Skip to content

Commit

Permalink
Added 3-pin connector to assembly instructions and updated hardware list
Browse files Browse the repository at this point in the history
  • Loading branch information
@paul-nadan
paul-nadan committed Dec 28, 2024
1 parent 818332f commit a4c93fc
Show file tree
Hide file tree
Showing 3 changed files with 20 additions and 15 deletions.
Binary file added Assembly/Images/shieldShuntConnector.jpg
View file
Loading
Sorry, something went wrong. Reload?
Sorry, we cannot display this file.
Sorry, this file is invalid so it cannot be displayed.
22 changes: 13 additions & 9 deletions Assembly/readme.md
View file
Original file line number Diff line number Diff line change
Expand Up @@ -64,46 +64,50 @@

<p><img src="Images/shieldSolderConnectorFull.jpg" width="50%"></p>

5. Mount the Arduino shield to the robot body.
* You will needs 4 short screws. The screws will tap directly into the motor's plastic, so do not over tighten them.
5. Replace the 2-pin power select jumper on the Arduino shield with the 3-pin shunt connector.

<p><img src="Images/shieldShuntConnector.jpg" width="50%"></p>

6. Mount the Arduino shield to the robot body.
* You will needs 4 short screws. The screws will tap directly into the plastic, so do not over tighten them.
* The screw terminals and JST connector should face the center of the robot body.

<p><img src="Images/shieldMounting.jpg" width="50%"></p>

6. Stack the Arduino on top of the Arduino shield.
7. Stack the Arduino on top of the Arduino shield.
* The header pins should line up, with the micro USB port facing the edge of the robot.

<p><img src="Images/arduinoMounting.jpg" width="50%"></p>

7. Wire up the motors using the included Dynamixel cables.
8. Wire up the motors using the included Dynamixel cables.
* The motors should be daisy-chained to each other in series, with the Arduino shield as one end of the chain.
* A suggested ordering is: Arduino Shield -> Motor 6 -> Motor 5 -> Motor 4 -> Motor 1 -> Motor 2 -> Motor 3.
* Use either the included wire wraps or zip ties to manage the wires, as pictured.

<p><img src="Images/motorWiring.jpg" width="50%"></p>

8. Attach the 5V UBEC to the JST connector.
9. Attach the 5V UBEC to the JST connector.
* The JST connector is not reversible, so it will only connect if oriented correctly (red to red, black to black).

<p><img src="Images/voltageRegulator.jpg" width="50%"></p>

9. Thread the Velcro straps through the slits in the robot body.
10. Thread the Velcro straps through the slits in the robot body.
* Ensure the ends of each strap come out on top of the robot body for ease of access.

<p><img src="Images/velcroStraps.jpg" width="50%"></p>

10. Align each servo horn.
11. Align each servo horn.
* Each servo horn has 3 small circular indents forming a triangle. Rotate the motor by hand until the circle closest to a screw mounting hole is at the top.

<p><img src="Images/motorHubAlignment.jpg" width="50%"></p>

11. Mount a quick-connect hub to each servo horn (quick-connect leg users only).
12. Mount a quick-connect hub to each servo horn (quick-connect leg users only).
* Each quick-connect hub requires 3 long screws. The screws will tap directly into the motor's plastic, so do not over tighten them.
* Ensure that the opening in the hub faces upwards, and the little notch in the hub is on the side closer to the front of the robot (the side without the Arduino).

<p><img src="Images/quickConnectHubMounting.jpg" width="50%"></p>

12. Mount a leg to each servo horn.
13. Mount a leg to each servo horn.
* Quick-connect legs require 1 additional long screw, while standard legs require 4 long screws. The screws will tap directly into the motor's plastic, so do not over tighten them.
* The middle legs extend out further from the robot, to prevent collisions between neighboring legs.
* Ensure that the curved side of each leg faces the rear of the robot (the side with the Arduino) and the end of the leg is directly below the robot (with the servo horn aligned as in step 10), as pictured for both leg types.
Expand Down
13 changes: 7 additions & 6 deletions HardwareList/readme.md
View file
Original file line number Diff line number Diff line change
Expand Up @@ -2,22 +2,23 @@

