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1 1  {{html wiki="false" clean="true"}}
2 -<body><table border="0" cellpadding="0" cellspacing="0" >
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3 3   <tbody><tr>
4 - <td valign="top" align="left"><b><font size="2" face="Verdana">Humanoid
5 - Biped Torso Assembly Guide<br>
6 - Rev. 1.</font></b>
7 - <p><b><font size="2" face="Verdana">Updated <!--webbot bot="Timestamp"
8 - startspan s-type="EDITED" s-format="%m.%d.%y" -->
9 - <!-- #BeginDate format:Am3 -->12/21/2011<!-- #EndDate -->
10 - <!--webbot
11 - bot="Timestamp" i-checksum="12845" endspan --></font></b></p>
12 - <p><font face="Verdana" size="2"><b>Safety first!</b> Wear eye protection and never touch a powered robot!</font></p></td>
13 - <td align="center" valign="top" width="320"><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/humanoid-biped-torso/WebHome/bt00.jpg" border="2" hspace="10" ><br>
14 - <b>Image of Humanoid Biped.</b></font></td>
15 - </tr>
16 - <tr>
17 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
18 - </tr>
19 - <tr>
20 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Lexan Preparation.<br>
21 - </b>The lexan pieces have a protective covering that needs to be removed before assembly. When the laser cuts, the covering melts into the cut
22 - edge which can make removal difficult. If you gently scrape the cut edge with a flat blade screwdriver, the covering can easily be lifted and
23 - peeled off.</font>
24 - <p><font face="Verdana" size="2">On smaller pieces the coverings can be more difficult to remove. If you have trouble you can gently scrape the
25 - cut edge, then use duct tape to lift the covering off.</font></p>
26 - <p><font face="Verdana" size="2">For further information on lexan, see <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/support/polycarbonate-info-page/" target="_blank">this page</a>.</font></p></td>
27 - <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-torso/WebHome/lexan01.jpg" alt="" hspace="10" border="2"><br>
28 - Lexan Preparation.</font></td>
29 - </tr>
30 - <tr>
31 - <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font></td>
32 - </tr>
33 - <tr>
34 - <td valign="top" align="left"><font face="Verdana"><b><font size="2">Step
35 - 1.</font></b><font size="2"><br>
36 - Attach the hex spacers as shown, using 3/8" screws. The top four
37 - spacers and the one in the middle are 1.5"; put washers in between
38 - the these spacers and the lexan. The other four spacers are 1.0" and
39 - require no washers.</font></font>
40 - <p><font face="Verdana" size="2"><b>9 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-torso/WebHome/4375hscs.GIF" >
41 - 5 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-torso/WebHome/440nw.GIF" ></b></font></p>
5 + <td valign="top" ><font size="2" face="verdana"><strong>Polycarbonate Information Page<br>
6 + <br>
7 + Updated <!--webbot bot="Timestamp" startspan s-type="EDITED" s-format="%m/%d/%Y" -->07/30/2007<!--webbot bot="Timestamp" i-checksum="12528"
8 + endspan --></strong></font>
9 + <p><font size="2" face="verdana"><b>Why Polycarbonate?<br>
10 + </b>Some of our robots use Polycarbonate. Why, because it is very strong. The image to the right is of me trying really hard to bend one of the
11 + H2 bottom panels. It really hurt holding this long enough&nbsp; for the camera to snap the image. When I let go it returned to its normal flat
12 + shape, no worse for the wear. Now Polycarbonate is not indestructible, but it is very tough. A 1/8" thick x 1/4" wide strip can be
13 + broken, but it takes several back and forth bends before it finally breaks.&nbsp;&nbsp;</font></p>
14 + <p>&nbsp;</p>
42 42   </td>
43 - <td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/humanoid-biped-torso/WebHome/bt01.jpg" border="2" hspace="10" ><br>
44 - Figure 1.</font></td>
16 + <td align="center" valign="top " width="320"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/support/polycarbonate-info-page/WebHome/lexan01s.jpg" border="2" hspace="10" width="320" height="240"><br>
17 + <strong><font size="2" face="verdana">Will it Break? No!<br>
18 + <br>
19 + </font></strong></td>
45 45   </tr>
46 46   <tr>
47 - <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font></td>
22 + <td valign="top" ><font size="2" face="verdana"><b>Laser-cut Lexan properties</b>&nbsp;<br>
