Scout Biped 6DOF Alum. Leg Pair Assembly Guide

<td valign="top" align="left">6DOF Biped Scout Alum. Leg Pair Assembly Guide.

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Updated 06/05/2006.

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Safety first! Wear eye protection and never touch a powered robot!

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Note: Do not use Loctite or thread locks on the Lexan components. They are not necessary and may cause damage.</td>

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Image of completed Biped.</td>

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

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Place the torso on its top, and insert two hip rotate servos in the servo holes as shown. Use eight snap rivet fasteners to attach

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them.

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Note, these snap rivet fasteners are included in the torso kit, not the leg kit.

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Figure 1.</td>

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

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Flip the torso assembly over. Attach two servo hinges to the servos, making sure to line up the pivot points with the servo horns. Use the

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screws to attach the ball bearings, flange-side down, to the servo hinges.

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Figure 2.</td>

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

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Center the servos and attach two short "C" brackets to each side as shown. Use four #2 tapping screws to hold the brackets in place.

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Note, you might find it easier to remove the ball bearing and push it into the "C" bracket before slipping it over the servo.

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Figure 3.</td>

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

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Attach two multi-purpose brackets to the "C" brackets as shown. Refer to the diagram below for further information.

Figure 4-1.

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Figure 4-2.</td>

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

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Attach two multi-purpose brackets to the multi-purpose brackets already installed. Use four 2-56 screws and nuts.

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Figure 5.</td>

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

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Use four 2-56 screws and nuts to attach two short "C" brackets to two long "C" brackets.

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Figure 6.</td>

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

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Attach the short "C" brackets side of the assembly to the multi-purpose brackets as shown. Refer to the diagram below for more

information.

Figure 7-1.</td>

Figure 7-2.</td>

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

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Attach two dual-inline multi-purpose brackets to the long "C" brackets as shown. Refer to the diagram below for more information.

Figure 8-1.</td>

Figure 8-2.</td>

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

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Attach the ankle brackets to the feet brackets as shown. Use six 2-56 counter-sunk screws and 2-56 nuts.

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Figure 9.</td>

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

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Attach a short "C" bracket to the left foot ankle bracket as shown. Make a mirror image for the right foot. Refer to the diagram below

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for more information.

Figure 10-1.</td>

Figure 10-2.</td>

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

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Slip a foot rotate servo into the ankle bracket and attach using the servo-attachment hardware. Center the servo. Use #2 tapping screws to

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attach a short "C" bracket on top of the other.

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Figure 11-1.</td>

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Figure 11-2.</td>

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

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Attach the foot assembly to the leg assembly as shown. Refer to the diagram below for more information.

Figure 12-1.</td>

Figure 12-2.</td>

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<td valign="top" align="left">Step 13.

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Install the hip x-axis servos. With the servos centered, the legs should resemble Figure 13.

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Figure 13.</td>

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<td valign="top" align="left">Step 14.

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Install the remaining six y-axis servos. With the servos centered, the legs should resemble Figure 14.

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Figure 14.</td>

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<td valign="top" align="left">Step 15.

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Remove the center screw from the hip servos, pull the bracket off of the servo, and rotate it counter-clockwise 30°. Note, the Hitec servo

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spline has 24 teeth, which equates to 15° per "click".</td>

Figure 15.</td>

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<td valign="top" align="left">Step 16.

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Remove the center screw from the knee servos, pull the bracket off of the servo, and rotate it clockwise 30°. Note, the Hitec servo spline has

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24 teeth, which equates to 15° per "click".</td>

Figure 16.</td>

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<td valign="top" align="left">Step 17.

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Remove the center screw from the ankle servos, pull the bracket off of the servo, and rotate it clockwise 45°. Note, the Hitec servo spline has

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24 teeth, which equates to 15° per "click".</td>

Figure 17.</td>

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<td valign="top" align="left">Step 18.

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When completed, with servos centered, your robot should resemble Figure 18.</td>

Figure 18.</td>

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<td valign="top" align="left">Step 19.

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If you're only using the SSC-32, install it with the pins facing in as shown using four 4-40 x 1/4" screws.

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Figure 19.</td>

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<td valign="top" align="left">Step 20.

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If you're using the SSC-32 and Bot Board, install the SSC-32 using four of the 3/8" M-F standoffs and install the Bot Board using four 4-40

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x 1/4" screws. Consult the Bot Board and SSC-32 manuals for powering options.

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Figure 20.</td>

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<td valign="top" align="left">Step 21.

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Connect the servo wires to the SSC-32 according to Table 21. Route the wires so the legs have their full range of motion. It may be helpful to

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tie wrap the wires to the servo brackets as shown in Figure 21. Note, X-axis is side to side and Y-axis is front to back.

Robot's Right

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SSC-32 Channel</td>

<td w bordercolor="#808080" bgcolor="#C0C0C0" align="center">Robot's Left</td>

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<td w bordercolor="#C0C0C0" align="center">Hip Rotate</td>

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<td w bordercolor="#C0C0C0" align="center">Hip Rotate</td>

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<td w bordercolor="#C0C0C0" align="center">Ankle Y</td>

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<td w bordercolor="#C0C0C0" align="center">Ankle Y</td>

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<td w bordercolor="#C0C0C0" align="center">Foot Rotate</td>

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<td w bordercolor="#C0C0C0" align="center">Foot Rotate</td>

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<td bordercolor="#FFFFFF" align="center" colspan="4">Table 21.</td>

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Figure 21.</td>

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