Humanoid Biped Arm Pair Assembly Guide

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.asm h1 { font-size: 18px; margin-bottom: 0.25rem; }

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<h1 class="asm">Humanoid Biped Arm Pair Assembly Guide</h1>

31

<p><b>Updated August 30, 2007</b></p>

32

<p><b>Hardware:</b> 3x 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 Offset Servo Bracket w/ Ball Bearings Two Pack (ASB-11) · 1x Aluminum Tubing Connector Hub pair (HUB-08) · 2x Aluminum Tubing 3.0" (AT-02) · 1x Rubber End Cap .500" x 1.50" Pair (REC-06) · 6x HS-5645 Digital Standard Servo (S5645MG)</p>

33

<p><b>Goal:</b> Assemble a pair of humanoid biped arms using servo brackets, aluminum tubing, and a Little Grip.</p>

34

<p><b>Notes:</b> This guide covers one arm for the robot's right side. Repeat all steps as a mirror image for the left side. This is only an example — there are countless other configurations with fewer degrees of freedom, no tubing, etc.</p>

</div>

<p style="font-size:12px; color:#666; margin-top:0.3rem;"><b>Humanoid Biped with Arms.</b></p>

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</div>

<div class="asm-step-name">Arm — Connect Two Multi-Purpose Brackets</div>

</div>

<p>Attach two multi-purpose servo brackets together as shown using two 2-56 x .250" screws and 2-56 nuts.</p>

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52

53

<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>

</div>

</div>

</div>

</div>

<span>Figure 1.</span>

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</div>

</div>

<div class="asm-step-name">Arm — Connect Offset "C" Bracket to Multi-Purpose Bracket</div>

</div>

<p>Connect the offset "C" bracket to a multi-purpose bracket as shown. Refer to Figure 2-1 for ball bearing detail.</p>

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79

80

<p style="font-size:12px; color:#666; margin-top:0.3rem;">Figure 2-1 — Ball bearing detail.</p>

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</div>

<span>Figure 2-2.</span>

</div>

</div>

</div>

<div class="asm-step-name">Arm — Install Two Servos</div>

</div>

<p>Attach two servos as shown using the included 3mm hardware and two #2 tapping screws each. Rivet fasteners (NSRF-01, sold separately) can be used for quick prototype assembly.</p>

99

100

101

<div class="asm-part-info"><div class="asm-part-qty">8x</div><div class="asm-part-name">3mm servo mounting hardware</div></div>

</div>

<div class="asm-part-info"><div class="asm-part-qty">2x</div><div class="asm-part-name">#2 x .250" tapping screw</div></div>

</div>

</div>

</div>

<span>Figure 3.</span>

</div>

</div>

</div>

<div class="asm-step-name">Arm — Attach "C" Bracket to Servo</div>

</div>

<p>Attach a "C" bracket as shown using four #2 tapping screws.</p>

126

127

128

<div class="asm-part-info"><div class="asm-part-qty">4x</div><div class="asm-part-name">#2 x .250" tapping screw</div></div>

</div>

</div>

</div>

<span>Figure 4.</span>

</div>

</div>

</div>

<div class="asm-step-name">Arm — Connect "C" Bracket to Multi-Purpose Bracket</div>

</div>

<p>Connect the "C" bracket to a multi-purpose bracket as shown. Refer to Figure 5-1 for ball bearing detail.</p>

149

150

151

<p style="font-size:12px; color:#666; margin-top:0.3rem;">Figure 5-1 — Ball bearing detail.</p>

</div>

</div>

<span>Figure 5-2.</span>

</div>

</div>

</div>

<div class="asm-step-name">Arm — Attach Tubing Hub and "L" Bracket</div>

</div>

<p>Attach a tubing connector hub to an "L" connector bracket, then attach the "L" bracket to the multi-purpose bracket as shown using four 2-56 x .250" screws and 2-56 nuts.</p>

170

171

172

<div class="asm-part-info"><div class="asm-part-qty">4x</div><div class="asm-part-name">2-56 x .250" Phillips screw</div></div>

</div>

</div>

</div>

</div>

<span>Figure 6.</span>

</div>

</div>

</div>

<div class="asm-step-name">Arm — Install Third Servo (Elbow)</div>

</div>

<p>Attach a servo as shown using the included 3mm hardware and two #2 tapping screws. Rivet fasteners (NSRF-01, sold separately) can be used for quick prototype assembly.</p>

197

198

199

<div class="asm-part-info"><div class="asm-part-qty">4x</div><div class="asm-part-name">3mm servo mounting hardware</div></div>

