Scout Biped 6DOF Alum. Leg Pair Assembly Guide

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<h1 class="asm">6DOF Biped Scout Alum. Leg Pair Assembly Guide</h1>

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<p><b>Updated June 5, 2006</b></p>

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<p><span class="asm-warning">Safety first!</span> Wear eye protection and never touch a powered robot!</p>

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<p><b>Note:</b> Do not use Loctite or thread locks on the Lexan components — they are not necessary and may cause damage.</p>

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<p style="font-size:12px; color:#666; margin-top:0.3rem;"><b>Completed Biped Scout.</b></p>

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<div class="asm-step-name">6DOF — Install Hip Rotate Servos in Torso</div>

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<p>Place the torso upside-down and insert two hip rotate servos into the servo holes as shown. Use eight snap rivet fasteners to secure them. Note: these snap rivet fasteners are included in the torso kit, not the leg kit.</p>

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<div class="asm-part-info"><div class="asm-part-qty">8x</div><div class="asm-part-name">Snap rivet fastener (NSRF-01)</div></div>

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<span>Figure 1.</span>

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<div class="asm-step-name">6DOF — Attach Servo Hinges & Ball Bearings</div>

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<p>Flip the torso assembly over. Attach two servo hinges to the servos, aligning the pivot points with the servo horns. Use the screws to attach the ball bearings flange-side down to the servo hinges.</p>

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<div class="asm-part-info"><div class="asm-part-qty">2x</div><div class="asm-part-name">Servo hinge</div></div>

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<div class="asm-part-info"><div class="asm-part-qty">2x</div><div class="asm-part-name">Ball bearing</div></div>

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<span>Figure 2.</span>

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<div class="asm-step-name">6DOF — Attach Short "C" Brackets to Hip Hinges</div>

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<p>Center the servos and attach two short "C" brackets to each side as shown using four #2 tapping screws. Tip: remove the ball bearing and push it into the "C" bracket before slipping it over the servo for easier assembly.</p>

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<div class="asm-part-info"><div class="asm-part-qty">4x</div><div class="asm-part-name">#2 x .250" tapping screw</div></div>

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<div class="asm-part-info"><div class="asm-part-qty"> </div><div class="asm-part-name">Hole pattern reference</div></div>

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<span>Figure 3.</span>

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<div class="asm-step-name">6DOF — Attach Multi-Purpose Brackets to "C" Brackets</div>

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<p>Attach two multi-purpose brackets to the "C" brackets as shown. Refer to Figure 4-1 for ball bearing detail.</p>

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<p style="font-size:12px; color:#666; margin-top:0.3rem;">Figure 4-1 — Ball bearing detail.</p>

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<span>Figure 4-2.</span>

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<div class="asm-step-name">6DOF — Add Second Multi-Purpose Brackets (Thigh)</div>

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<p>Attach two more multi-purpose brackets to the ones already installed using four 2-56 screws and nuts.</p>

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<div class="asm-part-info"><div class="asm-part-qty">4x</div><div class="asm-part-name">2-56 x .250" Phillips screw</div></div>

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<span>Figure 5.</span>

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<div class="asm-step-name">6DOF — Join Short "C" Brackets to Long "C" Brackets (Shin)</div>

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

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<div class="asm-part-info"><div class="asm-part-qty">4x</div><div class="asm-part-name">2-56 x .250" Phillips screw</div></div>

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<span>Figure 6.</span>

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<div class="asm-step-name">6DOF — Connect Shin Assembly to Thigh (Ball Bearing)</div>

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<p>Attach the short "C" bracket side of the shin assembly to the multi-purpose brackets as shown. Refer to Figure 7-1 for ball bearing detail.</p>

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<p style="font-size:12px; color:#666; margin-top:0.3rem;">Figure 7-1 — Ball bearing detail.</p>

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<span>Figure 7-2.</span>

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<div class="asm-step-name">6DOF — Attach Dual-Inline Brackets to Long "C" Brackets</div>

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<p>Attach two dual-inline multi-purpose brackets to the long "C" brackets as shown. Refer to Figure 8-1 for ball bearing detail.</p>

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<p style="font-size:12px; color:#666; margin-top:0.3rem;">Figure 8-1 — Ball bearing detail.</p>

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<span>Figure 8-2.</span>

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<div class="asm-step-name">6DOF — Attach Ankle Brackets to Feet Brackets</div>

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<p>Attach the ankle brackets to the feet brackets as shown using six 2-56 countersunk screws and 2-56 nuts.</p>

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<div class="asm-part-info"><div class="asm-part-qty">6x</div><div class="asm-part-name">2-56 countersunk screw</div></div>

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<span>Figure 9.</span>

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<div class="asm-step-name">6DOF — Attach Short "C" Bracket to Ankle (Ball Bearing)</div>

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<p>Attach a short "C" bracket to the left foot ankle bracket as shown. Make a mirror image for the right foot. Refer to Figure 10-1 for ball bearing detail.</p>