23 + The cut edge has a black residue which can easily be cleaned with a damp rag or paper towel. It is normal and can't be helped. When the residue
24 + is cleaned off, the edge will still be darker than the material. The dark edge is going to be present no matter what color the Lexan is. Most
25 + people like the way the cut edge looks, but there are some who would prefer not to have the dark edge. Technically, it would be possible to try
26 + to polish the edges, but beware it would be a very labor intensive project, and not worth the trouble in my opinion.&nbsp;<br>
27 + <br>
28 + <br>
29 + </font></td>
30 + <td align="center" valign="top" ><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/support/polycarbonate-info-page/WebHome/lexan02.jpg" border="2" hspace="10" width="320" height="240"><br>
31 + <font size="2" face="verdana">Figure 1.<br>
32 + <br>
33 + </font></td>
48 48   </tr>
49 49   <tr>
50 - <td valign="top" align="left"><font face="Verdana"><b><font size="2">Step
51 - 2.</font></b><font size="2"><br>
52 - Use snap rivet fasteners to attach two servos as shown. Note that the
53 - servo horn is closest to the bottom of the image.</font></font>
54 - <p><font face="Verdana" size="2"><b>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-torso/WebHome/nrf01.GIF" ></b></font></p>
55 - </td>
56 - <td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/humanoid-biped-torso/WebHome/bt02.jpg" border="2" hspace="10" ><br>
57 - Figure 2.</font></td>
36 + <td valign="top" ><font size="2" face="verdana"><b>Lexan protective covering</b>&nbsp;<br>
37 + The Lexan pieces have a protective covering that needs to be removed before assembly. When the laser cuts, the covering melts into the cut edge
38 + which can make removal difficult. If you gently scrape the cut edge with a metal edge, such as a flat blade screw driver, the covering can
39 + easily be separated with a thumb nail.&nbsp;</font></td>
40 + <td align="center" valign="top" ><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/support/polycarbonate-info-page/WebHome/lexan04.jpg" border="2" hspace="10" width="320" height="240"><br>
41 + <font size="2" face="verdana">Figure 2.<br>
42 + <br>
43 + </font></td>
58 58   </tr>
59 59   <tr>
60 - <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font></td>
61 - </tr>
62 - <tr>
63 - <td valign="top" align="left"><font face="Verdana"><b><font size="2">Step
64 - 3.</font></b><font size="2"><br>
65 - Attach the middle panel using 3/8" screws.</font></font>
66 - <p><font face="Verdana" size="2"><b>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-torso/WebHome/4375hscs.GIF" ></b></font></p>
46 + <td valign="top" ><font size="2" face="verdana"><b>Peal and Separate</b><br>
47 + Once it is started the covering easily peels off of the pieces. Note, you only want to scrape the edge. If done properly the pieces will not be
48 + damaged at all.&nbsp;<br>
49 + </font>
50 + <p>&nbsp;</p>
67 67   </td>
68 - <td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/humanoid-biped-torso/WebHome/bt03.jpg" border="2" hspace="10" ><br>
69 - Figure 3.</font></td>
52 + <td align="center" valign="top" ><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/support/polycarbonate-info-page/WebHome/lexan05.jpg" border="2" hspace="10" width="320" height="240"><br>
53 + <font size="2" face="verdana">Figure 3.<br>
54 + <br>
55 + </font></td>
70 70   </tr>
71 71   <tr>
72 - <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font></td>
58 + <td valign="top" ><font size="2" face="verdana"><b>Stubborn Coverings</b><br>
59 + From time to time the coverings can be more difficult to remove. If you have trouble you can gently scrape the cut edge as explained above, then
60 + put a piece of Duct Tape over it, then rip it up. This really works pretty well.&nbsp;</font></td>
61 + <td align="center" valign="top" ><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/support/polycarbonate-info-page/WebHome/lexan09.jpg" border="2" hspace="10" width="320" height="240"><br>
62 + <font size="2" face="verdana">Figure 4.<br>
63 + <br>
64 + </font></td>
73 73   </tr>
74 74   <tr>
75 - <td valign="top" align="left"><font face="Verdana"><b><font size="2">Step
76 - 4.</font></b><font size="2"><br>
77 - Ensure that the plastic servo hinges have the metal nut inserted before proceeding. <br>Using double-sided tape, attach the plastic servo hinges as shown, and set the other three servos
