Humanoid Biped Hand "A" Assembly Guide

For further information on lexan, see <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/support/polycarbonate-info-page/" target="_blank">this page</a>.</td>

26

27

Lexan Preparation.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step 1.

34

Attach two of the multi-purpose servo brackets as shown, using two 2-56 x .250" screws and 2-56 nuts.

</tr>

<tr>

</tr>

</tbody></table>

</td>

Figure 1.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step 2.

55

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

Figure 2-1.

</td>

Figure 2-2.</td>

</tr>

<tr>

</td>

</tr>

<tr>

<td valign="top" align="left">Step 3.

68

Attach two servos as shown, using snap rivet fasteners and #2 tapping screws.

69

70

For the Johnny 5 kit, use HS-645 servos here.

</tr>

<tr>

</tr>

</tbody></table>

</td>

Figure 3.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step 4.

91

Thread a 3/8" nylon spacer onto each of four 1.5" threaded rods. Follow this by a lexan finger panel, then another 3/8" spacer.

92

Add a finger panel to either end as shown.</td>

Figure 4.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step 5.

101

Attach 3/8" nylon spacers at the ends of the threaded rod pieces as shown. Make sure you keep everything tight.</td>

Figure 5.</td>

</tr>

<tr>

</td>

</tr>

<tr>

<td valign="top" align="left">Step 6.

111

Attach the long finger panels as shown, using eight 1/4" screws.

</tr>

<tr>

</tr>

</tbody></table>

</td>

Figure 6.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step 7.

132

Attach three 3/4" hex standoffs to the hand servo panel as shown, using three 1/4" screws.

</tr>

<tr>

</tr>

</tbody></table>

</td>

Figure 7.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step 8.

153

Use eight snap rivet fasteners to hold two servos in place as shown. Note the orientation of the servos.

154

155

For the Johnny 5 kit, use HS-475 servos in the position above the "thumb", and HS-422 servos for the "fingers".

</tr>

<tr>

</tr>

</tbody></table>

</td>

Figure 8.</td>

</tr>

<tr>

</td>

</tr>

<tr>

<td valign="top" align="left">Step 9.

177

Attach the second hand servo panel as shown. Use three 1/4" screws.

</tr>

<tr>

</tr>

</tbody></table>

</td>

Figure 9.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step 10.

198

Firmly attach the servo hinges to the servos as shown. Make sure you line up the hole with the servo horn.</td>

Figure 10.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step 11.

207

Finish the hand by connecting the fingers to the servo as shown. Use the ball bearing hardware and four #2 tapping screws. Note, position the

208

ball bearing so that the flange is outside the lexan.

</tr>

<tr>

</tr>

</tbody></table>

</td>

Figure 11.</td>

</tr>

<tr>

</td>

</tr>

<tr>

<td valign="top" align="left">Step 12.

230

When you want to attach the hand to a biped, use an offset bracket as shown. Note, position the ball bearing so that the flange is outside the

231

bracket. To attach the arm to the biped torso, simply use two #2 tapping screws to attach the offset bracket to the torso servo.

