Quadruped QBK-02 Symmetric Robot Kit Assembly Instructions Rev. 1.

If you have the SSC-32U USB servo controller, please read through and understand the <a href="http://www.lynxmotion.com/images/data/lynxmotion_ssc-32u_usb_user_guide.pdf%22" target="_blank">SSC-32U User Guide</a>.

77

78

If you purchase the version with the

79

BotBoarduino, read and understand the <a href="http://www.lynxmotion.com/images/html/build185.htm">BotBoarduino

80

User Guide</a>.

81

The

82

QBK-02 uses the arduino software downloadable from <a href="https://www.lynxmotion.com/images/html/www.arduino.cc" target="blank" rel="nofollow">www.arduino.cc</a>.

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84

This guide does not teach you how to use the Arduino programming language.

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Figure

1 (SSC-32 Shown as example)

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

100

(BotBoarduino and/or SSC-32).

101

If

102

you have the SSC-32 (not SSC-32U) or a kit which uses the BotBoarduino, the robot will need

103

a separate 9V battery. Both the top plate and bottom

104

plates are

105

identical. Place the small black rivet through the 9V metal clip and

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push down through one of the two inner holes as shown. It does not

107

matter which side. This will become the bottom plate.

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Figure 2 (SSC-32 and/or BotBoarduino)

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<td align="left" valign="top" >Step 3a (SSC-32 and/or BotBoarduino).

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Use six 4-40 x 1/4" hex socket screws

137

to attach the long aluminum spacers to the bottom body plate.

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Figure 3a (SSC-32 and/or BotBoarduino).</td>

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<td style="vertical-align: top;">Step 3b (SSC-32U Alone).

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162

Use

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six 4-40 x 1/4" hex socket screws

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to attach the long aluminum spacers to the bottom body plate. Since the

165

SSC-32U does not need a separate 9V battery, the 9V metal clip is not needed.

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Figure 3b (SSC-32U Alone).

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<td align="left" valign="top" >Step 4a (BotBoarduino).

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If

212

you purchased any kit which includes the BotBoarduino, follow this step, otherwise

213

proceed to step 4b. Use the second (top) plate for this

214

step. Use four 4-40 x 1/4" hex socket screws to attach the 1/4" long

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M/F plastic spacers to the plate. The M/F spacer is required because the

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electronics (SSC-32 / 32U) and the BotBoarduino will be stacked one on

top of the other.

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Figure 3 (M/F Spacer for BotBoarduino).</td>

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<td style="vertical-align: top;">Step 4b (SSC-32 or SSC-32U alone).

243

If

244

you

245

purchased a kit with FlowBotics Studio (and therefore do not have a BotBoarduino), follow this step. Use the second (top)

246

plate for this

247

step. Use four 4-40 x 1/4" hex socket screws to attach the 1/4" long

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F/F plastic spacers to the plate. This F/F spacer is used because there

249

will not be any additional electronics stacked above the servo controller.

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Figure 3 (F/F Spacer for BotBoarduino).</td>

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<td align="left" valign="top" >Step 4a (SSC-32 and/or BotBoarduino).

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Connect the 9V wiring harness and the

291

servo (Tamiya) battery harness to the top plate. It does not matter which switch

292

connects to which hole. The SSC-32U does not need the additional 9V wiring harness.

293

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295

Figure 4a (SSC-32 and/or BotBoarduino).</td>

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<td style="vertical-align: top;">Step 4b (SSC-32U).

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Connect

303

only the battery harness to the top plate. It does not matter which hole you

304

use. Note that the 9V wiring harness is not needed for the SSC-32U alone, so

it is not included.

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Figure 4b (SSC-32U).

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

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Attach

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the legs as shown, making sure

322

to use right / left legs as indicated. Figure 7c shows a top-down view. Note the symmetry along both

323

axes (left side is a mirror of the right side). Use eight #2 x .250"

324

tapping

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screws (two per servo). The "rear" of the robot

326

has the circular cutouts for the power connectors. The

327

legs should be at 45 degrees when the servo receives a 1500us pulse

328

(legs at 90 degrees to each other as in figure 7c). If you are unsude

329

how to do this, please

330

refer back to the leg assembly guide.

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Figure 5.</td>

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<td style="vertical-align: top;">Step 6a (BotBoarduino).

