Last modified by Eric Nantel on 2026/04/06 12:31
From version < 28.1
edited by Eric Nantel
on 2026/04/06 12:31
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edited by Eric Nantel
on 2023/01/23 13:59
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1 -ses-v1.ses-v1-robots.ses-v1-bipeds.WebHome
1 +servo-erector-set-robots-kits.ses-v1-robots.ses-v1-bipeds.WebHome
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1 +{{html wiki="false" clean="true"}}
30 30  
31 -<div class="asm">
32 -
33 - <!-- Header -->
34 - <div style="padding: 0.5rem 0 1rem 0; display:flex; flex-wrap:wrap; gap:1.5rem; align-items:flex-start;">
35 - <div style="flex:1 1 300px;">
36 - <h1 class="asm">Biped BRAT Jr. Assembly Guide</h1>
37 - <p><b>Updated August 6, 2009</b></p>
38 - <p><b>Hardware:</b> 1x Alum. Channel 3" Single Pack (ASB-503) · 2x Multi-Purpose Servo Bracket Two Pack (ASB-04) · 1x "L" Connector Bracket Two Pack (ASB-06) · 1x "C" Servo Bracket w/ Ball Bearings Two Pack (ASB-09) · 1x Robot Feet Pair (ARF-01) · 1x SES Electronics Carrier (EC-02) · 1x SSC-32 Servo Controller · 4x HS-422 Standard Servo (S422)</p>
39 - </div>
40 - <div style="text-align:center; flex:0 1 280px;">
41 - <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" style="max-width:100%; border:1px solid #ccc; border-radius:4px;">
42 - <p style="font-size:12px; color:#666; margin-top:0.3rem;"><b>Biped BRAT Jr.</b></p>
43 - </div>
44 - </div>
45 -
46 - <!-- Step 1 -->
47 - <div class="asm-step">
48 - <div class="asm-step-header">
49 - <div class="asm-step-name">BRAT Jr. — Attach Bracket to Foot</div>
50 - <div class="asm-step-num">Step 1 / 13</div>
51 - </div>
52 - <div class="asm-step-body">
53 - <div class="asm-step-text">
54 - <p>Attach a multi-purpose bracket to the foot as shown using three 2-56 x .188" screws and 2-56 nuts.</p>
55 - <div class="asm-parts">
56 - <div class="asm-part">
57 - <div class="asm-part-info"><div class="asm-part-qty">3x</div><div class="asm-part-name">2-56 x .188" countersunk screw</div></div>
58 - <div class="asm-part-img"><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/256cs188.GIF"></div>
59 - </div>
60 - <div class="asm-part">
61 - <div class="asm-part-info"><div class="asm-part-qty">3x</div><div class="asm-part-name">2-56 nut</div></div>
62 - <div class="asm-part-img"><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/256zpn.GIF"></div>
63 - </div>
64 - </div>
65 - </div>
66 - <div class="asm-step-figure">
67 - <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">
68 - <span>Figure 1.</span>
69 - </div>
70 - </div>
71 - </div>
72 -
73 - <!-- Step 2 -->
74 - <div class="asm-step">
75 - <div class="asm-step-header">
76 - <div class="asm-step-name">BRAT Jr. — Attach "L" Bracket to "C" Bracket</div>
77 - <div class="asm-step-num">Step 2 / 13</div>
78 - </div>
79 - <div class="asm-step-body">
80 - <div class="asm-step-text">
81 - <p>Attach the "L" bracket to a short "C" bracket as shown using two 2-56 x .250" screws and 2-56 nuts.</p>
82 - <div class="asm-parts">
83 - <div class="asm-part">
84 - <div class="asm-part-info"><div class="asm-part-qty">2x</div><div class="asm-part-name">2-56 x .250" Phillips screw</div></div>
85 - <div class="asm-part-img"><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/256025ph.GIF"></div>
86 - </div>
87 - <div class="asm-part">
88 - <div class="asm-part-info"><div class="asm-part-qty">2x</div><div class="asm-part-name">2-56 nut</div></div>
89 - <div class="asm-part-img"><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/256zpn.GIF"></div>
90 - </div>
91 - </div>
92 - </div>
93 - <div class="asm-step-figure">
94 - <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">
95 - <span>Figure 2.</span>
96 - </div>
97 - </div>
98 - </div>
99 -
100 - <!-- Step 3 -->
101 - <div class="asm-step">
102 - <div class="asm-step-header">
