Last modified by Eric Nantel on 2024/07/03 09:21
From version < 24.1 >
edited by Eric Nantel
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1 1  {{html wiki="false" clean="true"}}
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2 +<body><table border="0" cellpadding="0" cellspacing="0" >
3 + <tbody><tr>
4 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Biped BRAT Jr. Assembly Guide. Updated <!--webbot bot="Timestamp"
5 + startspan s-type="EDITED" s-format="%m/%d/%Y" -->08/06/2009<!--webbot bot="Timestamp" i-CheckSum="12606" endspan -->.</b></font>
6 + <p><font size="2"><b><font face="Verdana">Hardware:</font></b><font face="Verdana"><br>
7 + &nbsp; - 1 x Alum. Channel - 3" Single Pack (ASB-503)<br>
8 + &nbsp; - 2 x Multi-Purpose Servo Bracket Two Pack (ASB-04)<br>
9 + &nbsp; - 1 x "L" Connector Bracket Two Pack (ASB-06)<br>
10 + &nbsp; - 1 x "C" Servo Bracket w/ Ball Bearings Two Pack (ASB-09)<br>
11 + &nbsp; - 1 x Robot Feet Pair (ARF-01)<br>
12 + &nbsp; - 1 x SES Electronics Carrier (EC-02)<br>
13 + &nbsp; - 1 x SSC-32 Servo Controller (SSC-32)<br>
14 + &nbsp; - 4 x HS-422 (57oz.in.) Standard Servo (S422)</font></font></p></td>
15 + <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-bipeds/brat-biped-jr/WebHome/bratjr00.jpg" border="2" hspace="10" ><br>
16 + <strong>Image of Biped BRAT Jr.</strong></font></td>
17 + </tr>
18 + <tr>
19 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
20 + </tr>
21 + <tr>
22 + <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 1.<br>
23 + </strong>Attach a multi-purpose bracket to the foot as shown, using three 2-56 x .188" screws and 2-56 nuts.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
24 + &nbsp;</font>
25 + <table border="0" >
26 + <tbody><tr>
27 + <td ><font size="2" face="Verdana"><b>3 x</b></font></td>
28 + <td ><font size="2" face="Verdana"><b>3 x</b></font></td>
29 + </tr>
30 + <tr>
31 + <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-bipeds/brat-biped-jr/WebHome/256cs188.GIF" ></b></font></td>
32 + <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-bipeds/brat-biped-jr/WebHome/256zpn.GIF" ></b></font></td>
33 + </tr>
34 + </tbody></table>
35 + </td>
36 + <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-bipeds/brat-biped-jr/WebHome/bratjr01.jpg" border="2" hspace="10" ><br>
37 + Figure 1.</font></td>
38 + </tr>
39 + <tr>
40 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
41 + </tr>
42 + <tr>
43 + <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 2.</strong><br>
44 + Attach the "L" bracket to a short "C" bracket as shown, using two 2-56 x .250" screws and 2-56 nuts.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
45 + &nbsp;</font>
46 + <table border="0" >
47 + <tbody><tr>
48 + <td ><font size="2" face="Verdana"><b>2 x</b></font></td>
49 + <td ><font size="2" face="Verdana"><b>2 x</b></font></td>
50 + </tr>
51 + <tr>
52 + <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-bipeds/brat-biped-jr/WebHome/256025ph.GIF" ></b></font></td>
53 + <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-bipeds/brat-biped-jr/WebHome/256zpn.GIF" ></b></font></td>
54 + </tr>
55 + </tbody></table>
56 + </td>
57 + <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-bipeds/brat-biped-jr/WebHome/bratjr02.jpg" border="2" hspace="10" ><br>
58 + Figure 2.</font></td>
59 + </tr>
60 + <tr>
61 + <td valign="top" align="left" colspan="2"><br class="pb">
62 + </td>
63 + </tr>
64 + <tr>
65 + <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 3.</strong><br>
66 + Attach a multi-purpose bracket to the "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>
67 + &nbsp;</font>
68 + <table border="0" >
69 + <tbody><tr>
70 + <td ><font size="2" face="Verdana"><b>2 x</b></font></td>
71 + <td ><font size="2" face="Verdana"><b>2 x</b></font></td>
72 + </tr>
73 + <tr>
74 + <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-bipeds/brat-biped-jr/WebHome/256025ph.GIF" ></b></font></td>
75 + <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-bipeds/brat-biped-jr/WebHome/256zpn.GIF" ></b></font></td>
76 + </tr>
77 + </tbody></table>
78 + </td>
79 + <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-bipeds/brat-biped-jr/WebHome/bratjr03.jpg" border="2" hspace="10" ><br>
80 + Figure 3.</font></td>
81 + </tr>
82 + <tr>
83 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
84 + </tr>
85 + <tr>
86 + <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 4.</strong><br>
87 + Attach the assembly from Step 3 to the multi-purpose bracket on the foot. See figure 4-1 for detailed information.</font>
88 + <p align="center"><font face="Verdana" size="2"><img hspace="10" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-jr/WebHome/ballb01.GIF" border="2"><br>
89 + Figure 4-1.</font></p></td>
90 + <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-bipeds/brat-biped-jr/WebHome/bratjr04.jpg" border="2" hspace="10" ><br>
91 + Figure 4-2.</font></td>
92 + </tr>
93 + <tr>
94 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
95 + </tr>
96 + <tr>
97 + <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 5.</strong><br>