78 - into position as shown.</font></font></td>
79 - <td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/humanoid-biped-torso/WebHome/bt04.jpg" border="2" hspace="10" ><br>
80 - Figure 4.</font></td>
81 - </tr>
82 - <tr>
83 - <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font></td>
84 - </tr>
85 - <tr>
86 - <td valign="top" align="left"><font face="Verdana"><b><font size="2">Step
87 - 5.</font></b><font size="2"><br>
88 - Attach the <a href="http://www.lynxmotion.com/images/html/build089.htm">legs</a>, using the ball bearing hardware and four #2 tapping screws.<br> Note that only the C-brackets are shown for clarity.</font></font>
89 - <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-torso/WebHome/bb01.gif" >
90 - 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-torso/WebHome/2250phts.GIF" ></b></font></p>
67 + <td valign="top" ><font size="2" face="verdana"><b>The Finish</b><br>
68 + Lexan has a beautiful mirror smooth finish. However, in time it will get tiny surface scratches due to cleaning and normal wear and tear. It
69 + isn't really that noticeable, but under the right conditions it can be visible.&nbsp;Note: this step is optional!</font>
70 + <p><font size="2" face="verdana">There are some options for modifying the finish.</font></p>
71 + <p><font size="2" face="verdana">The Lexan parts can be sand blasted with a fine medium. I especially like the look on the black
72 + components.&nbsp;&nbsp;</font></p>
73 + <p><font size="2" face="verdana">The parts can be lightly sanded by hand, or with a random orbit sander with extra fine sand paper. This is easy
74 + to do, but should be done carefully to avoid removing too much material. The key is to make light even passes with the sander.&nbsp;</font></p>
75 + <p><font size="2" face="verdana">The result is a durable charcoal gray appearance that can't be scratched, because it has been pre-scratched in
76 + every direction.<br>
77 + <br>
78 + Lexan can also be painted, but use paint specifically designed for use with Polycarbonate. Your local hobby shop can help with this.&nbsp;There
79 + has also been some new developments in the paint industry specifically for plastics. Check out Krylon Fusion.&nbsp;<br>
80 + &nbsp;</font></p>
91 91   </td>
92 - <td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/humanoid-biped-torso/WebHome/bt08.jpg" border="2" hspace="10" ><br>
93 - Figure 5.</font></td>
82 + <td align="center" valign="top" ><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/support/polycarbonate-info-page/WebHome/lexan03.jpg" border="2" hspace="10" width="320" height="240"><br>
83 + <font size="2" face="verdana">Figure 5.<br>
84 + <br>
85 + </font></td>
94 94   </tr>
95 95   <tr>
96 - <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font></td>
88 + <td valign="top" ><font size="2" face="verdana">Here is an image of our old Pan and Tilt with the&nbsp;random orbit finish.<br>
89 + &nbsp;</font></td>
90 + <td align="center" valign="top" ><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/support/polycarbonate-info-page/WebHome/lexinf06.jpg" border="2" hspace="10" width="320" height="240"><br>
91 + <font size="2" face="verdana">Figure 6.<br>
92 + &nbsp;</font></td>
97 97   </tr>
98 98   <tr>
99 - <td valign="top" align="left"><font face="Verdana"><b><font size="2">Step
100 - 5.</font></b><font size="2"><br>
101 - Attach the 3/4" spacers to the backpack panel using 1/4" screws. <br> Latest torso design has SSC-32 facing left or right. </font></font>
102 - <p><font face="Verdana" size="2"><b>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-torso/WebHome/4250hscs.GIF" ></b></font></p>
103 - </td>
104 - <td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/humanoid-biped-torso/WebHome/bt05.jpg" border="2" hspace="10" ><br>
105 - Figure 5.</font></td>
95 + <td valign="top" ><font size="2" face="verdana"><b>Finishing the holes</b><br>
96 + The holes in the panels just need a bit of a push and they just fall out. I am using a 3/32" ball end hex driver here. It works quite well
97 + and it's required to build the kits anyway.&nbsp;&nbsp;<br>
98 + </font></td>
99 + <td align="center" valign="top" ><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/support/polycarbonate-info-page/WebHome/lexan06.jpg" border="2" hspace="10" width="320" height="240"><br>
100 + <font size="2" face="verdana">Figure 7.<br>
101 + <br>
102 + </font></td>
106 106   </tr>
107 107   <tr>
