Wiki source code of Biped BRAT Jr. Assembly Guide

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Eric Nantel 26.1 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
Eric Nantel 27.1 109 use rivet fasteners (sold separately: NSRF-01) as illustrated.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
Eric Nantel 26.1 110 &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>
Eric Nantel 27.1 277 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>SSC-32 I/O</b></font></td>
278 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>Servo</b></font></td>
Eric Nantel 26.1 279 </tr>
280 <tr>
Eric Nantel 27.1 281 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">00</font></td>
282 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Ankle</font></td>
Eric Nantel 26.1 283 </tr>
284 <tr>
Eric Nantel 27.1 285 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">01</font></td>
286 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Hip</font></td>
Eric Nantel 26.1 287 </tr>
288 <tr>
Eric Nantel 27.1 289 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">16</font></td>
290 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Ankle</font></td>
Eric Nantel 26.1 291 </tr>
292 <tr>
Eric Nantel 27.1 293 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">17</font></td>
294 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Hip</font></td>
Eric Nantel 26.1 295 </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>
Eric Nantel 1.1 312 {{/html}}

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