serif"><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/bh3-body-v2/WebHome/4750hns.gif" ></font></td>
118	</tr>
119	</tbody></table>
120	</td>
121	<td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/bh3-body-v2/WebHome/bh305.jpg" border="2" hspace="10" ><br>
122	<font size="2">Figure 5.</font></font></td>
123	</tr>
124	<tr>
125	<td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"><br class="pb">
126	</font></td>
127	</tr>
128	<tr>
129	<td valign="top" align="left" colspan="2">
130	<p align="left"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Schematic</b><font face="Verdana, Helvetica, sans-serif"><b><font size="2">.</font></b><br>
131	<font size="2">Double check your connections against the schematic below.<br>
132	</font></font>
133	</font></p><div align="center"><font size="2" face="Verdana, Helvetica, sans-serif">
134	<center>
135	<table border="1" bordercolor="#FFFFFF">
136	<tbody><tr>
137	<td bordercolor="#808080" bgcolor="#C0C0C0" colspan="3">
138	<p align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Servo Letter Definitions</font></p></td>
139	</tr>
140	<tr>
141	<td bordercolor="#C0C0C0" align="left" valign="middle"><font size="2" face="Verdana, Helvetica, sans-serif"><b> L</b>eft<br>
142	<b>R</b>ight</font></td>
143	<td bordercolor="#C0C0C0" align="left" valign="middle"><font size="2" face="Verdana, Helvetica, sans-serif"><b> R</b>ear<br>
144	<b>M</b>iddle<br>
145	<b>F</b>ront</font></td>
146	<td bordercolor="#C0C0C0" align="left" valign="middle"><font size="2" face="Verdana, Helvetica, sans-serif"><b> K</b>nee<br>
147	<b>V</b>ertical<br>
148	<b>H</b>orizontal</font></td>
149	</tr>
150	</tbody></table>
151	</center>
152	</font></div><font size="2" face="Verdana, Helvetica, sans-serif">
153	</font><p align="center"><font size="2" face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/bh3-body-v2/WebHome/h3wire01.gif" border="0" hspace="10" ><br>
154	<br>
155	Schematic 5-1.</font></p>
156	</td>
157	</tr>
158	<tr>
159	<td valign="top" align="left" colspan="2"><font face="Verdana, Helvetica, sans-serif"> </font></td>
160	</tr>
161	<tr>
162	<td valign="top" align="left"><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 6.<br>
163	</font></b><font size="2">Slide the SSC-32 in from the top, orient as shown with the DB9 connector toward the front, and attach using four
164	1/4" hex screws. At this point you will want to attach the power switch to the robot's body. You can use any of the holes the power switch
165	will reach</font></font><font size="2" face="Verdana, Helvetica, sans-serif">.<br>
166	</font>
167	<table border="0" >
168	<tbody><tr>
169	<td ><b><font size="2" face="Verdana, Helvetica, sans-serif">4 x</font></b></td>
170	<td ><b><font size="2" face="Verdana, Helvetica, sans-serif"> </font></b></td>
171	</tr>
172	<tr>
173	<td ><font face="Verdana, Helvetica, sans-serif"><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/bh3-body-v2/WebHome/4250hscs.gif" ></font></td>
174	<td ><font face="Verdana, Helvetica, sans-serif"> </font></td>
175	</tr>
176	</tbody></table>
177	</td>
178	<td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/bh3-body-v2/WebHome/h306.jpg" border="2" hspace="10" ><br>
179	<font size="2">Figure 6.</font></font></td>
180	</tr>
181	<tr>
182	<td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"><br class="pb">
183	</font></td>
184	</tr>
185	<tr>
186	<td valign="top" align="left"><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 7.<br>
187	</font></b><font size="2">Attach the power wires from the SSC-32 to the Bot Board's VL input as shown. Make sure the red wire goes to (+) and
188	the black wire goes to (-).</font></font></td>
189	<td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/bh3-body-v2/WebHome/h307b.jpg" border="2" hspace="10" ><br>
190	<font size="2">Figure 7.</font></font></td>
191	</tr>
192	<tr>
193	<td valign="top" align="left" colspan="2"><font face="Verdana, Helvetica, sans-serif"> </font></td>
194	</tr>
195	<tr>
196	<td valign="top" align="left"><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 8.<br>
197	</font></b><font size="2">Slide the Bot Board in from the top, orient as shown with the power terminals toward the rear, and attach using four
198	1/4" hex screws.<br>
199	</font></font>
200	<table border="0" >
201	<tbody><tr>
202	<td ><b><font size="2" face="Verdana, Helvetica, sans-serif">4 x</font></b></td>
203	<td ><b><font size="2" face="Verdana, Helvetica, sans-serif"> </font></b></td>
204	</tr>
205	<tr>
206	<td ><font face="Verdana, Helvetica, sans-serif"><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/bh3-body-v2/WebHome/4250hscs.gif" ></font></td>
207	<td ><font face="Verdana, Helvetica, sans-serif"> </font></td>
208	</tr>
209	</tbody></table>
210	</td>
211	<td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/bh3-body-v2/WebHome/h308.jpg" border="2" hspace="10" ><br>
212	<font size="2">Figure 8.</font></font></td>
213	</tr>
214	<tr>
215	<td valign="top" align="left" colspan="2"><font face="Verdana, Helvetica, sans-serif"> </font></td>
216	</tr>
217	<tr>
218	<td valign="top" align="left"><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 9.<br>
219	</font></b><font size="2">Attach the legs as shown, making sure to use right or left legs as indicated. Use twelve #2 x .250" tapping
220	screws.<br>
221	</font></font>
222	<table border="0" >
223	<tbody><tr>
224	<td ><b><font size="2" face="Verdana, Helvetica, sans-serif">12 x</font></b></td>
225	<td ><b><font size="2" face="Verdana, Helvetica, sans-serif"> </font></b></td>
226	</tr>
227	<tr>
228	<td ><font face="Verdana, Helvetica, sans-serif"><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/bh3-body-v2/WebHome/2250phts.gif" ></font></td>
229	<td ><font face="Verdana, Helvetica, sans-serif"><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/bh3-body-v2/WebHome/holes.gif" ></font></td>
230	</tr>
231	</tbody></table>
232	</td>
233	<td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/bh3-body-v2/WebHome/h309.jpg" border="2" hspace="10" ><br>
234	<font size="2">Figure 9.</font></font></td>
235	</tr>
236	<tr>
237	<td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"><br class="pb">
238	</font></td>
239	</tr>
240	<tr>
241	<td valign="top" align="left"><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 10.<br>
242	</font></b><font size="2">Plug the servos into the SSC-32 as illustrated in Figure 10. Simply plug in the servo associated with the function to
243	the corresponding pin. If oriented correctly, the I/O port (group of four pins) will be closest to its corresponding leg.</font></font></td>
244	<td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/bh3-body-v2/WebHome/h310.jpg" border="2" hspace="10" ><br>
245	<font size="2">Figure 10.</font></font></td>
246	</tr>
247	<tr>
248	<td valign="top" align="left" colspan="2"><font face="Verdana, Helvetica, sans-serif"> </font></td>
249	</tr>
250	<tr>
251	<td valign="top" align="left"><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 11.<br>
252	</font></b><font size="2">This completes the mechanical assembly. You can now move on to the Complete H3/H3-R Tutorial.</font></font></td>
253	<td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/bh3-body-v2/WebHome/h313.jpg" border="2" hspace="10" ><br>
254	<font size="2">Figure 11.</font></font></td>
255	</tr>
256	</tbody></table>
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