108 - <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font></td>
105 + <td valign="top" ><font size="2" face="verdana"><b>Separating the parts</b><br>
106 + Some of the kits have parts nested to simplify packaging and reduce errors. Larger parts can be snapped apart. The smaller parts can be easily
107 + separated with a hobby knife. Be careful! Use a large wood backer and work slowly.&nbsp;<br>
108 + </font></td>
109 + <td align="center" valign="top" ><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/support/polycarbonate-info-page/WebHome/lexan07.jpg" border="2" hspace="10" width="320" height="240"><br>
110 + <font size="2" face="verdana">Figure 8.<br>
111 + <br>
112 + </font></td>
109 109   </tr>
110 110   <tr>
111 - <td valign="top" align="left"><font face="Verdana"><b><font size="2">Step
112 - 6.</font></b><font size="2"><br>
113 - Sandwich the three servos in between the front panel and the backpack
114 - panel as shown. <br>Attach the backpack panel using 3/8" screws. Note servo orientation.</font></font>
115 - <p><font face="Verdana" size="2"><b>5 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-torso/WebHome/4375hscs.GIF" ></b></font></p>
116 - </td>
117 - <td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/humanoid-biped-torso/WebHome/bt06.jpg" border="2" hspace="10" ><br>
118 - Figure 6.</font></td>
115 + <td valign="top" ><font size="2" face="verdana"><b>Separating the optional openings</b><br>
116 + Some of the kits have optional openings that need to be cut out before assembly. Carefully press a flat Exacto knife into the opening where the
117 + part is attached to the main panel.&nbsp;<br>
118 + <br>
119 + Caution! Do not attempt to snap these optional openings apart. &nbsp;<br>
120 + </font></td>
121 + <td align="center" valign="top" ><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/support/polycarbonate-info-page/WebHome/lexan08.jpg" border="2" hspace="10" width="320" height="240"><br>
122 + <font size="2" face="verdana">Figure 9.<br>
123 + <br>
124 + </font></td>
119 119   </tr>
120 120   <tr>
121 - <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font></td>
127 + <td valign="top" ><font size="2" face="verdana"><b>Caution!</b><br>
128 + Lexan is the same material used in bullet proof glass. It is very strong, but has one important weakness. In the presence of certain chemicals,
129 + it will "craze". This means it will crystallize, become brittle, and even shatter. One substance in particular to watch out for is 1,
130 + 1, 1 Trichloroethane. This is a solvent, present in some motor cleaners and degreasers, which will crystallize polycarbonate on contact.
131 + Trichloroethane is a liquid CFC and has been removed from use, but may still be out there. Some products have switched to its cousin, 1, 1,
132 + Difluoroethane. While not as vigorously reactive as the previous chemical, it is still capable of crazing Lexan if allowed to come into contact
133 + for too long. Also avoid using Loctite or thread locks on the chassis assembly. They are not necessary and may cause damage to the Lexan.<br>
134 + <br>
135 + </font></td>
136 + <td align="center" valign="top" ></td>
122 122   </tr>
123 123   <tr>
124 - <td valign="top" align="left"><font face="Verdana"><b><font size="2">Step
125 - 7.</font></b><font size="2"><br>
126 - Attach the SSC-32 to the backpack (recent torso design has the SSC-32 facing left or right), using 1/4" screws.</font></font>
127 - <p><font face="Verdana" size="2"><b>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-torso/WebHome/4250hscs.GIF" ></b></font></p>
128 - </td>
129 - <td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/humanoid-biped-torso/WebHome/bt07.jpg" border="2" hspace="10" ><br>
130 - Figure 7.</font></td>
139 + <td valign="top" ><font size="2" face="verdana"><b>Other Information</b><br>
140 + Lexan is a bit on the expensive side compared to foam PVC and acrylic, but the added strength makes it well worth the added cost. It can be
141 + drilled and cut easily using standard wood working tools. Use a low speed on the tool and low feed rates to prevent the plastic from melting to
142 + the tool. Have fun building your robots, and above all be careful!<br>
143 + &nbsp;</font></td>
144 + <td align="center" valign="top" ></td>
131 131   </tr>
132 132  </tbody></table>
133 133  </body>
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