354

Mount the SSC-32 / SSC-32U onto the four hex

355

spacers installed in step 4a. Orient the board with the SSC-32's

356

connector facing the front

357

of the robot (so as to not interfere with the switches). Use four 4-40

358

x 1" hex spacers to attach the long aluminum spacers to the underside

359

of the top body plate. These new spacers will be used  to support

360

the BotBoarduino. If you purchased or have the optional PS2 expansion plate, use the four 1" M/F

361

standoffs included with that kit. Wiring will be explained in the next steps.  <table border="0" >

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Figure 6a (Kits w/BotBoarduino).

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<td style="vertical-align: top;">Step 6b (FlowBotics). If

384

you have a version of a kit which only has a servo controller (ex

385

FlowBotics kits), mount the SSC-32 / SSC-32U onto the four hex spacers

386

installed in step 4b.

387

Use four 4-40 x 1" hex spacers to attach the long aluminum spacers to

388

the underside of the top body plate.Wiring will be explained in the next steps. <table style="width: 50%;" border="0">

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Figure 6b (SSC-32 or SSC-32U).

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

426

preparation for connecting the wires, here are some general guidelines

427

when inserting wires into the screw terminals. Use a ~2mm wide flat

428

blade screw driver. Rotate

429

the screw both directions looking into the end of the terminal. When

430

you see it open up (moving downwards), keep turning until it is open

431

completely. Wrap / twist the wires by hand to ensure they are aligned

432

as in Figure 6. Be sure that the wires are fully inserted into the

433

terminals and that no stray wires touch each other between terminals

434

as this is a short and can cause the battery to discharge rapidly,

435

causing heat and possibly fire. DOUBLE CHECK THE RED AND BLACK WIRE

436

CONNECTED TO THE SCREW TERMINALS - the red wire should go to (+)

437

and the black wire to (-), if they are reversed, the servos and the

438

board will be damaged.

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Figure 6 (top shows open screw terminal, bottom shows closed).</td>

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Step 7a (BotBoarduino + SSC-32 + PS2 v2).

452

This

453

step applies if you purchased the BotBoarduino version of the SQ3 with

454

the SSC-32 serial servo controller. The PS2 controller is optional (PS2

455

mounting plate suggested). Attach the power cables as shown in Figure

456

7a. Connect the servos to the SSC-32; refer to step 8 and 9

457

below. Once all servos have been connected (having followed steps 8 and

458

9), connect the loose power cable from the SSC-32's VL terminal to the

459

BotBoarduino's VL terminal. We suggest wiring everything with the

460

BotBoarduno loose, and only attaching it to the spacers at a later

461

step. DOUBLE CHECK THE RED AND BLACK WIRE

462

CONNECTED TO THE SCREW TERMINALS - the red wire should go to (+)

463

and the black wire to (-), if they are reversed, the servos and the

464

board will be damaged.

Figure 7a.

BotBoarduino - SSC-32 - PS2 v2

469

470

Step 7b (BotBoarduino + SSC-32U + PS2 v2/3).

471

This step applies if you purchased the BotBoarduino version of the SQ3 with the SSC-32U USB servo controller. The PS2 controller is optional. Install the SSC-32U onto the body onto the standoffs shown in step 4, and secure using four 1/4" 4-40 hex standoffs.

472

Connect the serial to XBee breakout board's positive pin to pin C (+)

473

on the SSC-32 and the negative pin to pin D (-) on the SSC-32. Notice

474

the Baud rate jumper is set to 9600. You can install the power

475

switch(es) to the body in the holes at the rear of the robot. DOUBLE

476

CHECK THE RED AND BLACK WIRE CONNECTED TO THE SCREW TERMINALS

477

- the

478

red wire should go to (+) and the black wire to (-), if they are

479

reversed, the servos and the board will be damaged. Change the jumper

480

located behind the screw terminals to EXT rather than USB (so the logic

481

voltage is powered via the 9V battery rather than the USB cable).

482

Remove the VL=VS jumper.

483

484

Figure 7b.

485

BotBoarduino - SSC-32U - PS2 v3

486

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487

Step 7c (SSC-32 + Bluetooth).

488

This

489

approach applies if you plan to control the robot

490

from the computer using a Bluetooth device (as is the case with

491

FlowBotics Studio). Attach the power cables as shown in Figure 7b.

492

Install the SSC-32 onto the body using four 1/4" x 4-40 hex screws.