103 - <div class="asm-step-name">BRAT Jr. — Attach Multi-Purpose Bracket to "L" Bracket</div>
104 - <div class="asm-step-num">Step 3 / 13</div>
105 - </div>
106 - <div class="asm-step-body">
107 - <div class="asm-step-text">
108 - <p>Attach a multi-purpose bracket to the "L" bracket as shown using two 2-56 x .250" screws and 2-56 nuts.</p>
109 - <div class="asm-parts">
110 - <div class="asm-part">
111 - <div class="asm-part-info"><div class="asm-part-qty">2x</div><div class="asm-part-name">2-56 x .250" Phillips screw</div></div>
112 - <div class="asm-part-img"><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/256025ph.GIF"></div>
113 - </div>
114 - <div class="asm-part">
115 - <div class="asm-part-info"><div class="asm-part-qty">2x</div><div class="asm-part-name">2-56 nut</div></div>
116 - <div class="asm-part-img"><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/256zpn.GIF"></div>
117 - </div>
118 - </div>
119 - </div>
120 - <div class="asm-step-figure">
121 - <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">
122 - <span>Figure 3.</span>
123 - </div>
124 - </div>
125 - </div>
126 -
127 - <!-- Step 4 -->
128 - <div class="asm-step">
129 - <div class="asm-step-header">
130 - <div class="asm-step-name">BRAT Jr. — Connect Leg to Foot</div>
131 - <div class="asm-step-num">Step 4 / 13</div>
132 - </div>
133 - <div class="asm-step-body">
134 - <div class="asm-step-text">
135 - <p>Attach the assembly from Step 3 to the multi-purpose bracket on the foot. Refer to Figure 4-1 for detailed ball bearing installation.</p>
136 - </div>
137 - <div class="asm-figures">
138 - <div class="asm-step-figure">
139 - <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/ballb01.GIF">
140 - <span>Figure 4-1 (ball bearing detail).</span>
141 - </div>
142 - <div class="asm-step-figure">
143 - <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">
144 - <span>Figure 4-2.</span>
145 - </div>
146 - </div>
147 - </div>
148 - </div>
149 -
150 - <!-- Step 5 -->
151 - <div class="asm-step">
152 - <div class="asm-step-header">
153 - <div class="asm-step-name">BRAT Jr. — Verify Leg Assemblies</div>
154 - <div class="asm-step-num">Step 5 / 13</div>
155 - </div>
156 - <div class="asm-step-body">
157 - <div class="asm-step-text">
158 - <p>Your two leg assemblies should look like the image at this point. Repeat Steps 1–4 for the second leg.</p>
159 - </div>
160 - <div class="asm-step-figure">
161 - <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">
162 - <span>Figure 5.</span>
163 - </div>
164 - </div>
165 - </div>
166 -
167 - <!-- Step 6 (labelled Step 7 in original) -->
168 - <div class="asm-step">
169 - <div class="asm-step-header">
170 - <div class="asm-step-name">BRAT Jr. — Install Servos</div>
171 - <div class="asm-step-num">Step 6 / 13</div>
172 - </div>
173 - <div class="asm-step-body">
174 - <div class="asm-step-text">
175 - <p>Install the servos as shown using the included 3mm hardware and two #2 tapping screws per the diagram. For quick prototype assembly, rivet fasteners (NSRF-01, sold separately) can also be used.</p>
176 - <div class="asm-parts">
177 - <div class="asm-part">
178 - <div class="asm-part-info"><div class="asm-part-qty">4x</div><div class="asm-part-name">#2 x .250" tapping screw</div></div>
179 - <div class="asm-part-img"><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/2250phts.gif"></div>
180 - </div>
181 - <div class="asm-part">
182 - <div class="asm-part-info"><div class="asm-part-qty">—</div><div class="asm-part-name">Hole position reference</div></div>
183 - <div class="asm-part-img"><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"></div>
184 - </div>
185 - </div>
186 - </div>
187 - <div class="asm-step-figure">
188 - <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">
189 - <span>Figure 6.</span>
190 - </div>
191 - </div>
192 - </div>
193 -
