GETTING STARTED - Terminology, Orientation, and Layout |
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We refer to three main sections of the legs; Coxa, Femur, Tibia. The diagram below identifies these parts.
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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.
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Download a printable PDF of the layout to use for your build here: Printable Servo Layout |
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It is VERY important to pay attention to orientation as you build. You will be building two sets of mirrored legs. Look at
the photos closely when building. They show the proper way to build everything.
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Two sets of 3 legs each mirror each other for the left side and the right side.
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STEP 7 - Assemble the Legs |
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Put together the hub assembly as shown on your prepared Tibia Side Plates with crossbeams attached. Don't forget the two 0.03" Nylon Spacer Washers.
12 x (2 per leg) |
6 x |
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Exploded View. Click for larger image.
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Screw the Assembly into the rear axis of the outer Femure Servo.
DO NOT over tighten the bolt. A quarter turn past snug is all you need.
Make sure you are bolting to the outer servo, the one with the flat run of the cable.
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When you are finished you should have 3 pairs of legs that look like this.
Double check your servo IDs to make sure they are correct!
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Flip your legs over and install feet as shown sliding their tabs into the Tibia Side Plate slot.
Ensure your feet are facing out :)
The nuts on the back should be facing inward toward the servos. See next step picture.
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Flip your legs over to prepare them for bolting on the second Tibia Side Plate. Make sure that the servo horn is perpendicular
to the Tibia as shown.
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Bolt on the second Tibia Side Plate to your six legs.
24 x |
24 x |
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Attach the Coxa Bracket Assembly to the inside Femure Servo as shown. (See next picture for exploded view of AX Hub Assembly.)
6 x |
24 x |
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Exploded View. Click for larger image.
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You should now have six beautiful robot legs that look like this!
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STEP 9 - Mount the arbotiX and Servo Hub |
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Bolt the arbotiX mounting standoffs onto the Top Body Plate as shown.
4 x |
4 x |
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Bolt the arbotiX Controller onto the standoffs as shown. (Xbee in the upper left toward the front of the robot.)
4 x |
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Mount the XBee Bracket Standoffs as shown.
2 x |
2 x |
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Press one of the XBee modules into the XBee socket as shown.
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Bolt down the XBee bracket as shown.
(The Bracket keeps the XBee from falling out while your bot runs around!)
2 x |
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NOTE: The XBee Bracket was a late addition to the bot. You will notice that it is absent from the rest of the documentation.
Do not panic. Everything is okay. |
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Mount the Servo Cable Hub as shown.
4 x |
4 x |
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Plug in and lay out your servo cables as shown. The front four cables go into the hub. One cable goes from the hub to the arbotiX. The back two
cables go directly into the arbotix. The order of the cables in the hub and arbotiX do not matter. (Do not plug the cables in to the servos yet.)
7 x |
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STEP 10 - Mount Body Crossbeams and Side Plates |
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Build four body crossbeam standoffs as shown. Tighten them snugly by rotating about a quarter turn past when the faces touch.
4 x |
4 x |
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Mount the two backside body crossbeams as shown.
2 x |
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Mount the two front body crossbeams as shown.
2 x |
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Insert the front sideplate into the front slots as shown.
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Screw the power switch into the back sideplate as shown.
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Back View. If your switch has an extra nut you need to remove it so that the switch fits.
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Insert the back sideplate into the back slots as shown.
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STEP 11 - Wiring, battery, & Bottom Body Plate |
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Screw the power wires into the power terminal on the arbotiX.
Make sure the Red wire is on the right.
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Strap the battery onto the smooth side of the bottom plate as shown.
The orientation is important for best wire routing. Click on the picture for the large view and make sure your wires are in the same places.
2 x |
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Place the Bottom Body Plate onto the Top Body Assembly as shown. Make sure that the large hole is over the arbotiX. Thread the servo cables through the
square holes by each servo.
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Bolt the Bottom Body Plate down to the four Body Crossbeam Standoffs.
4 x |
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Finish bolting the Body Plates together by bolting the Bottom Body Plate to the bottom of the Coxa Servos.
60 x |
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Your finished hexapod body should look like this.
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