Wiki source code of Humanoid Biped Hand "A" Assembly Guide
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| 1 | {{html wiki="false" clean="true"}} |
| 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> |
| 249 | {{/html}} |