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 2 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.
8 x (2 per leg) |
4 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 two 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.
16 x |
16 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.)
4 x |
16 x |
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Exploded View. Click for larger image.
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You should now have four beautiful robot legs that look like this!
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STEP 11 - Mount the arbotiX |
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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 on the eight outer standoffs as shown.
8 x |
8 x |
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Mount the arbotiX as shown. The orientation is important. Ensure that the XBee is in the lower left and the rectangular cutout is also toward you.
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4 x |
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Press one of the XBee modules into the XBee socket as shown.
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Screw the power switch into one of the Body Side Plates as shown. If your switch has an extra nut at the base you need to remove it so that the switch fits.
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Attach the Switch Harness power wires to the arbotiX terminal block. Make sure the posotive red wire is on the right. Screw the terminal blocks down nice and tight to make sure the wires stay in.
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Time to mount the arbotiX assmbly to the Top Body Plate. Make sure your orientation matches the picture with the XBee by Servo #8
and the terminal block next to the wire notch cutout. We are only bolting down three corners with six bolts because in the next step we will
use the corner by the XBee to mount the XBee bracket.
6 x |
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Bolt on the XBee bracket as shown. Use three Nylon washers under the bracket for each bolt.
2 x |
6 x |
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