194 - <!-- Step 7 (labelled Step 8) -->
195 - <div class="asm-step">
196 - <div class="asm-step-header">
197 - <div class="asm-step-name">BRAT Jr. — Attach Legs to U-Channel</div>
198 - <div class="asm-step-num">Step 7 / 13</div>
199 - </div>
200 - <div class="asm-step-body">
201 - <div class="asm-step-text">
202 - <p>Attach the leg assemblies to the 3" U-Channel as shown using four #2 tapping screws.</p>
203 - <div class="asm-parts">
204 - <div class="asm-part">
205 - <div class="asm-part-info"><div class="asm-part-qty">4x</div><div class="asm-part-name">#2 x .250" tapping screw</div></div>
206 - <div class="asm-part-img"><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/2250phts.gif"></div>
207 - </div>
208 - <div class="asm-part">
209 - <div class="asm-part-info"><div class="asm-part-qty">—</div><div class="asm-part-name">Hole position reference</div></div>
210 - <div class="asm-part-img"><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"></div>
211 - </div>
212 - </div>
213 - </div>
214 - <div class="asm-step-figure">
215 - <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">
216 - <span>Figure 7.</span>
217 - </div>
218 - </div>
219 - </div>
220 -
221 - <!-- Step 8 (labelled Step 10) -->
222 - <div class="asm-step">
223 - <div class="asm-step-header">
224 - <div class="asm-step-name">BRAT Jr. — Attach Standoffs to Electronics Carrier</div>
225 - <div class="asm-step-num">Step 8 / 13</div>
226 - </div>
227 - <div class="asm-step-body">
228 - <div class="asm-step-text">
229 - <p>Attach the 3/4" standoffs to the electronics carrier using four 4-40 x 1/4" hex socket head cap screws.</p>
230 - <div class="asm-parts">
231 - <div class="asm-part">
232 - <div class="asm-part-info"><div class="asm-part-qty">4x</div><div class="asm-part-name">4-40 x .250" hex socket screw</div></div>
233 - <div class="asm-part-img"><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/4250hscs.gif"></div>
234 - </div>
235 - <div class="asm-part">
236 - <div class="asm-part-info"><div class="asm-part-qty">4x</div><div class="asm-part-name">4-40 x .750" hex standoff</div></div>
237 - <div class="asm-part-img"><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/4750hns.gif"></div>
238 - </div>
239 - </div>
240 - </div>
241 - <div class="asm-step-figure">
242 - <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">
243 - <span>Figure 8.</span>
244 - </div>
245 - </div>
246 - </div>
247 -
248 - <!-- Step 9 (labelled Step 11) -->
249 - <div class="asm-step">
250 - <div class="asm-step-header">
251 - <div class="asm-step-name">BRAT Jr. — Attach Standoffs to U-Channel</div>
252 - <div class="asm-step-num">Step 9 / 13</div>
253 - </div>
254 - <div class="asm-step-body">
255 - <div class="asm-step-text">
256 - <p>Attach the 5/16" standoffs to the U-Channel as shown using two 2-56 x 1/4" screws.</p>
257 - <div class="asm-parts">
258 - <div class="asm-part">
259 - <div class="asm-part-info"><div class="asm-part-qty">2x</div><div class="asm-part-name">2-56 x .250" Phillips screw</div></div>
260 - <div class="asm-part-img"><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/256025ph.GIF"></div>
261 - </div>
262 - <div class="asm-part">
263 - <div class="asm-part-info"><div class="asm-part-qty">2x</div><div class="asm-part-name">2-56 x .3125" hex standoff</div></div>
264 - <div class="asm-part-img"><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/2315hns.GIF"></div>
265 - </div>
266 - </div>
267 - </div>
268 - <div class="asm-step-figure">
269 - <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">
270 - <span>Figure 9.</span>
271 - </div>
272 - </div>
273 - </div>
274 -
275 - <!-- Step 10 (labelled Step 12) -->
276 - <div class="asm-step">
277 - <div class="asm-step-header">
278 - <div class="asm-step-name">BRAT Jr. — Mount Electronics Carrier</div>
279 - <div class="asm-step-num">Step 10 / 13</div>
