Wiki source code of Humanoid Biped Leg Pair 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 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 | - 4 x Multi-Purpose Servo Bracket Two Pack (ASB-04)<br> |
8 | - 5 x "C" Servo Bracket w/ Ball Bearings Two Pack (ASB-09)<br> |
9 | - 1 x Alum. Robot Feet Two Pack (ARF-01)<br> |
10 | - 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 | - 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> - 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 | - 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" width="320"><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"> </font></td> |
24 | <td align="center" valign="top" ><font face="Verdana" size="2"> </font></td> |
25 | </tr> |
26 | <tr> |
27 | <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 1.<br> |
28 | </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> |
29 | <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> |
30 | </td> |
31 | <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> |
32 | Figure 1.</font></td> |
33 | </tr> |
34 | <tr> |
35 | <td valign="top" align="left"><font face="Verdana" size="2"> </font></td> |
36 | <td align="center" valign="top" ><font face="Verdana" size="2"> </font></td> |
37 | </tr> |
38 | <tr> |
39 | <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 2.<br> |
40 | </strong>Attach two "C" brackets as shown, using two 2-56 x .250 screws and 2-56 nuts.</font> |
41 | <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> |
42 | </td> |
43 | <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> |
44 | Figure 2.</font></td> |
45 | </tr> |
46 | <tr> |
47 | <td valign="top" align="left"><font face="Verdana" size="2"> </font></td> |
48 | <td align="center" valign="top" ><font face="Verdana" size="2"> </font></td> |
49 | </tr> |
50 | <tr> |
51 | <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 3.<br> |
52 | </strong>Connect the "C" bracket to the multi-purpose bracket as shown. See figure 3-1 for detailed information.</font> |
53 | <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> |
54 | Figure 3-1.</font></p> |
55 | </td> |
56 | <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> |
57 | Figure 3-2.</font></td> |
58 | </tr> |
59 | <tr> |
60 | <td valign="top" align="left"><font face="Verdana" size="2"> </font></td> |
61 | <td align="center" valign="top" ><font face="Verdana" size="2"> </font></td> |
62 | </tr> |
63 | <tr> |
64 | <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 4.<br> |
65 | </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> |
66 | <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> |
67 | </td> |
68 | <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> |
69 | Figure 4.</font></td> |
70 | </tr> |
71 | <tr> |
72 | <td valign="top" align="left"><font face="Verdana" size="2"> </font></td> |
73 | <td align="center" valign="top" ><font face="Verdana" size="2"> </font></td> |
74 | </tr> |
75 | <tr> |
76 | <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 5.<br> |
77 | </b>Connect the "C" bracket to a multi-purpose bracket as shown. See figure 5-1 for detailed information.</font> |
78 | <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> |
79 | Figure 5-1.</font></p> |
80 | </td> |
81 | <td align="left" valign="top" > |
82 | <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> |
83 | Figure 5-2.</font></p></td> |
84 | </tr> |
85 | <tr> |
86 | <td valign="top" align="left"><font face="Verdana" size="2"> </font></td> |
87 | <td align="center" valign="top" ><font face="Verdana" size="2"> </font></td> |
88 | </tr> |
89 | <tr> |
90 | <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 6.<br> |
91 | </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> |
92 | <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> |
93 | </td> |
94 | <td valign="top" > |
95 | <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> |
96 | Figure 6.</font></p></td> |
97 | </tr> |
98 | <tr> |
99 | <td valign="top" align="left"><font face="Verdana" size="2"> </font></td> |
100 | <td align="center" valign="top" ><font face="Verdana" size="2"> </font></td> |
101 | </tr> |
102 | <tr> |
103 | <td valign="top" ><font face="Verdana" size="2"><strong>Step 7.<br> |
104 | </strong>Connect the "C" bracket to a multi-purpose bracket as shown. See figure 7-1 for detailed information.</font> |
105 | <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> |
106 | Figure 7-1.</font></p> |
107 | </td> |
108 | <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> |
109 | Figure 7-2.</font></td> |
110 | </tr> |
111 | <tr> |
112 | <td valign="top" align="left"><font face="Verdana" size="2"> </font></td> |
113 | <td align="center" valign="top" ><font face="Verdana" size="2"> </font></td> |
114 | </tr> |
115 | <tr> |
116 | <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 8.</strong><br> |
117 | Attach a multi-purpose servo bracket to the foot panel as shown, using three 2-56 x .125" screws and 2-56 nuts.</font> |
118 | <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> |
119 | </td> |
120 | <td valign="top" > |
121 | <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> |
122 | Figure 8.</font></p></td> |
123 | </tr> |
124 | <tr> |
125 | <td valign="top" align="left"><font face="Verdana" size="2"> </font></td> |
126 | <td align="center" valign="top" ><font face="Verdana" size="2"> </font></td> |
127 | </tr> |
128 | <tr> |
129 | <td valign="top" align="left"><font size="2"><strong><font face="Verdana">Step 9.</font></strong><font face="Verdana"><br> |
130 | </font></font><font face="Verdana" size="2">Connect the "C" bracket to a multi-purpose bracket as shown. See figure 9-1 for detailed |
131 | information.</font> |
132 | <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> |
133 | Figure 9-1.</font></p> |
134 | </td> |
135 | <td valign="top" > |
136 | <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> |
137 | Figure 9-2.</font></p></td> |
138 | </tr> |
139 | <tr> |
140 | <td valign="top" align="left"><font face="Verdana" size="2"> </font></td> |
141 | <td align="center" valign="top" ><font face="Verdana" size="2"> </font></td> |
142 | </tr> |
143 | <tr> |
144 | <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 10.<br> |
145 | </strong>Attach the servos as shown, using the included 3mm hardware, and two #2 tapping screws. For quick prototype assembly, you can use rivet |
146 | fasteners (sold separately: <a href="https://www.lynxmotion.com/showproduct.aspx?productID=327&CategoryID=75">NSRF-01</a>) as illustrated.</font> |
147 | <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> |
148 | </td> |
149 | <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> |
150 | Figure 10.</font></td> |
151 | </tr> |
152 | <tr> |
153 | <td valign="top" align="left"><font face="Verdana" size="2"> </font></td> |
154 | <td align="center" valign="top" ><font face="Verdana" size="2"> </font></td> |
155 | </tr> |
156 | <tr> |
157 | <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 11.</strong><br> |
158 | 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 |
159 | #2 tapping screws.</font> |
160 | <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> |
161 | </td> |
162 | <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> |
163 | Figure 11.</font></td> |
164 | </tr> |
165 | </tbody></table> |
166 | </body> |
167 | {{/html}} |