| Supplier | Item | Quantity | Price | Link |
|-------------------|------------------------|---------------------|-------------|---------------------------------------------------------------------------------------------------------|
| **Amazon** | Arduino MKR WiFi 1010 | 1 | $39.99 | [Amazon](https://www.amazon.com/Arduino-MKR-WiFi-1010-ABX00023/dp/B07FYFF5YZ) |
| **Amazon** | Arduino MKR WiFi 1010 | 1 | $38.60 | [Amazon](https://www.amazon.com/Arduino-MKR-WiFi-1010-ABX00023/dp/B07FYFF5YZ) |
| | Batteries and charger | 1 (2 batteries) | $22.99 | [Amazon](https://www.amazon.com/1500mAh-Li-ion-Battery-Helicopter-Charger/dp/B089W89KCP) |
| | Plastidip | 1 (per 5 robots) | $19.00 | [Amazon](https://www.amazon.com/Plasti-Dip-Multi-Purpose-Coating-Aerosol/dp/B07QCPXXBV) |
| | JST Plug Connectors | 1 (per 10 robots) | $6.29 | [Amazon](https://www.amazon.com/eBoot-Connector-Female-Cable-Battery/dp/B01M5AHF0Z) |
| | Plastidip | 1 (per 5 robots) | $20.99 | [Amazon](https://www.amazon.com/Plasti-Dip-Multi-Purpose-Coating-Aerosol/dp/B07QCPXXBV) |
| | JST Plug Connectors | 1 (per 10 robots) | $6.59 | [Amazon](https://www.amazon.com/eBoot-Connector-Female-Cable-Battery/dp/B01M5AHF0Z) |
| | 5V UBEC | 1 (per 2 robots) | $11.69 | [Amazon](https://www.amazon.com/ShareGoo-Converter-Module-Quadcopter-Holder/dp/B07DYXTX9H) |
| | 8"x1/2" Velcro Straps | 1 (per 8 robots) | $8.18 | [Amazon](https://www.amazon.com/VELCRO-Brand-Reusable-Fastening-Organizing/dp/B0006BB9MG) |
| | 8"x1/2" Velcro Straps | 1 (per 8 robots) | $4.49 | [Amazon](https://www.amazon.com/VELCRO-Brand-Reusable-Fastening-Organizing/dp/B0006BB9MG) |
| | LiPo Voltage Monitor | 1 | $5.49 | [Amazon](https://www.amazon.com/Battery-Monitor-Voltage-Checker-Indicator/dp/B013U1CP08) |
| | LiPo Safe Bag | 1 (per 8 batteries) | $10.99 | [Amazon](https://www.amazon.com/DerBlue-Fireproof-Explosionproof-Battery-Bag185x75x60mm/dp/B01GCHBQJS/) |
| | LiPo Safe Bag | 1 (per 8 batteries) | $9.99 | [Amazon](https://www.amazon.com/DerBlue-Fireproof-Explosionproof-Battery-Bag185x75x60mm/dp/B01GCHBQJS/) |
| **Robotis** | Arduino Shield | 1 | $19.10 | [Robotis](https://www.robotis.us/dynamixel-shield-for-arduino-mkr-series/) |
| | Dynamixel XL330-M077-T | 6 | $143.40 | [Robotis](https://www.robotis.us/dynamixel-xl330-m077-t/) |
| **DigiKey** | 3-Pin Shunt Connector | 1 | $0.18 | [DigiKey](https://www.digikey.com/en/products/detail/adam-tech/MSE-G/9830574) |
| **3D Print** | Robot Body | 1 | | [STL File](../CAD/STL/robot_body.STL) |
| | Front & Rear Left Legs | 2 | | [STL File](../CAD/STL/standard_leg_left.STL) |
| | Front & Rear Right Legs| 2 | | [STL File](../CAD/STL/standard_leg_right.STL) |
| | Middle Left Leg | 1 | | [STL File](../CAD/STL/standard_leg_left_middle.STL) |
| | Middle Right Leg | 1 | | [STL File](../CAD/STL/standard_leg_right_middle.STL) |
| | PLA Filament | ~120g PLA | ~$3.00 | [Amazon](https://www.amazon.com/HATCHBOX-3D-Filament-Dimensional-Accuracy/dp/B015I1CZUI) |
| **Total Cost** | | 1 robot | **$290.12** | (as of 10-27-23) |
| **Total Cost** | | 1 robot | **$286.51** | (as of 12-28-24) |

[Return to homepage](../).

0 comments on commit a4c93fc

Please sign in to comment.