</div>

<div class="asm-part-info"><div class="asm-part-qty">2x</div><div class="asm-part-name">#2 x .250" tapping screw</div></div>

</div>

</div>

</div>

<span>Figure 7.</span>

</div>

</div>

</div>

<div class="asm-step-name">Arm — Attach Forearm Tube & End Cap</div>

</div>

<p>Connect the 3.0" aluminum tube to the hub using a 4-40 x .250" hex socket screw. Push the rubber end cap onto the free end of the tube.</p>

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225

226

<div class="asm-part-info"><div class="asm-part-qty">1x</div><div class="asm-part-name">4-40 x .250" hex socket screw</div></div>

</div>

</div>

</div>

<span>Figure 8.</span>

</div>

</div>

</div>

<div class="asm-step-name">Arm — Attach Offset "C" Bracket to Shoulder Servo</div>

</div>

<p>Attach the offset "C" bracket to the shoulder servo as shown using two #2 tapping screws. This completes one arm — repeat all steps as a mirror image for the left arm.</p>

247

248

249

<div class="asm-part-info"><div class="asm-part-qty">2x</div><div class="asm-part-name">#2 x .250" tapping screw</div></div>

</div>

</div>

</div>

<span>Figure 9 (completed arm).</span>

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Wiki source code of Humanoid Biped Arm Pair Assembly Guide

