# Mechanism
## Bill of Materials
### Servos
18 TowerPro [MG92B ](http://www.towerpro.com.tw/product/mg92b/ ) are required.
> The dimension of 3d printed part is highly dependent on the servo's size. Modification is required if you want to use alternative servos.
### 3D-Printed Parts
#### Body x 1
| Filename | Thumbnail | Required |
| -------------- | ----------------------------------------------------------------------- | -------- |
| body_top | < img src = "./imgs/body_top.jpg" alt = "body_top" width = "300" / > | 1 |
| body_bottom | < img src = "./imgs/body_bottom.jpg" alt = "body_bottom" width = "300" / > | 1 |
| body_side_wall | < img src = "./imgs/body_side_wall.jpg" alt = "body_side_wall" width = "300" / > | 2 |
| body_back_wall | < img src = "./imgs/body_back_wall.jpg" alt = "body_back_wall" width = "300" / > | 1 |
| battery_box | < img src = "./imgs/battery_box.jpg" alt = "battery_box" width = "300" / > | 1 |
| battery_holder | < img src = "./imgs/battery_holder.jpg" alt = "battery_holder" width = "300" / > | 2 |
#### Leg x 6
| Filename | Thumbnail | Required |
| --------------- | ------------------------------------------------------------------------- | -------- |
| thigh_top | < img src = "./imgs/thigh_top.jpg" alt = "thigh_top" width = "300" / > | 1 (x6) |
| thigh_bottom | < img src = "./imgs/thigh_bottom.jpg" alt = "thigh_bottom" width = "300" / > | 1 (x6) |
| joint_cross | < img src = "./imgs/joint_cross.jpg" alt = "joint_cross" width = "300" / > | 1 (x6) |
| joint_top | < img src = "./imgs/joint_top.jpg" alt = "joint_top" width = "300" / > | 2 (x6) |
| joint_bottom | < img src = "./imgs/joint_bottom.jpg" alt = "joint_bottom" width = "300" / > | 2 (x6) |
| leg_top | < img src = "./imgs/leg_top.jpg" alt = "leg_top" width = "300" / > | 1 (x6) |
| let_bottom | < img src = "./imgs/leg_bottom.jpg" alt = "leg_bottom" width = "300" / > | 1 (x6) |
| foot_top | < img src = "./imgs/foot_top.jpg" alt = "foot_top" width = "300" / > | 1 (x6) |
| foot_bottom | < img src = "./imgs/foot_bottom.jpg" alt = "foot_bottom" width = "300" / > | 1 (x6) |
| foot_ground | < img src = "./imgs/foot_ground.jpg" alt = "foot_ground" width = "300" / > | 1 (x6) |
| foot_tip | < img src = "./imgs/foot_tip.jpg" alt = "foot_tip" width = "300" / > | 1 (x6) |
| servo_horn_j1j2 | < img src = "./imgs/servo_horn_j1j2.jpg" alt = "servo_horn_j1j2" width = "300" / > | 2 (x6) |
| servo_horn_j3 | < img src = "./imgs/servo_horn_j3.jpg" alt = "servo_horn_j3" width = "300" / > | 1 (x6) |
### Others
| Name | Spec | Thumbnail | Required | Note |
| --------- | ------- | ---------------------------- | -------- | ------------------------------------------------- |
| Screw | M2 6mm |  | 54 | Servo Arm: 1 x 18< br > Joint: 4 x 6< br > Thigh: 2 x 6 |
| Screw | M2 10mm |  | 24 | Thigh: 1 x 6< br > Pin lock: 1 x 18 |
| Screw | M2 30mm |  | 36 | Servo: 2 x 18 |
| Nuts | M2 |  | 36 | Servo: 2 x 18 |
| Pin (304) | M4 6mm |  | 18 | Servo: 1 x 18 |
## Leg Assemble
### Assembly video
< a href = 'https://youtu.be/oaAE5fC09KQ' > < img src = 'http://img.youtube.com/vi/oaAE5fC09KQ/mqdefault.jpg' / > < / a >
### Exploded view
< img src = "./imgs/mech_leg_exploded.jpg" alt = "LegAssemble" width = "500" / >
### Detailed steps
- **Step 1** - Combine `thigh_top` , `MG92B` and `thigh_bottom` , use M2x30mm screw and nut to secure them together.
< img src = "./imgs/mech_leg_1.jpg" alt = "LegAssemble1" width = "500" / >
- **Step 2** - Grab one `joint_cross` , `joint_top` and `joint_bottom` and combine them
< img src = "./imgs/mech_leg_2.jpg" alt = "LegAssemble2" width = "500" / >
- **Step 3** - First put 2 x `MG92B` , `leg_top` and `leg_bottom` together with M2x30mm screw and nut. Then attach `joint_top` and `joint_bottom` altogether
< img src = "./imgs/mech_leg_3.jpg" alt = "LegAssemble3" width = "500" / >
- **Step 4** - Grab `foot_top` , `foot_bottom` and `foot_ground` (and `foot_top` ) and assemble them.
< img src = "./imgs/mech_leg_4.jpg" alt = "LegAssemble4" width = "500" / >
- **Finish** - Great, you got 1 leg done, 5 more to go :)
< img src = "./imgs/mech_leg_5.jpg" alt = "LegAssemble5" width = "500" / >
