Phoenix 3DoF Assembly Instructions v5.0

<td valign="top" align="left">Phoenix Assembly Instructions Rev. 5.

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Updated 07/12/2010<!--webbot

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bot="Timestamp" i-CheckSum="12531" endspan -->.

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

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The purpose of this guide is to construct the chassis, attach the legs, and install the

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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.

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Note: We include two screws for attaching panels to servo horns. You may want to use

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four screws, as shown in some images in this guide. The 2-56 x 1/4" screws are available separately. The metal servo horns are an additional option available.

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Important! These instructions are for the robot's right legs. You will need to mirror

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these instructions and build three left legs as well.

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Complete Phoenix.</td>

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<td valign="top" align="left">Step 1.

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Place an HS-645 servo against a tibia (lower) leg piece as shown, and secure in place using the

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hardware specified in Figure 1-1.

Figure 1-1.

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Figure 1-2.</td>

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

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Attach a ball bearing to the multi-purpose bracket as shown. Refer to Figure 2-1 for detailed information.

Figure 2-1.

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Figure 2-2.</td>

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

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Attach the two multi-purpose brackets as shown, using two 2-56 x .250" screws and 2-56 nuts.

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Figure 3.</td>

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

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Attach servos into the brackets as shown in Figure 4-2 using the hardware specified in Figure 4-1. Use an HS-475 servo in the multi-purpose

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bracket with the ball bearing installed, and an HS-645 servo in the other.

Figure 4-1.

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Figure 4-2.</td>

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

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Attach a leg femur (upper) piece as shown. If you are using nylon servo horns, use #2 tapping screws;

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if you are using aluminum servo horns, use 2-56 screws.</td>

Figure 5.</td>

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

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Attach the two leg assemblies together as shown. If you are using nylon servo horns, use #2 tapping

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screws; if you are using aluminum servo horns, use 2-56 screws.</td>

Figure 6.</td>

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

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Use the 4-40 x 3/8" hex socket screws to attach the spacers to the underside of the top panel. The panel is symmetrical; whichever side

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you attach the hex spacers to will be the inside of the robot.

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Figure 7.</td>

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

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Use the 4-40 x 3/8" hex socket screws to attach the bottom of the robot to the spacers.

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Figure 8.</td>

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

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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

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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

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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

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the end of the wire. Using four 4-40 x 3/8" hex socket head screws, attach the 1.0" hex spacers to the board as shown.

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Figure 9.</td>

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Schematic.

Double check your connections against the schematic below.

Servo Letter Definitions</td>

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

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Right</td>

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

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Middle

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Front</td>

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

Vertical

Horizontal</td>

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Schematic 3-1.

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<td valign="top" align="left">Step 10.

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Slip the SSC-32 in through the hole in the top of the robot and use four 4-40 x 3/8" hex socket screws to attach the board as shown. Make

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sure the DB9 port on the board is at the front of the robot, opposite the power switch hole! This will ensure you can easily plug in the

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servo cables. Install the power switch in the power switch hole at the rear of the robot.

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Figure 10.</td>

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

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Install all the legs. Refer to Figure 11 for clarification.

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Figure 11.</td>

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

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Plug the servos into the SSC-32 as illustrated in Figure 12. Simply plug in the servo associated with the function to the corresponding pin. If

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oriented correctly, the I/O port (group of four pins) will be closest to its corresponding leg.</td>

Figure 12.</td>

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<td valign="top" align="left">Step 13.

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Remove the servo horn screw on the knee servo enough to remove the horn. Rotate the tip of the foot in toward the body by 1 click, or 15°, then

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push it back into place and tighten the screw.

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Do this for all 6 legs.

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Figure 13.</td>

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<td valign="top" align="left">Step 14.

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Now you need to route the servo wires as shown in Figure 14. Make sure you leave enough slack to fully extend the legs!

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This is very important!</td>

Figure 14.</td>

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<td valign="top" align="left">Step 15.

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This completes the mechanical assembly.</td>

Figure 15.</td>

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