</tr>

<tr>

</tr>

</tbody></table>

</td>

Figure 12.</td>

</tr>

</tbody></table>

</body>

Wiki source code of Humanoid Biped Hand "A" Assembly Guide

Navigation

1.1	1	{{html wiki="false" clean="true"}}
22.1	2	<body><table border="0" cellpadding="0" cellspacing="0" >
	3	<tbody><tr>
	4	<td valign="top" align="left"><b><font size="2" face="Verdana">Humanoid Biped Hand Assembly Guide.</font></b>
	5	<p><b><font size="2" face="Verdana">Updated <!--webbot bot="Timestamp" startspan s-type="EDITED" s-format="%m/%d/%Y" -->
	6	<!-- #BeginDate format:Am3 -->12/21/2011<!-- #EndDate -->
	7	</font></b></p>
	8	<p><font face="Verdana" size="2"><b>Safety first!</b> Wear eye protection and never touch a powered robot!</font></p>
	9	<p><font face="Verdana" size="2">Note: This assembly guide covers the assembly of one arm and hand for the robot's right side. For the robot's
	10	left side, you will need to repeat these steps, making a mirror image of the arm and hand.</font></p>
	11	</td>
	12	<td align="center" valign="top" width="320"><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/humanoid-biped-hand/WebHome/bh10.jpg" border="2" hspace="10" ><br>
	13	<b>Image of Humanoid Biped with Hand.</b></font></td>
	14	</tr>
	15	<tr>
	16	<td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td>
	17	</tr>
	18	<tr>
	19	<td valign="top" align="left"><font face="Verdana" size="2"><b>Lexan Preparation.<br>
	20	</b>The lexan pieces have a protective covering that needs to be removed before assembly. When the laser cuts, the covering melts into the cut
	21	edge which can make removal difficult. If you gently scrape the cut edge with a flat blade screwdriver, the covering can easily be lifted and
	22	peeled off.</font>
	23	<p><font face="Verdana" size="2">On smaller pieces the coverings can be more difficult to remove. If you have trouble you can gently scrape the
	24	cut edge, then use duct tape to lift the covering off.</font></p>
	25	<p><font face="Verdana" size="2">For further information on lexan, see <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/support/polycarbonate-info-page/" target="_blank">this page</a>.</font></p></td>
	26	<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/humanoid-biped-hand/WebHome/lexan01.jpg" alt="" hspace="10" border="2"><br>
	27	Lexan Preparation.</font></td>
	28	</tr>
	29	<tr>
	30	<td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td>
	31	</tr>
	32	<tr>
	33	<td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 1.<br>
	34	</strong>Attach two of the multi-purpose servo brackets as shown, using two 2-56 x .250" screws and 2-56 nuts.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
	35	</font>
	36	<table border="0" >
	37	<tbody><tr>
	38	<td ><font size="2" face="Verdana"><b>2 x</b></font></td>
	39	<td ><font size="2" face="Verdana"><b>2 x</b></font></td>
	40	</tr>
	41	<tr>
	42	<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/humanoid-biped-hand/WebHome/256025ph.GIF" ></b></font></td>
	43	<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/humanoid-biped-hand/WebHome/256zpn.GIF" ></b></font></td>
	44	</tr>
	45	</tbody></table>
	46	</td>
	47	<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/humanoid-biped-hand/WebHome/ba01.jpg" border="2" hspace="10" ><br>
	48	Figure 1.</font></td>
	49	</tr>
	50	<tr>
	51	<td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td>
	52	</tr>
	53	<tr>
	54	<td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 2.<br>
	55	</strong>Connect the offset "C" bracket to a multi-purpose bracket as shown. See figure 2-1 for detailed information.</font>
	56	<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/humanoid-biped-hand/WebHome/ballb01.GIF" border="2" hspace="10" ><br>
	57	Figure 2-1.</font></p>
	58	</td>
	59	<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/humanoid-biped-hand/WebHome/ba02.jpg" border="2" hspace="10" ><br>
	60	Figure 2-2.</font></td>
	61	</tr>
	62	<tr>
	63	<td valign="top" align="left" colspan="2"><br class="pb">
	64	</td>
	65	</tr>
	66	<tr>
	67	<td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 3.<br>
	68	</strong>Attach two servos as shown, using snap rivet fasteners and #2 tapping screws.<br>
	69	<br>
	70	<b>For the Johnny 5 kit, use HS-645 servos here.</b></font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
	71	</font>
	72	<table border="0" >
	73	<tbody><tr>