280 - </div>
281 - <div class="asm-step-body">
282 - <div class="asm-step-text">
283 - <p>Attach the electronics carrier as shown using two 2-56 x 1/4" screws.</p>
284 - <div class="asm-parts">
285 - <div class="asm-part">
286 - <div class="asm-part-info"><div class="asm-part-qty">2x</div><div class="asm-part-name">2-56 x .250" Phillips screw</div></div>
287 - <div class="asm-part-img"><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/256025ph.GIF"></div>
288 - </div>
289 - </div>
290 - </div>
291 - <div class="asm-step-figure">
292 - <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">
293 - <span>Figure 10.</span>
294 - </div>
295 - </div>
296 - </div>
297 -
298 - <!-- Step 11 (labelled Step 13) -->
299 - <div class="asm-step">
300 - <div class="asm-step-header">
301 - <div class="asm-step-name">BRAT Jr. — Attach Power Switch</div>
302 - <div class="asm-step-num">Step 11 / 13</div>
303 - </div>
304 - <div class="asm-step-body">
305 - <div class="asm-step-text">
306 - <p>Attach the power switch to the electronics carrier as shown.</p>
307 - </div>
308 - <div class="asm-step-figure">
309 - <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">
310 - <span>Figure 11.</span>
311 - </div>
312 - </div>
313 - </div>
314 -
315 - <!-- Step 12 (labelled Step 14) -->
316 - <div class="asm-step">
317 - <div class="asm-step-header">
318 - <div class="asm-step-name">BRAT Jr. — Attach Battery</div>
319 - <div class="asm-step-num">Step 12 / 13</div>
320 - </div>
321 - <div class="asm-step-body">
322 - <div class="asm-step-text">
323 - <p>Your battery can be attached with a wire tie or Velcro (not included).</p>
324 - <p>A 6VDC battery will power the robot fine, however as it discharges the SSC-32 may reset even though there is still sufficient power for the servos. A 7.2VDC battery lessens this effect but is slightly harder on the servos.</p>
325 - <p>For maximum run time, power the VL input from a separate 9VDC battery. Remember to remove the VS=VL jumper to isolate the two supplies — the 6V or 7.2V battery is still required.</p>
326 - </div>
327 - <div class="asm-step-figure">
328 - <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">
329 - <span>Figure 12.</span>
330 - </div>
331 - </div>
332 - </div>
333 -
334 - <!-- Step 13 (labelled Steps 15 & 16) -->
335 - <div class="asm-step">
336 - <div class="asm-step-header">
337 - <div class="asm-step-name">BRAT Jr. — Install SSC-32 &amp; Connect Servos</div>
338 - <div class="asm-step-num">Step 13 / 13</div>
339 - </div>
340 - <div class="asm-step-body">
341 - <div class="asm-step-text">
342 - <p>Install the SSC-32 using four 4-40 x 1/4" screws — orient it as shown. Connect the servos to their appropriate I/O channels per Table 16. Connect the wiring harness to VS1 or VS2 on the SSC-32 (red = +, black = −).</p>
343 - <div class="asm-parts">
344 - <div class="asm-part">
345 - <div class="asm-part-info"><div class="asm-part-qty">4x</div><div class="asm-part-name">4-40 x .250" hex socket screw</div></div>
346 - <div class="asm-part-img"><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/4250hscs.gif"></div>
347 - </div>
348 - </div>
349 - </div>
350 - <div class="asm-step-figure">
351 - <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">
352 - <span>Figure 13.</span>
353 - </div>
354 - </div>
355 - <div class="asm-fullwidth">
356 - <p style="font-weight:bold; margin-bottom:0.4rem;">SSC-32 Servo Channel Assignments (Table 16)</p>
357 - <table class="ref-table" style="width:auto;">
358 - <tr><th>SSC-32 I/O</th><th>Servo</th></tr>
359 - <tr><td>00</td><td>Right Ankle</td></tr>
360 - <tr><td>01</td><td>Right Hip</td></tr>
361 - <tr><td>16</td><td>Left Ankle</td></tr>
362 - <tr><td>17</td><td>Left Hip</td></tr>
363 - </table>
364 - </div>
365 - </div>
366 -
367 -</div>
368 368  {{/html}}
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