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2	<style>
3	.asm { font-family: Verdana, Helvetica, sans-serif; font-size: 14px; max-width: 960px; }
4	.asm-step { background: #fff; border: 1px solid #ddd; border-radius: 8px; margin-bottom: 1.5rem; overflow: hidden; }
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23	</style>
24
25	<div class="asm">
26
27	<!-- Header -->
28	<div style="padding: 0.5rem 0 1rem 0; display:flex; flex-wrap:wrap; gap:1.5rem; align-items:flex-start;">
29	<div style="flex:1 1 300px;">
30	<h1 class="asm">Humanoid Biped Arm Pair Assembly Guide</h1>
31	<p><b>Updated August 30, 2007</b></p>
32	<p><b>Hardware:</b> 3x 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 Offset Servo Bracket w/ Ball Bearings Two Pack (ASB-11) · 1x Aluminum Tubing Connector Hub pair (HUB-08) · 2x Aluminum Tubing 3.0" (AT-02) · 1x Rubber End Cap .500" x 1.50" Pair (REC-06) · 6x HS-5645 Digital Standard Servo (S5645MG)</p>
33	<p><b>Goal:</b> Assemble a pair of humanoid biped arms using servo brackets, aluminum tubing, and a Little Grip.</p>
34	<p><b>Notes:</b> This guide covers one arm for the robot's right side. Repeat all steps as a mirror image for the left side. This is only an example — there are countless other configurations with fewer degrees of freedom, no tubing, etc.</p>
35	</div>
36	<div style="text-align:center; flex:0 1 280px;">
37	<img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/humanoid-biped-arm-pair/WebHome/ba00.jpg" style="max-width:100%; border:1px solid #ccc; border-radius:4px;">
38	<p style="font-size:12px; color:#666; margin-top:0.3rem;"><b>Humanoid Biped with Arms.</b></p>
39	</div>
40	</div>
41
42	<!-- Step 1 -->
43	<div class="asm-step">
44	<div class="asm-step-header">
45	<div class="asm-step-name">Arm — Connect Two Multi-Purpose Brackets</div>
46	<div class="asm-step-num">Step 1 / 9</div>
47	</div>
48	<div class="asm-step-body">
49	<div class="asm-step-text">
50	<p>Attach two multi-purpose servo brackets together as shown using two 2-56 x .250" screws and 2-56 nuts.</p>
51	<div class="asm-parts">
52	<div class="asm-part">
53	<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>
54	<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/humanoid-biped-arm-pair/WebHome/256025ph.GIF"></div>
55	</div>
56	<div class="asm-part">
57	<div class="asm-part-info"><div class="asm-part-qty">2x</div><div class="asm-part-name">2-56 nut</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/humanoid-biped-arm-pair/WebHome/256zpn.GIF"></div>
59	</div>
60	</div>
61	</div>
62	<div class="asm-step-figure">
63	<img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/humanoid-biped-arm-pair/WebHome/ba01.jpg">
64	<span>Figure 1.</span>
65	</div>
66	</div>
67	</div>
68
69	<!-- Step 2 -->
70	<div class="asm-step">
71	<div class="asm-step-header">
72	<div class="asm-step-name">Arm — Connect Offset "C" Bracket to Multi-Purpose Bracket</div>
73	<div class="asm-step-num">Step 2 / 9</div>
74	</div>
75	<div class="asm-step-body">
76	<div class="asm-step-text">
77	<p>Connect the offset "C" bracket to a multi-purpose bracket as shown. Refer to Figure 2-1 for ball bearing detail.</p>
78	<div style="margin-top:0.75rem;">
79	<img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/humanoid-biped-arm-pair/WebHome/ballb01.GIF" style="max-width:100%; border:1px solid #ccc; border-radius:4px;">
80	<p style="font-size:12px; color:#666; margin-top:0.3rem;">Figure 2-1 — Ball bearing detail.</p>
81	</div>
82	</div>
83	<div class="asm-step-figure">
84	<img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/humanoid-biped-arm-pair/WebHome/ba02.jpg">
85	<span>Figure 2-2.</span>
86	</div>
87	</div>
88	</div>
89
90	<!-- Step 3 -->
91	<div class="asm-step">
92	<div class="asm-step-header">
93	<div class="asm-step-name">Arm — Install Two Servos</div>
94	<div class="asm-step-num">Step 3 / 9</div>
95	</div>
96	<div class="asm-step-body">
97	<div class="asm-step-text">
98	<p>Attach two servos as shown using the included 3mm hardware and two #2 tapping screws each. Rivet fasteners (NSRF-01, sold separately) can be used for quick prototype assembly.</p>
99	<div class="asm-parts">
100	<div class="asm-part">
101	<div class="asm-part-info"><div class="asm-part-qty">8x</div><div class="asm-part-name">3mm servo mounting hardware</div></div>
102	<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/humanoid-biped-arm-pair/WebHome/srvhdw.GIF"></div>
103	</div>
104	<div class="asm-part">
105	<div class="asm-part-info"><div class="asm-part-qty">2x</div><div class="asm-part-name">#2 x .250" tapping screw</div></div>
106	<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/humanoid-biped-arm-pair/WebHome/2250phts.GIF"></div>
107	</div>
108	</div>
109	</div>
110	<div class="asm-step-figure">
111	<img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/humanoid-biped-arm-pair/WebHome/ba03.jpg">
112	<span>Figure 3.</span>
113	</div>
114	</div>
115	</div>
116
117	<!-- Step 4 -->
118	<div class="asm-step">
119	<div class="asm-step-header">
120	<div class="asm-step-name">Arm — Attach "C" Bracket to Servo</div>
121	<div class="asm-step-num">Step 4 / 9</div>
122	</div>
123	<div class="asm-step-body">
124	<div class="asm-step-text">
125	<p>Attach a "C" bracket as shown using four #2 tapping screws.</p>
126	<div class="asm-parts">
127	<div class="asm-part">
128	<div class="asm-part-info"><div class="asm-part-qty">4x</div><div class="asm-part-name">#2 x .250" tapping screw</div></div>
129	<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/humanoid-biped-arm-pair/WebHome/2250phts.GIF"></div>
130	</div>
131	</div>
132	</div>
133	<div class="asm-step-figure">
