Last modified by Eric Nantel on 2024/07/03 09:21
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2 +<body><table border="0" cellpadding="0" cellspacing="0" >
3 + <tbody><tr>
4 + <td valign="top" align="left"><b><font face="Verdana" size="2">Humanoid Biped Leg Pair Assembly Guide. Updated <!--webbot
5 + bot="Timestamp" startspan s-type="EDITED" s-format="%m/%d/%Y" -->08/30/2007<!--webbot bot="Timestamp" i-checksum="12530" endspan --></font></b>
6 + <p><font size="2"><b><font face="Verdana">Hardware:</font></b><font face="Verdana"><br>
7 + &nbsp; - 4 x Multi-Purpose Servo Bracket Two Pack (ASB-04)<br>
8 + &nbsp; - 5 x "C" Servo Bracket w/ Ball Bearings Two Pack (ASB-09)<br>
9 + &nbsp; - 1 x Alum. Robot Feet Two Pack (ARF-01)<br>
10 + &nbsp; - 8 x HS-5645 (168 oz. in.) Digital Standard Servo (S5645MG)</font></font></p>
11 + <p><font size="2"><b><font face="Verdana">Goal:</font></b><font face="Verdana"><br>
12 + &nbsp; - Assemble a pair of humanoid biped legs using servo brackets.</font></font></p>
13 + <p><font face="Verdana" size="2"><b>Notes:<br>
14 + </b>&nbsp; - This assembly guide covers the assembly of one leg for the robot's right side. You will need to repeat these steps, making a mirror
15 + image of the leg for the robot's left side.<br>
16 + &nbsp; - Know that this is only an example! There are countless other ways for you to make legs for your biped. You might choose to have fewer
17 + degrees of freedom, or use tubing; whatever you want to do, you can!</font></p>
18 + </td>
19 + <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-leg-pair/WebHome/bl00.jpg" border="2" hspace="10" ><br>
20 + <strong>Image of Humanoid Biped's Right Leg.</strong></font></td>
21 + </tr>
22 + <tr>
23 + <td valign="top" align="left"><font face="Verdana" size="2">&nbsp;</font></td>
24 + <td align="center" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
25 + </tr>
26 + <tr>
27 + <td valign="top" align="center" colspan="2">
28 + <hr noshade="" color="#808080">
29 + </td>
30 + </tr>
31 + <tr>
32 + <td valign="top" align="left"><font face="Verdana" size="2">&nbsp;</font></td>
33 + <td align="center" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
34 + </tr>
35 + <tr>
36 + <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 1.<br>
37 + </strong>Attach a multi-purpose servo bracket to a "C" bracket as shown, using two 2-56 x .250" screws and 2-56 nuts.</font>
38 + <p><font face="Verdana" size="2"><b>2 x <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-leg-pair/WebHome/256025ph.GIF" > 2 x <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-leg-pair/WebHome/256zpn.GIF" ></b></font></p>
39 + </td>
40 + <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-leg-pair/WebHome/bl01.jpg" border="2" hspace="10" ><br>
41 + Figure 1.</font></td>
42 + </tr>
43 + <tr>
44 + <td valign="top" align="left"><font face="Verdana" size="2">&nbsp;</font></td>
45 + <td align="center" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
46 + </tr>
47 + <tr>
48 + <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 2.<br>
49 + </strong>Attach two "C" brackets as shown, using two 2-56 x .250 screws and 2-56 nuts.</font>
50 + <p><font face="Verdana" size="2"><b>2 x <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-leg-pair/WebHome/256025ph.GIF" > 2 x <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-leg-pair/WebHome/256zpn.GIF" ></b></font></p>
51 + </td>
52 + <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-leg-pair/WebHome/bl02.jpg" border="2" hspace="10" ><br>
53 + Figure 2.</font></td>
54 + </tr>
55 + <tr>
56 + <td valign="top" align="left"><font face="Verdana" size="2">&nbsp;</font></td>
57 + <td align="center" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
58 + </tr>
59 + <tr>
60 + <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 3.<br>
61 + </strong>Connect the "C" bracket to the multi-purpose bracket as shown. See figure 3-1 for detailed information.</font>
62 + <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-leg-pair/WebHome/ballb01.GIF" border="2" hspace="10" ><br>
63 + Figure 3-1.</font></p>
64 + </td>
65 + <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-leg-pair/WebHome/bl03.jpg" border="2" hspace="10" ><br>
66 + Figure 3-2.</font></td>
67 + </tr>
68 + <tr>
69 + <td valign="top" align="left"><font face="Verdana" size="2">&nbsp;</font></td>
70 + <td align="center" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
71 + </tr>
72 + <tr>
73 + <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 4.<br>
74 + </strong>Attach a multi-purpose servo bracket to a "C" bracket as shown, using two 2-56 x .250" screws and 2-56 nuts.</font>
75 + <p><font face="Verdana" size="2"><b>2 x <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-leg-pair/WebHome/256025ph.GIF" > 2 x <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-leg-pair/WebHome/256zpn.GIF" ></b></font></p>
76 + </td>
77 + <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-leg-pair/WebHome/bl04.jpg" border="2" hspace="10" ><br>
78 + Figure 4.</font></td>
79 + </tr>
80 + <tr>
81 + <td valign="top" align="left"><font face="Verdana" size="2">&nbsp;</font></td>
82 + <td align="center" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
83 + </tr>
84 + <tr>
85 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 5.<br>
86 + </b>Connect the "C" bracket to a multi-purpose bracket as shown. See figure 5-1 for detailed information.</font>
