Make note of the servo IDs and their positions. Each servo has a # written on the back of it. It is important during assembly to pay close attention to assembling the correct servos into their correct places. We highly recommend
laying out your servos as shown below and pulling from them as you assemble parts and then putting them back in place. This will help you
keep your sanity.
Also note that the matte side of the plastic components will always face outwards.
| Foot Assembly - Build 4X Quantity |
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Build 4x Foot Assemblies using 2x Feet, 1x Toe Front, and 1x Toe Back for each.
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Attach Rubber Foot to recess on bottom of Foot Assembly.
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| Tibia Frame Assembly - Build 4X Quantity |
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Tibia Assembly using Tibia Side Plate (Matte side should face outward).
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6x |
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Insert Foot Assembly.
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Complete Tibia Frame Assembly using another Tibia Side Plate (Matte side should face outward)
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3x |
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You should have 4 identical Tibia Frame Assemblies when complete. You'll use two of them in the next steps, and then two more when you build the right sided legs.
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| Finalize Tibia Assemblies |
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| We will be assembling the two Left tibias first, then we will assemble the two Right tibias. The two sides will be mirrored. Pay close attention to orientation. |
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First insert M2 Nuts into Tibia Servo (ID #5, 11)
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You will end up with two servos (IDs #5, 11) that will have 14 nuts each, seated as shown.
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Take two Tibia Frame Assemblies and slide them over the rails of the two servos you've prepared.
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Attach the Tibia Frame Assembly to Tibia Servos (IDs #5, 11).
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You should end up with two completed Left-side Tibias that look like this.
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| Now we will assemble the two Right tibias. Pay close attention to orientation. |
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First insert M2 Nuts into Tibia Servo (IDs #6, 12)
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You will end up with two servos (IDs #6, 12) that will have 14 nuts each, seated as shown.
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Take two Tibia Frame Assemblies and slide them over the rails of the two servos you've prepared.
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Attach the Tibia Frame Assembly to Tibia Servos (IDs #6, 12).
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You should end up with two completed Right-side Tibias that look like this.
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| Tibia-Femur Bracket Assembly - Build 4X Quantity |
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Attach 1x F2 Bracket to 1x F3 bracket as shown.
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4x |
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You should end up with 4 identical Tibia-Femur Bracket Assembies.
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| Build Femur Assemblies |
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| We will be assembling the two Left Femurs first, then we will assemble the two Right Femurs. The two sides will be mirrored. Pay close attention to orientation. |
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First insert M2 Nuts into Femur Servo (IDs #3, 9)
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You will end up with two servos (IDs #3, 9) that will have 4 nuts each, seated as shown.
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Attach two Tibia-Femur Bracket Assembies to servos (IDs #3, 9) as shown.
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You should end up with two completed Left-side Femur Assemblies that look like this.
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You should end up with 2 identical Left side Tibia-Femur Assembies, using servo (IDs #3 & 5, 9 & 11).
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| Next we will be assembling the right side Femur assemblies. |
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First insert M2 Nuts into Femur Servo (IDs #4, 10)
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You will end up with two servos (IDs #4, 10) that will have 4 nuts each, seated as shown.
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Attach two Tibia-Femur Bracket Assembies to servos (IDs #4, 10) as shown.
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You should end up with two completed Right-side Femur Assemblies that look like this.
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You should end up with 2 identical Right side Tibia-Femur Assembies, using servo (IDs #4 & 6, 10 & 12)
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| Coxa Bracket Assembly - Build 4X Quantity |
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Attach the 2x F2 brackets together at a 90 degree angle as shown.
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4x |
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| Attach Coxa Brackets to Femur-Tibia Assembly. |
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| We will be assembling the two Left legs first, then we will assemble the two Right legs. The two sides will be mirrored. Pay close attention to orientation. |
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You should end up with 2 identical Left side Tibia-Femur & Coxa Bracket Assembies, using servo (IDs #3 & 5, 9 & 11).
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| Repeat the same for the right side legs |
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You should end up with 2 identical Right side Tibia-Femur & Coxa Bracket Assembies, using servo (IDs #4 & 6, 10 & 12).
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| Prepare Coxa Servos x 4 |
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Insert M2 Nuts into Coxa Servo (IDs #1, 2, 7, 8).
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You should end up with 4 identical servos (ID #1, 2, 7 ,8).