	74	<td ><font size="2" face="Verdana"><b>8 x</b></font></td>
	75	<td ><font size="2" face="Verdana"><b>2 x</b></font></td>
	76	</tr>
	77	<tr>
	78	<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/humanoid-biped-hand/WebHome/nrf01.GIF" ></b></font></td>
	79	<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/humanoid-biped-hand/WebHome/2250phts.gif" ></b></font></td>
	80	</tr>
	81	</tbody></table>
	82	</td>
	83	<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/humanoid-biped-hand/WebHome/ba03.jpg" border="2" hspace="10" ><br>
	84	Figure 3.</font></td>
	85	</tr>
	86	<tr>
	87	<td valign="top" align="left" colspan="2"><font size="2" face="Verdana"> </font></td>
	88	</tr>
	89	<tr>
	90	<td valign="top" align="left"><font face="Verdana"><b><font size="2">Step 4.</font></b><font size="2"><br>
	91	Thread a 3/8" nylon spacer onto each of four 1.5" threaded rods. Follow this by a lexan finger panel, then another 3/8" spacer.
	92	Add a finger panel to either end as shown.</font></font></td>
	93	<td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/humanoid-biped-hand/WebHome/bh01.jpg" border="2" hspace="10" ><br>
	94	Figure 4.</font></td>
	95	</tr>
	96	<tr>
	97	<td valign="top" align="left" colspan="2"><font size="2" face="Verdana"> </font></td>
	98	</tr>
	99	<tr>
	100	<td valign="top" align="left"><font face="Verdana"><b><font size="2">Step 5.</font></b><font size="2"><br>
	101	Attach 3/8" nylon spacers at the ends of the threaded rod pieces as shown. Make sure you keep everything tight.</font></font></td>
	102	<td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/humanoid-biped-hand/WebHome/bh02.jpg" border="2" hspace="10" ><br>
	103	Figure 5.</font></td>
	104	</tr>
	105	<tr>
	106	<td valign="top" align="left" colspan="2"><br class="pb">
	107	</td>
	108	</tr>
	109	<tr>
	110	<td valign="top" align="left"><font face="Verdana"><b><font size="2">Step 6.</font></b><font size="2"><br>
	111	Attach the long finger panels as shown, using eight 1/4" screws.</font></font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
	112	</font>
	113	<table border="0" >
	114	<tbody><tr>
	115	<td ><font size="2" face="Verdana"><b>8 x</b></font></td>
	116	<td ><font size="2" face="Verdana"><b> </b></font></td>
	117	</tr>
	118	<tr>
	119	<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/humanoid-biped-hand/WebHome/4250hscs.GIF" ></b></font></td>
	120	<td ><font face="Verdana" size="2"><b> </b></font></td>
	121	</tr>
	122	</tbody></table>
	123	</td>
	124	<td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/humanoid-biped-hand/WebHome/bh03.jpg" border="2" hspace="10" ><br>
	125	Figure 6.</font></td>
	126	</tr>
	127	<tr>
	128	<td valign="top" align="left" colspan="2"><font size="2" face="Verdana"> </font></td>
	129	</tr>
	130	<tr>
	131	<td valign="top" align="left"><font face="Verdana"><b><font size="2">Step 7.</font></b><font size="2"><br>
	132	</font></font><font size="2" face="Verdana">Attach three 3/4" hex standoffs to the hand servo panel as shown, using three 1/4" screws.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
	133	</font>
	134	<table border="0" >
	135	<tbody><tr>
	136	<td ><font size="2" face="Verdana"><b>3 x</b></font></td>
	137	<td ><font size="2" face="Verdana"><b> </b></font></td>
	138	</tr>
	139	<tr>
	140	<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/humanoid-biped-hand/WebHome/4250hscs.GIF" ></b></font></td>
	141	<td ><font face="Verdana" size="2"><b> </b></font></td>
	142	</tr>
	143	</tbody></table>
	144	</td>
	145	<td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/humanoid-biped-hand/WebHome/bh04.jpg" border="2" hspace="10" ><br>
	146	Figure 7.</font></td>
	147	</tr>
	148	<tr>
	149	<td valign="top" align="left" colspan="2"><font size="2" face="Verdana"> </font></td>
	150	</tr>
	151	<tr>
	152	<td valign="top" align="left"><font face="Verdana"><b><font size="2">Step 8.</font></b><font size="2"><br>
	153	Use eight snap rivet fasteners to hold two servos in place as shown. Note the orientation of the servos.<br>
	154	<br>
	155	<b>For the Johnny 5 kit, use HS-475 servos in the position above the "thumb", and HS-422 servos for the "fingers".</b></font></font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
	156	</font>
	157	<table border="0" >
	158	<tbody><tr>
	159	<td ><font size="2" face="Verdana"><b>8 x</b></font></td>
