Humanoid Biped Arm Pair Assembly Guide

Last modified by Eric Nantel on 2024/07/03 09:21
Humanoid Biped Arm Pair Assembly Guide. Updated 08/30/2007

Hardware:
  - 3 x Multi-Purpose Servo Bracket Two Pack (ASB-04)
  - 1 x "L" Connector Bracket Two Pack (ASB-06)
  - 1 x "C" Servo Bracket w/ Ball Bearings Two Pack (ASB-09)
  - 1 x Offset Servo Bracket w/ Ball Bearings Two Pack (ASB-11)
  - 1 x Aluminum Tubing Connector Hub (pair) (HUB-08)
  - 2 x Aluminum Tubing - 3.0" (AT-02)
  - 1 x Rubber End Cap .500" x 1.50" Pair (REC-06)
  - 6 x HS-5645 (168 oz. in.) Digital Standard Servo (S5645MG)

Goal:
  - Assemble a pair of humanoid biped arms using servo brackets, aluminum tubing, and a Little Grip.

Notes:
  - This assembly guide covers the assembly of one arm for the robot's right side. You will need to repeat these steps, making a mirror image of the arm for the robot's left side.
  - Know that this is only an example! There are countless other ways for you to make arms for your biped. You might choose to have fewer degrees of freedom, or not use tubing; whatever you want to do, you can!
Image of Humanoid Biped with Arms.
   
   
Step 1.
Attach two of the multi-purpose servo brackets as shown, using two 2-56 x .250" screws and 2-56 nuts.

2 x 2 x


Figure 1.
   
Step 2.
Connect the offset "C" bracket to a multi-purpose bracket as shown. See figure 2-1 for detailed information.


Figure 2-1.
Figure 2-2.
   
Step 3.
Attach two servos as shown, using the included 3mm hardware, and two #2 tapping screws. For quick prototype assembly, you can use rivet fasteners (sold separately: NSRF-01) as illustrated.

8 x 2 x


Figure 3.
   
Step 4.
Attach a "C" bracket as shown using two #2 tapping screws.

4 x


Figure 4.
   
Step 5.
Connect the "C" bracket to a multi-purpose bracket as shown. See figure 5-1 for detailed information.


Figure 5-1.


Figure 5-2.
   
Step 6.
Attach a tubing connector hub to an "L" connector bracket, then attach the "L" connector bracket to the multi-purpose bracket as shown, using four 2-56 x .250" screws and 2-56 nuts.

4 x 4 x


Figure 6.
   
Step 7.
Attach a servo as shown, using the included 3mm hardware, and two #2 tapping screws. For quick prototype assembly, you can use rivet fasteners (sold separately: NSRF-01) as illustrated.

4 x 2 x


Figure 7.
   
Step 8.
Connect the 3.0" tube to the hub using a 4-40 x .250" screw. Push the rubber end cap onto the end of the tube.

1 x


Figure 8.
   
Step 9.
Attach the offset "C" bracket to the shoulder servo as shown, using two #2 tapping screws.

2 x


Figure 9.
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Created by Eric Nantel on 2024/07/03 09:21

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