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| Finish Legs by attaching Coxa Servos to Leg assemblies. |
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| We will be finishing the two Left legs first, then we will assemble the two Right legs. The two sides will be mirrored. Pay close attention to orientation. |
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You should end up with 2 identical Left Leg Assemblies as shown, using ID #1, 3, 5 for the Front-Left Leg and ID #7, 9, 11 for the Rear-Left Leg.
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| Now we will finish the assembly of the Right side legs. |
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You should end up with 2 identical Right Leg Assemblies as shown, using ID #2, 4, 6 for the Front-Right Leg and ID #8, 10, 12 for the Rear-Right Leg.
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Final assembly of the legs should leave you with two sets of mirrored legs as shown. Please set these legs aside while we build the Body Assembly in the next steps.
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Attach the Arbotix to the Arbotix Mount plate as shown. Please pay attention to the orientation of the Arbotix and the Arbotix Mounting Plate. See the picture below for another view.
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8x |
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You should end up with the following assembly, as shown.
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Attach the standoffs to the Arbotix Mount as shown.
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8x |
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You should end up with the following assembly, as shown.
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Wire in the Lipo Battery Harness to the Arbotix power terminal. Pay close attention to the polarity as indicated in the picture.
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Next we're going to get ready to attach the Arbotix Mount Assembly to the Top Plate of the body. Please note that there is a notch on the 'front' side of the Top Body Plate specifically so that the cables from the Lipo Battery Harness can be routed. Please arrange the parts and route the harness as shown in preparation for attaching them in the next steps.
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Attach the Arbotix Mount Assembly to the Top Body Plate as shown. Please note that we will not be using the two bolts near the Xbee yet.
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You should end up with an assembly as shown. Please confirm proper orientation of the plate and that the notch corresponds to where the terminal block and Lipo Battery Harness are attached.
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First insert your (paired) Xbee, it doesn't matter which. Install Xbee Clip as shown using 2 washers to properly space it. The Xbee Clip should fit snuggly against the Xbee to hold it in place.
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2x |
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The top half of your body assembly is complete. Now would be an excellent time to program your Arbotix if you have not already, as once the body is complete you will have less access to it.
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Next we will be mounting the LiPo Battery to the Bottom Body Plate using 2 pieces of velcro. Orientation is not important as Bottom Plate is symmetrical.
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Make sure that the battery fits snugly, trim off any excess velcro.
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Install 30mm Standoffs and 3 Nylon Spacers onto Bottom Body Assembly as shown.
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6x |
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Install the Switch from the Lipo Battery Harness into one of the Side Plates.
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Install the 6P AX/MX Hub to the other remaining Side Plate as shown.
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4x |
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Plug 4x 150mm Cables and 1x 100mm Cable into the 6P AX/MX Hub.
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1x |
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Insert the Side Panel that holds the Power Switch into the Bottom Body Plate as shown. Connect LiPo Switch Harness to the Lipo Battery, toggle switch on/off to ensure proper power flows to Arbotix (you should see a green LED come on). Route power cables around LiPo Battery as shown. Tip: You may want to route the connecting portions of the battery & Lipo Switch Harness below the Bottom Body Plate for ease of accessibility. You must remove Battery prior to charging.
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Alternate View.
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Insert the Side Panel that holds the 6P AX/MX Hub into the Bottom Body Plate as shown. The 100mm Cable will plug into the Arbotix. The remaining 4x 150mm Cables should be routed through the slots of the Bottom Body Plate as shown.
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Attach the Top Body Assembly to the Bottom Body Assembly as shown.
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You should end up with a completed Body Assembly as shown. Note that the 3P Cables are not shown in this render.
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Next we will be attaching the legs to the body one by one. Again, pay close attention to which legs are being used in each location. The power switch should be located on the rear side of the robot.
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Attach the Leg to the Body Assembly as shown.
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Repeat this process for the remaining 3 legs. Again, please pay close attention to which legs are being installed in each location.
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You should end up with your robot nearly completed. Next we will finish the wiring.
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Connect the 150 mm Cable coming out of the slot in the Bottom Body Plate to the Coxa Servo. Use a 150 mm Cable between the Coxa Servo & the Femur Servo routed as shown. Use a 100 mm Cable between the Femur Servo and the Tibia Servo routed as shown. Repeat for each leg.
| 1x |
1x |
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