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# Mechanism
## Bill of Materials
3 years ago
### Servos
3 years ago
18 TowerPro [MG92B](http://www.towerpro.com.tw/product/mg92b/) are required.
3 years ago
> 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
3 years ago
| Filename | Thumbnail | Required |
| -------------- | ------------------------------------------------------------------ | -------- |
3 years ago
| 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 |
#### Leg x 6
3 years ago
| 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) |
### Others
| Name | Spec | Thumbnail | Required | Note |
| --------- | ------- | ---------------------------- | -------- | ------------------------------------------------- |
3 years ago
| Screw | M2 6mm | ![6mm](imgs/M2_6mm.JPG) | 54 | Servo Arm: 1 x 18<br>Joint: 4 x 6<br>Thigh: 2 x 6 |
| Screw | M2 10mm | ![10mm](imgs/M2_10mm.JPG) | 24 | Thigh: 1 x 6<br>Pin lock: 1 x 18 |
| Screw | M2 30mm | ![30mm](imgs/M2_30mm.JPG) | 36 | Servo: 2 x 18 |
| Nuts | M2 | ![6mm](imgs/M2_nut.JPG) | 36 | Servo: 2 x 18 |
| Pin (304) | M4 6mm | ![pin](imgs/pin_M4_6mm.JPG) | 18 | Servo: 1 x 18 |
3 years ago
## Leg Assemble
3 years ago
### Exploded view
<img src="./imgs/mech_leg_exploded.jpg" alt="LegAssemble" width="500"/>
3 years ago
### Step 1
3 years ago
<img src="./imgs/mech_leg_1.jpg" alt="LegAssemble1" width="500"/>
Combine `thigh_top`, `MG92B` and `thigh_bottom`, use M2x30mm screw and nut to secure them together.
3 years ago
### Step 2
3 years ago
<img src="./imgs/mech_leg_2.jpg" alt="LegAssemble2" width="500"/>
Grab one `joint_cross`, `joint_top` and `joint_bottom` and combine them
3 years ago
### Step 3
3 years ago
<img src="./imgs/mech_leg_3.jpg" alt="LegAssemble3" width="500"/>
First put 2 x `MG92B`, `leg_top` and `leg_bottom` together with M2x30mm screw and nut.
Then attach `joint_top` and `joint_bottom` altogether
3 years ago
### Step 4
3 years ago
<img src="./imgs/mech_leg_4.jpg" alt="LegAssemble4" width="500"/>
Grab `foot_top`, `foot_bottom` and `foot_ground` (and `foot_top`) and assemble them.
3 years ago
### Finish
3 years ago
<img src="./imgs/mech_leg_5.jpg" alt="LegAssemble5" width="500"/>
Great, you got 1 leg done, 5 more to go :)
Leg assembly instruction video https://youtu.be/oaAE5fC09KQ is also available.
<a href='https://youtu.be/oaAE5fC09KQ'><img src='http://img.youtube.com/vi/oaAE5fC09KQ/mqdefault.jpg'/></a>
> Note. Total 6 Legs are required.