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<p style="font-size:12px; color:#666; margin-top:0.3rem;">Figure 10-1 — Ball bearing detail.</p>

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<span>Figure 10-2.</span>

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<div class="asm-step-name">6DOF — Install Foot Rotate Servo in Ankle</div>

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<p>Slip a foot rotate servo into the ankle bracket and attach using the servo-attachment hardware. Centre the servo. Use #2 tapping screws to attach a short "C" bracket on top of the other as shown in Figure 11-2.</p>

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<p style="font-size:12px; color:#666; margin-top:0.3rem;">Figure 11-1 — Bracket orientation.</p>

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<div class="asm-part-info"><div class="asm-part-qty">4x</div><div class="asm-part-name">#2 x .250" tapping screw</div></div>

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<span>Figure 11-2.</span>

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<div class="asm-step-name">6DOF — Attach Foot Assembly to Leg Assembly</div>

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<p>Attach the foot assembly to the leg assembly as shown. Refer to Figure 12-1 for ball bearing detail.</p>

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<p style="font-size:12px; color:#666; margin-top:0.3rem;">Figure 12-1 — Ball bearing detail.</p>

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<span>Figure 12-2.</span>

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<div class="asm-step-name">6DOF — Install Hip X-Axis Servos</div>

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<p>Install the hip x-axis servos. With servos centred, the legs should resemble Figure 13.</p>

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<div class="asm-part-info"><div class="asm-part-qty">4x</div><div class="asm-part-name">#2 x .250" tapping screw</div></div>

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<span>Figure 13.</span>

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<div class="asm-step-name">6DOF — Install Remaining Six Y-Axis Servos</div>

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<p>Install the remaining six y-axis servos (hip, knee, and ankle for each leg). With servos centred, the legs should resemble Figure 14.</p>

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<div class="asm-part-info"><div class="asm-part-qty">28x</div><div class="asm-part-name">#2 x .250" tapping screw</div></div>

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<span>Figure 14.</span>

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<div class="asm-step-name">6DOF — Adjust Hip Bracket Angle (−30°)</div>

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<p>Remove the centre screw from the hip servos, pull the bracket off, and rotate it <b>counter-clockwise 30°</b>. The Hitec servo spline has 24 teeth — 15° per click (2 clicks = 30°).</p>

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<span>Figure 15.</span>

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<div class="asm-step-name">6DOF — Adjust Knee Bracket Angle (+30°)</div>

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<p>Remove the centre screw from the knee servos, pull the bracket off, and rotate it <b>clockwise 30°</b>. The Hitec servo spline has 24 teeth — 15° per click (2 clicks = 30°).</p>

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<span>Figure 16.</span>

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<div class="asm-step-name">6DOF — Adjust Ankle Bracket Angle (+45°)</div>

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<p>Remove the centre screw from the ankle servos, pull the bracket off, and rotate it <b>clockwise 45°</b>. The Hitec servo spline has 24 teeth — 15° per click (3 clicks = 45°).</p>

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<span>Figure 17.</span>

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<div class="asm-step-name">6DOF — Verify Completed Leg Assembly</div>

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<p>When completed with all servos centred, your robot should resemble Figure 18.</p>

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<span>Figure 18.</span>

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<div class="asm-step-name">6DOF — Install SSC-32 Only (Option A)</div>

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<p>If using only the SSC-32 (without Bot Board), install it with the pins facing inward as shown using four 4-40 x 1/4" screws.</p>

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<div class="asm-part-info"><div class="asm-part-qty">4x</div><div class="asm-part-name">4-40 x .250" hex socket screw</div></div>

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<span>Figure 19.</span>

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<div class="asm-step-name">6DOF — Install SSC-32 + Bot Board (Option B)</div>

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<p>If using both SSC-32 and Bot Board: install the SSC-32 using four 3/8" M-F standoffs, then install the Bot Board on top using four 4-40 x 1/4" screws. Consult the Bot Board and SSC-32 manuals for powering options.</p>

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<div class="asm-part-info"><div class="asm-part-qty">4x</div><div class="asm-part-name">4-40 x .250" hex socket screw</div></div>

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<div class="asm-part-info"><div class="asm-part-qty">4x</div><div class="asm-part-name">3/8" M-F standoff</div></div>

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<span>Figure 20.</span>

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<div class="asm-step-name">6DOF — Connect Servo Wires to SSC-32</div>

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<p>Connect the servo wires per Table 21. Route wires to allow full leg range of motion — tie-wrapping wires to servo brackets is recommended. Note: X-axis = side to side; Y-axis = front to back.</p>

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<tr><th>Robot's Right</th><th colspan="2">SSC-32 Channel</th><th>Robot's Left</th></tr>

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<tr><td>Hip Rotate</td><td>21</td><td>5</td><td>Hip Rotate</td></tr>