493

Connect the serial to XBee breakout board's positive pin to pin C (+)

494

on the SSC-32 and the negative pin to pin D (-) on the SSC-32. Remove

495

the Baud jumper to set the Baud rate to 9600. You can install the power

496

switch(es) to the body in the holes at the rear of the robot. DOUBLE

497

CHECK THE RED AND BLACK WIRE CONNECTED TO THE SCREW TERMINALS - the

498

red wire should go to (+) and the black wire to (-), if they are

499

reversed, the servos and the board will be damaged.

Figure 7c. SSC-32

- Bluetooth

Step 7d (SSC-32U + Bluetooth).

507

This approach applies if you plan to control the robot

508

from the computer using a Bluetooth device (as is the case with

509

FlowBotics Studio). Attach the power cables as shown in Figure 7b.

510

Install the SSC-32 onto the body using four 1/4" x 4-40 hex screws.

511

Connect the serial to XBee breakout board's positive pin to pin C (+)

512

on the SSC-32 and the negative pin to pin D (-) on the SSC-32. The power

513

switch(es) should be connected to the body using the holes at the rear of the robot. DOUBLE

514

CHECK THE RED AND BLACK WIRE CONNECTED TO THE SCREW TERMINALS - the

515

red wire should go to (+) and the black wire to (-), if they are

516

reversed, the servos and the board will be damaged.

517

518

Figure 7d. SSC-32U - Bluetooth

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

534

Plug the servos into the SSC-32 as

535

shown in figure 9 with the yellow signal wire towards the inside of the

536

board. Simply plug in the servo associated with the function to the

537

corresponding pin (see step 9). Once again, be sure the black wire is

538

near the outside of the board and the yellow wire is near the center of

539

the board as shown in figure 8. Proper cable routing can be done later.</td>

Figure 8.</td>

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Step 9.

Double

check your connections against the figure below. Be sure that red wires

548

go to positive (+) and black wires go to negative (-). Also be sure

549

that your jumpers are connected the exact same way as detailed above.

550

Note that the VL=VS jumper on the SSC-32 is removed, as are the Tx and

551

Rx jumpers. Depending on the configuration and code, you may also need

552

to change the baud rate jumpers. The sample code for the BotBoarduino

553

uses 38.4 baud, whereas in order to use the Bluetooth module, the Baud rate

554

needs to be set to 9600. Note that the wiring from the SSC-32's Tx / Rx

555

pins to the BotBoarduino's pins are NOT in line - the red / center /

556

power pin needs to be removed and connected to pin 12 on the

BotBoarduino.

Figure 7c.

Servo wiring to SSC-32 / SSC-32U

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<td align="left" valign="top" >Step 10 (SSC-32 and/or BotBoarduino).

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577

If you have a kit with an SSC-32

578

and/or BotBoarduino, connect a fresh / charged 9v battery to the

579

battery

580

clip to power the electronics and turn the On/Off switch to On. You

581

should see the green LED in the upper right corner of the SSC-32 switch

582

on. There is also a power LED on the BotBoarduino. If you have an

583

SSC-32U alone, turn On the switch to power (and test) the board.

If

these LEDs do not switch on, IMMEDIATELY power off your robot and

588

double check your connections.

589

Turn this switch off.

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<td align="left" valign="top" >Step 11a (SSC-32 and/or BotBoarduino).

599

Connect the 6V battery pack to the

600

battery harness to power the servos. Flip the switch to turn the servo

601

power on.

602

603

The LEDs should NOT switch on this time (since the logic switch to the 9V battery is off).

604

If they do turn ON,

605

606

immediately power off your robot and double check your connections.

607

Note, our

608

battery packs do NOT come charged. You will need to charge your battery

609

before proceeding to the next tutorial. View <a href="http://www.lynxmotion.net/viewtopic.php?f=26&t=5715#p57728">this

610

page</a> for some tips.

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Figure 11.

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<td style="vertical-align: top;">Step 11b (SSC-32U).

627

Connect the 6V battery pack to the

628

battery harness to power the servos. Flip the switch to turn the servo

629

power (the switch to the 9V battery should be OFF).

630

631

The LEDs should NOT switch on (since the logic switch to the 9V battery is off).

632

If they do turn ON,

633

634

immediately power off your robot and double check your connections.

635

636

637

If they did not turn on, now turn off the servo power and thrn on the

638

logic power (9V). The LEDs should turn on, and the servos should not

move.