98 + Your two leg assemblies should look like the image so far.</font></td>
99 + <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-bipeds/brat-biped-jr/WebHome/bratjr05.jpg" border="2" hspace="10" ><br>
100 + Figure 5.</font></td>
101 + </tr>
102 + <tr>
103 + <td valign="top" align="left" colspan="2"><br class="pb">
104 + </td>
105 + </tr>
106 + <tr>
107 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 7.</b><br>
108 + Install the servos as shown, using the included 3mm hardware, two #2 tapping screws and the diagram below. For quick prototype assembly, you can
109 + use rivet fasteners (sold separately: <a href="https://www.lynxmotion.com/showproduct.aspx?productID=327&amp;CategoryID=75">NSRF-01</a>) as illustrated.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
110 + &nbsp;</font>
111 + <table border="0" >
112 + <tbody><tr>
113 + <td ><font size="2" face="Verdana"><b>4 x</b></font></td>
114 + <td ><font size="2" face="Verdana"><b>&nbsp;</b></font></td>
115 + </tr>
116 + <tr>
117 + <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-bipeds/brat-biped-jr/WebHome/2250phts.gif" ></b></font></td>
118 + <td ><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-bipeds/brat-biped-jr/WebHome/holes.gif" border="2"></font></td>
119 + </tr>
120 + </tbody></table>
121 + </td>
122 + <td align="left" valign="top" >
123 + <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-bipeds/brat-biped-jr/WebHome/bratjr06.jpg" border="2" hspace="10" ><br>
124 + Figure 7.</font></p></td>
125 + </tr>
126 + <tr>
127 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
128 + </tr>
129 + <tr>
130 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 8.</b><br>
131 + Attach the leg assemblies to the 3" U-Channel as shown, using four #2 tapping screws.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
132 + &nbsp;</font>
133 + <table border="0" >
134 + <tbody><tr>
135 + <td ><font size="2" face="Verdana"><b>4 x</b></font></td>
136 + <td ><font size="2" face="Verdana"><b>&nbsp;</b></font></td>
137 + </tr>
138 + <tr>
139 + <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-bipeds/brat-biped-jr/WebHome/2250phts.gif" ></b></font></td>
140 + <td ><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-bipeds/brat-biped-jr/WebHome/holes.gif" border="2"></font></td>
141 + </tr>
142 + </tbody></table>
143 + </td>
144 + <td align="left" valign="top" >
145 + <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-bipeds/brat-biped-jr/WebHome/bratjr07.jpg" border="2" hspace="10" ><br>
146 + Figure 8.</font></p></td>
147 + </tr>
148 + <tr>
149 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
150 + </tr>
151 + <tr>
152 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 10.</b><br>
153 + Attach the 3/4" standoffs to the electronics carrier using four 4-40 x 1/4" hex socket head cap screws.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
154 + &nbsp;</font>
155 + <table border="0" >
156 + <tbody><tr>
157 + <td ><font size="2" face="Verdana"><b>4 x</b></font></td>
158 + <td ><font size="2" face="Verdana"><b>4 x</b></font></td>
159 + </tr>
160 + <tr>
161 + <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-bipeds/brat-biped-jr/WebHome/4250hscs.gif" ></b></font></td>
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-bipeds/brat-biped-jr/WebHome/4750hns.gif" ></b></font></td>
163 + </tr>
164 + </tbody></table>
165 + </td>
166 + <td align="left" valign="top" >
167 + <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-bipeds/brat-biped-jr/WebHome/brat14.jpg" border="2" hspace="10" ><br>
168 + Figure 10.</font></p></td>
169 + </tr>
170 + <tr>
171 + <td valign="top" align="left" colspan="2"><br class="pb">
172 + </td>
173 + </tr>
174 + <tr>
175 + <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 11.</strong><br>
176 + Attach the 5/16" standoffs to the U-Channel as shown, using two 2-56 x 1/4" screws.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
177 + &nbsp;</font>
178 + <table border="0" >
179 + <tbody><tr>
180 + <td ><font size="2" face="Verdana"><b>2 x</b></font></td>
181 + <td ><font size="2" face="Verdana"><b>2 x</b></font></td>
182 + </tr>
183 + <tr>
184 + <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-bipeds/brat-biped-jr/WebHome/256025ph.GIF" ></b></font></td>
185 + <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-bipeds/brat-biped-jr/WebHome/2315hns.GIF" ></b></font></td>
186 + </tr>
187 + </tbody></table>
188 + </td>
189 + <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-bipeds/brat-biped-jr/WebHome/bratjr08.jpg" border="2" hspace="10" ><br>
190 + Figure 11.</font></td>
191 + </tr>
192 + <tr>
193 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
194 + </tr>
195 + <tr>
196 + <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 12.</strong><br>
197 + Attach the electronics carrier as shown, using two 2-56 x 1/4" screws.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
198 + &nbsp;</font>
199 + <table border="0" >
200 + <tbody><tr>
201 + <td ><font size="2" face="Verdana"><b>2 x</b></font></td>