	160	<td ><font size="2" face="Verdana"><b> </b></font></td>
	161	</tr>
	162	<tr>
	163	<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/humanoid-biped-hand/WebHome/nrf01.GIF" ></b></font></td>
	164	<td ><font face="Verdana" size="2"><b> </b></font></td>
	165	</tr>
	166	</tbody></table>
	167	</td>
	168	<td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/humanoid-biped-hand/WebHome/bh05.jpg" border="2" hspace="10" ><br>
	169	Figure 8.</font></td>
	170	</tr>
	171	<tr>
	172	<td valign="top" align="left" colspan="2"><br class="pb">
	173	</td>
	174	</tr>
	175	<tr>
	176	<td valign="top" align="left"><font face="Verdana"><b><font size="2">Step 9.</font></b><font size="2"><br>
	177	Attach the second hand servo panel as shown. Use three 1/4" screws.</font></font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
	178	</font>
	179	<table border="0" >
	180	<tbody><tr>
	181	<td ><font size="2" face="Verdana"><b>3 x</b></font></td>
	182	<td ><font size="2" face="Verdana"><b> </b></font></td>
	183	</tr>
	184	<tr>
	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/humanoid-biped-hand/WebHome/4250hscs.GIF" ></b></font></td>
	186	<td ><font face="Verdana" size="2"><b> </b></font></td>
	187	</tr>
	188	</tbody></table>
	189	</td>
	190	<td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/humanoid-biped-hand/WebHome/bh06.jpg" border="2" hspace="10" ><br>
	191	Figure 9.</font></td>
	192	</tr>
	193	<tr>
	194	<td valign="top" align="left" colspan="2"><font size="2" face="Verdana"> </font></td>
	195	</tr>
	196	<tr>
	197	<td valign="top" align="left"><font face="Verdana"><b><font size="2">Step 10.</font></b><font size="2"><br>
	198	Firmly attach the servo hinges to the servos as shown. Make sure you line up the hole with the servo horn.</font></font></td>
	199	<td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/humanoid-biped-hand/WebHome/bh07.jpg" border="2" hspace="10" ><br>
	200	Figure 10.</font></td>
	201	</tr>
	202	<tr>
	203	<td valign="top" align="left" colspan="2"><font size="2" face="Verdana"> </font></td>
	204	</tr>
	205	<tr>
	206	<td valign="top" align="left"><font face="Verdana"><b><font size="2">Step 11.</font></b><font size="2"><br>
	207	Finish the hand by connecting the fingers to the servo as shown. Use the ball bearing hardware and four #2 tapping screws. Note, position the
	208	ball bearing so that the flange is outside the lexan.</font></font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
	209	</font>
	210	<table border="0" >
	211	<tbody><tr>
	212	<td ><font size="2" face="Verdana"><b>1 x</b></font></td>
	213	<td ><font size="2" face="Verdana"><b>2 x</b></font></td>
	214	</tr>
	215	<tr>
	216	<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/humanoid-biped-hand/WebHome/bb01.gif" ></b></font></td>
	217	<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/humanoid-biped-hand/WebHome/2250phts.gif" ></b></font></td>
	218	</tr>
	219	</tbody></table>
	220	</td>
	221	<td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/humanoid-biped-hand/WebHome/bh09.jpg" border="2" hspace="10" ><br>
	222	Figure 11.</font></td>
	223	</tr>
	224	<tr>
	225	<td valign="top" align="left" colspan="2"><br class="pb">
	226	</td>
	227	</tr>
	228	<tr>
	229	<td valign="top" align="left"><font face="Verdana"><b><font size="2">Step 12.</font></b><font size="2"><br>
	230	When you want to attach the hand to a biped, use an offset bracket as shown. Note, position the ball bearing so that the flange is outside the
	231	bracket. To attach the arm to the biped torso, simply use two #2 tapping screws to attach the offset bracket to the torso servo.</font></font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
	232	</font>
	233	<table border="0" >
	234	<tbody><tr>
	235	<td ><font size="2" face="Verdana"><b>1 x</b></font></td>
	236	<td ><font size="2" face="Verdana"><b>4 x</b></font></td>
	237	</tr>
	238	<tr>
	239	<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/humanoid-biped-hand/WebHome/bb01.gif" ></b></font></td>
	240	<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/humanoid-biped-hand/WebHome/2250phts.gif" ></b></font></td>
	241	</tr>
	242	</tbody></table>
	243	</td>
	244	<td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/humanoid-biped-hand/WebHome/bh10.jpg" border="2" hspace="10" ><br>
	245	Figure 12.</font></td>
	246	</tr>
	247	</tbody></table>
	248	</body>
1.1	249	{{/html}}