87 + <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-leg-pair/WebHome/ballb01.GIF" border="2" hspace="10" ><br>
88 + Figure 5-1.</font></p>
89 + </td>
90 + <td align="left" valign="top" >
91 + <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-leg-pair/WebHome/bl05.jpg" border="2" hspace="10" ><br>
92 + Figure 5-2.</font></p></td>
93 + </tr>
94 + <tr>
95 + <td valign="top" align="left"><font face="Verdana" size="2">&nbsp;</font></td>
96 + <td align="center" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
97 + </tr>
98 + <tr>
99 + <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 6.<br>
100 + </strong>Attach a multi-purpose servo bracket to a "C" bracket as shown, using two 2-56 x .250" screws and 2-56 nuts.</font>
101 + <p><font face="Verdana" size="2"><b>2 x <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-leg-pair/WebHome/256025ph.GIF" > 2 x <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-leg-pair/WebHome/256zpn.GIF" ></b></font></p>
102 + </td>
103 + <td valign="top" >
104 + <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-leg-pair/WebHome/bl06.jpg" border="2" hspace="10" ><br>
105 + Figure 6.</font></p></td>
106 + </tr>
107 + <tr>
108 + <td valign="top" align="left"><font face="Verdana" size="2">&nbsp;</font></td>
109 + <td align="center" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
110 + </tr>
111 + <tr>
112 + <td valign="top" ><font face="Verdana" size="2"><strong>Step 7.<br>
113 + </strong>Connect the "C" bracket to a multi-purpose bracket as shown. See figure 7-1 for detailed information.</font>
114 + <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-leg-pair/WebHome/ballb01.GIF" border="2" hspace="10" ><br>
115 + Figure 7-1.</font></p>
116 + </td>
117 + <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-leg-pair/WebHome/bl07.jpg" border="2" hspace="10" ><br>
118 + Figure 7-2.</font></td>
119 + </tr>
120 + <tr>
121 + <td valign="top" align="left"><font face="Verdana" size="2">&nbsp;</font></td>
122 + <td align="center" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
123 + </tr>
124 + <tr>
125 + <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 8.</strong><br>
126 + Attach a multi-purpose servo bracket to the foot panel as shown, using three 2-56 x .125" screws and 2-56 nuts.</font>
127 + <p><font face="Verdana" size="2"><b>3 x <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-leg-pair/WebHome/256cs188.GIF" > 3 x <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-leg-pair/WebHome/256zpn.GIF" ></b></font></p>
128 + </td>
129 + <td valign="top" >
130 + <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-leg-pair/WebHome/bl08.jpg" border="2" hspace="10" ><br>
131 + Figure 8.</font></p></td>
132 + </tr>
133 + <tr>
134 + <td valign="top" align="left"><font face="Verdana" size="2">&nbsp;</font></td>
135 + <td align="center" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
136 + </tr>
137 + <tr>
138 + <td valign="top" align="left"><font size="2"><strong><font face="Verdana">Step 9.</font></strong><font face="Verdana"><br>
139 + </font></font><font face="Verdana" size="2">Connect the "C" bracket to a multi-purpose bracket as shown. See figure 9-1 for detailed
140 + information.</font>
141 + <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-leg-pair/WebHome/ballb01.GIF" border="2" hspace="10" ><br>
142 + Figure 9-1.</font></p>
143 + </td>
144 + <td 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/humanoid-biped-leg-pair/WebHome/bl09.jpg" border="2" hspace="10" ><br>
146 + Figure 9-2.</font></p></td>
147 + </tr>
148 + <tr>
149 + <td valign="top" align="left"><font face="Verdana" size="2">&nbsp;</font></td>
150 + <td align="center" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
151 + </tr>
152 + <tr>
153 + <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 10.<br>
154 + </strong>Attach the servos as shown, using the included 3mm hardware, and two #2 tapping screws. For quick prototype assembly, you can use rivet
155 + fasteners (sold separately: <a href="https://www.lynxmotion.com/showproduct.aspx?productID=327&amp;CategoryID=75">NSRF-01</a>) as illustrated.</font>
156 + <p><font face="Verdana" size="2"><b>16 x <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-leg-pair/WebHome/srvhdw.GIF" > 8 x <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-leg-pair/WebHome/2250phts.GIF" ></b></font></p>
157 + </td>
158 + <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-leg-pair/WebHome/bl00.jpg" border="2" hspace="10" ><br>
159 + Figure 10.</font></td>
160 + </tr>
161 + <tr>
162 + <td valign="top" align="left"><font face="Verdana" size="2">&nbsp;</font></td>
163 + <td align="center" valign="top" ><font face="Verdana" size="2">&nbsp;</font></td>
164 + </tr>
165 + <tr>
166 + <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 11.</strong><br>
167 + When you are ready to attach the legs to your biped torso, attach the "C" brackets as shown, using the ball bearing hardware and four
168 + #2 tapping screws.</font>
169 + <p><font face="Verdana" size="2"><b>2 x <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-leg-pair/WebHome/bb01.gif" > 4 x <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-leg-pair/WebHome/2250phts.GIF" ></b></font></p>
170 + </td>
171 + <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-leg-pair/WebHome/bl10.jpg" border="2" hspace="10" ><br>
172 + Figure 11.</font></td>
173 + </tr>
174 +</tbody></table>
175 +</body>
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