202 + <td ><font size="2" face="Verdana"><b>&nbsp;</b></font></td>
203 + </tr>
204 + <tr>
205 + <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-bipeds/brat-biped-jr/WebHome/256025ph.GIF" ></b></font></td>
206 + <td ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
207 + </tr>
208 + </tbody></table>
209 + </td>
210 + <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-bipeds/brat-biped-jr/WebHome/bratjr09.jpg" border="2" hspace="10" ><br>
211 + Figure 12.</font></td>
212 + </tr>
213 + <tr>
214 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
215 + </tr>
216 + <tr>
217 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 13.</b><br>
218 + Attach the power switch to the electronics carrier as shown.</font></td>
219 + <td align="left" valign="top" >
220 + <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-bipeds/brat-biped-jr/WebHome/bratjr10.jpg" border="2" hspace="10" ><br>
221 + Figure 13.</font></p></td>
222 + </tr>
223 + <tr>
224 + <td valign="top" align="left" colspan="2"><br class="pb">
225 + </td>
226 + </tr>
227 + <tr>
228 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 14.<br>
229 + </b>Your battery can be attached with a wire tie or Velcro, not included.</font>
230 + <p><font face="Verdana" size="2">A 6vdc battery will power the robot fine, however, as the battery discharges, the SSC-32 will reset even though
231 + there is still sufficient power for the servos. A 7.2vdc battery will lessen this effect, but it is slightly harder on the servos.</font></p>
232 + <p><font face="Verdana" size="2">For maximum run time, power the VL input from a separate 9vdc battery. Remember to remove the VS=VL jumper to
233 + isolate the two supplies. The 6 or 7.2vdc battery is still required!</font></p>
234 + </td>
235 + <td align="left" valign="top" >
236 + <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-bipeds/brat-biped-jr/WebHome/bratjr11.jpg" border="2" hspace="10" ><br>
237 + Figure 14.</font></p></td>
238 + </tr>
239 + <tr>
240 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
241 + </tr>
242 + <tr>
243 + <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 15.</strong><br>
244 + Install the SSC-32 using four 4-40 x 1/4" screws. Make sure to orient the SSC-32 as shown.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
245 + &nbsp;</font>
246 + <table border="0" >
247 + <tbody><tr>
248 + <td ><font size="2" face="Verdana"><b>4 x</b></font></td>
249 + <td ><font size="2" face="Verdana"><b>&nbsp;</b></font></td>
250 + </tr>
251 + <tr>
252 + <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-bipeds/brat-biped-jr/WebHome/4250hscs.gif" ></b></font></td>
253 + <td ><font face="Verdana" size="2"><b>&nbsp;</b></font></td>
254 + </tr>
255 + </tbody></table>
256 + </td>
257 + <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-bipeds/brat-biped-jr/WebHome/bratjr12.jpg" border="2" hspace="10" ><br>
258 + Figure 15.</font></td>
259 + </tr>
260 + <tr>
261 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
262 + </tr>
263 + <tr>
264 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 16.</b><br>
265 + Connect the servos to their appropriate I/O channels on the SSC-32. Consult Table 20, and make sure to check your work. Connect the wiring
266 + harness to VS1 or VS2 on the SSC-32 as shown. Note, red is (+) and black is (-). If you like, you can flip the SSC-32 around to protect the
267 + wires and take up less space.<br>
268 + &nbsp;</font>
269 + <div align="center">
270 + <center>
271 + <table border="1" bordercolor="#FFFFFF" >
272 + <tbody><tr>
273 + <td >
274 + <div align="center">
275 + <table border="1" bordercolor="#000000" >
276 + <tbody><tr>
277 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1"><b>SSC-32 I/O</b></font></td>
278 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1"><b>Servo</b></font></td>
279 + </tr>
280 + <tr>
281 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">00</font></td>
282 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Right Ankle</font></td>
283 + </tr>
284 + <tr>
285 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">01</font></td>
286 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Right Hip</font></td>
287 + </tr>
288 + <tr>
289 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">16</font></td>
290 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Left Ankle</font></td>
291 + </tr>
292 + <tr>
293 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">17</font></td>
294 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Left Hip</font></td>
295 + </tr>
296 + </tbody></table>
297 + </div></td>
298 + </tr>
299 + <tr>
300 + <td bordercolor="#FFFFFF">
301 + <p align="center"><font face="Verdana" size="2">Table 16.</font></p></td>
302 + </tr>
303 + </tbody></table>
304 + </center></div>
305 + </td>
306 + <td align="left" valign="top" >
307 + <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-bipeds/brat-biped-jr/WebHome/bratjr00.jpg" border="2" hspace="10" ><br>
308 + Figure 16.</font></p></td>
309 + </tr>
310 +</tbody></table>
311 +</body>
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