Note, our

battery packs do NOT come charged. You will need to charge your battery

643

before proceeding to the next tutorial. View <a href="http://www.lynxmotion.net/viewtopic.php?f=26&t=5715#p57728">this

644

page</a> for some tips. </td>

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

656

If your kit includes a BotBoarduino, use

657

four 4-40 x 1/4" hex socket screws

658

to mount the BotBoarduino to the hex spacers in the orientation shown,

659

on top of the SSC-32. The figure does not show the wiring for clarity.

660

If you have the optional PS2 mounting plate, follow those guidelines

661

for assembly. Be sure to have the

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Figure 12. Mount the BotBoarduino

677

(wires removed for clarity)

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<td align="left" valign="top" >Step 13a (SSC-32).

688

It is likely that when you assembled

689

the legs, the positions were not exactly at 90 degrees (though be sure to get them as close as you can). You have two

690

options to fine tune the angle of each of the servos, the first of which is to use

691

the old <a href="http://www.lynxmotion.com/p-567-free-download-lynxterm.aspx" target="_blank">Lynxterm software</a>.

692

Download and install Lynxterm. Lynxterm needs a physical connection to

693

the computer and as such cannot use the Bluetooth module. If your

694

computer does not have a serial port, you will need a serial to USB

695

adapter.

696

697

Disconnect the SSC-32 from the BotBoarduino and reinstall

698

the Tx / Rx jumpers, as well as both Baud jumpers (so the baud rate is

699

at 115200).

700

Power the SSC-32 (both VL and VS), open Lynxterm, select the correct

701

COM port and click "All=1500". The servos should all move to 90

702

degrees. Next, click "Reg." and in the new window, click "Read".

703

Position each servo to exactly 90 degrees by using either the slider or

704

by typing in the offset (changing the Channel at the right of the

705

window for each servo used). Once this is done, click "Write", which

706

then

707

modified the firmware on the SSC-32.

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Figure 13a. Lynxterm

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<td style="vertical-align: top;">Step 13c (SSC-32U).

724

If you have the SSC-32U alone, you can calibrate / fine tune each joint using the <a href="http://www.lynxmotion.com/p-895-free-download-ssc-32-servo-sequencer-utility-created-using-flowbotics-studio.aspx" target="_blank">SSC-32 Servo Sequencer Utility</a>

725

(download and install). Note that fora quadruped to walk properly, the

726

legs must be close to perfectly tuned. Connect the SSC-32U to the

727

computer via USB (if you have the Bluetooth module installed, you can

728

connect via Bluetooth; the green light on the Bluetooth will become

729

solid once a

730

connection has been established). By default, only four servos are

731

active within the utility software. Check off all servos marked in

732

figure 7c within the software in order to activate them.

733

734

Click the "configure" button towards the bottom right of the window and

735

a

736

knob will appear next to each servo. To

737

position each of the servos to exactly 90 degrees, click the knob and

738

drag it up and down to offset that servo's position. Do this for each

739

servo until their position is exactly at 90 degrees. Once all servos

740

have been adjusted to correct any small mechanical offset, press

741

"calibrate"

742

once again and the ofsets will be saved to the board.

743

744

The servo

745

calibration can also be done via FlowBotics Studio, though the

746

calibration is saved on the specific computer as opposed to the SSC-32U.

747

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748

749

Figure 14 (SSC-32 Utility). </td>

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

759

The robot should now be wired

760

and calibrated correctly, but with wires going everywhere. It is now a matter of

761

cleanly routing the cables. You can unplug and re-plug the wires as needed,

762

especially for the servos, and well as run them through the body and

763

brackets. Be certain to reconnect the correctly and leave enough length so each joint in the legs

764

are able to move freely and reach all positions and do not get pinched

765

by the brackets or servos. Use the cable ties provided in the kit to

766

connect the wires together. Alternatively, black electrical tape or

767

wire wrap also look nice.

768

769

Ensure the main 6V battery is perfectly centered inside the body to ensure the

770

robot walks properly.

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Figure 14 (Optional PS2 receiver and PS2 mounting plate)</td>

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<td style="vertical-align: top;">Step 15.

784

785

If you purchase a kit which uses the BotBoarduino, sample code (based on PS2 control) can be found <a href="https://github.com/Lynxmotion/Quadrupeds" target="_blank">here</a>.

786

If you have difficulties installing the library or code, please refer to www.arduino.cc for additional information.

787

788

If you purchased a kit which uses FlowBotics Studio, you can install and run FlowBotics Studio and open the quadruped project.

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