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="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-electronics/ses-modules/ssc-32u/WebHome/lynxmotion_ssc-32u_usb_user_guide.pdf" target="_blank">SSC-32U User Guide</a>.

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If you purchase the version with the

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BotBoarduino, read and understand the <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/botboarduino/botboarduino-manual/">BotBoarduino

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User Guide</a>.

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The

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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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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

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(BotBoarduino and/or SSC-32).

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If

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

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

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plates are

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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

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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

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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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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

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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

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

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

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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).

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If

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you

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

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plate for this

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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

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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

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

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

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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

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

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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

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

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

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tapping

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

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has the circular cutouts for the power connectors. The

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

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

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how to do this, please

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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).

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

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

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connector facing the front

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

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

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

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

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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

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

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

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installed in step 4b.

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

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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

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preparation for connecting the wires, here are some general guidelines

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

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blade screw driver. Rotate

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

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

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

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

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terminals and that no stray wires touch each other between terminals

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

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

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

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

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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).

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This

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

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

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

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

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

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

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

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

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step. DOUBLE CHECK THE RED AND BLACK WIRE

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

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

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board will be damaged.

Figure 7a.

BotBoarduino - SSC-32 - PS2 v2

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

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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.

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

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

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

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

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CHECK THE RED AND BLACK WIRE CONNECTED TO THE SCREW TERMINALS

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- the

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

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

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

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

482

Remove the VL=VS jumper.

483

484

Figure 7b.

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BotBoarduino - SSC-32U - PS2 v3

486

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Step 7c (SSC-32 + Bluetooth).

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This

489

approach applies if you plan to control the robot

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

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

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

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

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

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

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

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

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

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reversed, the servos and the board will be damaged.

Figure 7c. SSC-32

- Bluetooth

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

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This approach applies if you plan to control the robot

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

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

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

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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

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

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

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

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reversed, the servos and the board will be damaged.

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Figure 7d. SSC-32U - Bluetooth

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

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Plug the servos into the SSC-32 as

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

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

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

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

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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

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

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

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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

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

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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 /

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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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If you have a kit with an SSC-32

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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

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double check your connections.

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Turn this switch off.

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

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Connect the 6V battery pack to the

600

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

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power on.

602

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

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If they do turn ON,

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immediately power off your robot and double check your connections.

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Note, our

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

609

before proceeding to the next tutorial.

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Figure 11.

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

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Connect the 6V battery pack to the

627

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

628

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

629

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

631

If they do turn ON,

632

633

immediately power off your robot and double check your connections.

634

635

636

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

637

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

642

before proceeding to the next tutorial. </td>

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

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If your kit includes a BotBoarduino, use

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

656

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

657

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

658

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

659

for assembly. Be sure to have the

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Figure 12. Mount the BotBoarduino

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(wires removed for clarity)

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

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It is likely that when you assembled

687

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

688

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

689

the old <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-software/lynxterm/" target="_blank">Lynxterm software</a>.

690

Download and install Lynxterm. Lynxterm needs a physical connection to

691

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

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

693

adapter.

694

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Disconnect the SSC-32 from the BotBoarduino and reinstall

696

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

697

at 115200).

698

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

699

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

700

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

701

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

702

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

703

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

704

then

705

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).

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If you have the SSC-32U alone, you can calibrate / fine tune each joint using the <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-software/ssc-32-sequencer/" target="_blank">SSC-32 Servo Sequencer Utility</a>

723

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

724

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

725

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

726

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

727

solid once a

728

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

729

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

730

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

731

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

733

a

734

knob will appear next to each servo. To

735

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

736

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

737

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

738

have been adjusted to correct any small mechanical offset, press

739

"calibrate"

740

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

741

742

The servo

743

calibration can also be done via FlowBotics Studio, though the

744

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

745

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747

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

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

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The robot should now be wired

758

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

759

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

760

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

761

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

762

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

763

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

764

connect the wires together. Alternatively, black electrical tape or

765

wire wrap also look nice.

766

767

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

768

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.

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783

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>.

784

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

785

786

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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