134	<img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/humanoid-biped-arm-pair/WebHome/ba04.jpg">
135	<span>Figure 4.</span>
136	</div>
137	</div>
138	</div>
139
140	<!-- Step 5 -->
141	<div class="asm-step">
142	<div class="asm-step-header">
143	<div class="asm-step-name">Arm — Connect "C" Bracket to Multi-Purpose Bracket</div>
144	<div class="asm-step-num">Step 5 / 9</div>
145	</div>
146	<div class="asm-step-body">
147	<div class="asm-step-text">
148	<p>Connect the "C" bracket to a multi-purpose bracket as shown. Refer to Figure 5-1 for ball bearing detail.</p>
149	<div style="margin-top:0.75rem;">
150	<img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/humanoid-biped-arm-pair/WebHome/ballb01.GIF" style="max-width:100%; border:1px solid #ccc; border-radius:4px;">
151	<p style="font-size:12px; color:#666; margin-top:0.3rem;">Figure 5-1 — Ball bearing detail.</p>
152	</div>
153	</div>
154	<div class="asm-step-figure">
155	<img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/humanoid-biped-arm-pair/WebHome/ba05.jpg">
156	<span>Figure 5-2.</span>
157	</div>
158	</div>
159	</div>
160
161	<!-- Step 6 -->
162	<div class="asm-step">
163	<div class="asm-step-header">
164	<div class="asm-step-name">Arm — Attach Tubing Hub and "L" Bracket</div>
165	<div class="asm-step-num">Step 6 / 9</div>
166	</div>
167	<div class="asm-step-body">
168	<div class="asm-step-text">
169	<p>Attach a tubing connector hub to an "L" connector bracket, then attach the "L" bracket to the multi-purpose bracket as shown using four 2-56 x .250" screws and 2-56 nuts.</p>
170	<div class="asm-parts">
171	<div class="asm-part">
172	<div class="asm-part-info"><div class="asm-part-qty">4x</div><div class="asm-part-name">2-56 x .250" Phillips screw</div></div>
173	<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/humanoid-biped-arm-pair/WebHome/256025ph.GIF"></div>
174	</div>
175	<div class="asm-part">
176	<div class="asm-part-info"><div class="asm-part-qty">4x</div><div class="asm-part-name">2-56 nut</div></div>
177	<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/humanoid-biped-arm-pair/WebHome/256zpn.GIF"></div>
178	</div>
179	</div>
180	</div>
181	<div class="asm-step-figure">
182	<img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/humanoid-biped-arm-pair/WebHome/ba06.jpg">
183	<span>Figure 6.</span>
184	</div>
185	</div>
186	</div>
187
188	<!-- Step 7 -->
189	<div class="asm-step">
190	<div class="asm-step-header">
191	<div class="asm-step-name">Arm — Install Third Servo (Elbow)</div>
192	<div class="asm-step-num">Step 7 / 9</div>
193	</div>
194	<div class="asm-step-body">
195	<div class="asm-step-text">
196	<p>Attach a servo as shown using the included 3mm hardware and two #2 tapping screws. Rivet fasteners (NSRF-01, sold separately) can be used for quick prototype assembly.</p>
197	<div class="asm-parts">
198	<div class="asm-part">
199	<div class="asm-part-info"><div class="asm-part-qty">4x</div><div class="asm-part-name">3mm servo mounting hardware</div></div>
200	<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/humanoid-biped-arm-pair/WebHome/srvhdw.GIF"></div>
201	</div>
202	<div class="asm-part">
203	<div class="asm-part-info"><div class="asm-part-qty">2x</div><div class="asm-part-name">#2 x .250" tapping screw</div></div>
204	<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/humanoid-biped-arm-pair/WebHome/2250phts.GIF"></div>
205	</div>
206	</div>
207	</div>
208	<div class="asm-step-figure">
209	<img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/humanoid-biped-arm-pair/WebHome/ba07.jpg">
210	<span>Figure 7.</span>
211	</div>
212	</div>
213	</div>
214
215	<!-- Step 8 -->
216	<div class="asm-step">
217	<div class="asm-step-header">
218	<div class="asm-step-name">Arm — Attach Forearm Tube & End Cap</div>
219	<div class="asm-step-num">Step 8 / 9</div>
220	</div>
221	<div class="asm-step-body">
222	<div class="asm-step-text">
223	<p>Connect the 3.0" aluminum tube to the hub using a 4-40 x .250" hex socket screw. Push the rubber end cap onto the free end of the tube.</p>
224	<div class="asm-parts">
225	<div class="asm-part">
226	<div class="asm-part-info"><div class="asm-part-qty">1x</div><div class="asm-part-name">4-40 x .250" hex socket screw</div></div>
227	<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/humanoid-biped-arm-pair/WebHome/4250hscs.GIF"></div>
228	</div>
229	</div>
230	</div>
231	<div class="asm-step-figure">
232	<img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/humanoid-biped-arm-pair/WebHome/ba08.jpg">
233	<span>Figure 8.</span>
234	</div>
235	</div>
236	</div>
237
238	<!-- Step 9 -->
239	<div class="asm-step">
240	<div class="asm-step-header">
241	<div class="asm-step-name">Arm — Attach Offset "C" Bracket to Shoulder Servo</div>
242	<div class="asm-step-num">Step 9 / 9</div>
243	</div>
244	<div class="asm-step-body">
245	<div class="asm-step-text">
246	<p>Attach the offset "C" bracket to the shoulder servo as shown using two #2 tapping screws. This completes one arm — repeat all steps as a mirror image for the left arm.</p>
247	<div class="asm-parts">
248	<div class="asm-part">
249	<div class="asm-part-info"><div class="asm-part-qty">2x</div><div class="asm-part-name">#2 x .250" tapping screw</div></div>
250	<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/humanoid-biped-arm-pair/WebHome/2250phts.GIF"></div>
251	</div>
252	</div>
253	</div>
254	<div class="asm-step-figure">
255	<img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/humanoid-biped-arm-pair/WebHome/ba00.jpg">
256	<span>Figure 9 (completed arm).</span>
257	</div>
258	</div>
259	</div>
260
261	</div>
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