diff --git a/mechanism/BOM.md b/mechanism/BOM.md deleted file mode 100644 index 76607f3..0000000 --- a/mechanism/BOM.md +++ /dev/null @@ -1,50 +0,0 @@ -# Bill of Materials - -## Servo - MG92B - -Servo is the key component. I use TowerPro [MG92B](http://www.towerpro.com.tw/product/mg92b/). It has metal gear (important!). -An hexapod requires 18 of them. - -> The dimension of 3d printed part is highly depended on servo's dimension.
-> Modification is required if you want to use other alternative servo. - -> TowerPro MG92B can be found on Ebay seller [servohorns959](https://www.ebay.com/usr/servohorns959), which is listed on TowerPro official website ([Link] (http://www.towerpro.com.tw/about-us-2/)).
I also got mime servo from him. - - -## 3D-Printed Parts - -### Body x 1 - -Filename | Thumbnail | Required | --------- | --------- | -------- | -body_top | ![body_top](files/body_top.jpg) | 1 | -body_bottom | ![body_bottom](files/body_bottom.jpg) | 1 | -body_center | ![body_center](files/body_center.jpg) | 1 | -body_side_wall | ![body_side_wall](files/body_side_wall.jpg) | 2 | -body_back_wall | ![body_back_wall](files/body_back_wall.jpg) | 1 | - -### Leg x 6 - -Filename | Thumbnail | Required | --------- | --------- | -------- | -thigh_top | ![thigh_top](files/thigh_top.jpg) | 1 (x6) | -thigh_bottom | ![thigh_bottom](files/thigh_bottom.jpg) | 1 (x6) | -joint_cross | ![joint_cross](files/joint_cross.jpg) | 1 (x6) | -joint_top | ![joint_top](files/joint_top.jpg) | 2 (x6) | -joint_bottom | ![joint_bottom](files/joint_bottom.jpg) | 2 (x6) | -leg_top | ![leg_top](files/leg_top.jpg) | 1 (x6) | -let_bottom | ![leg_bottom](files/leg_bottom.jpg) | 1 (x6) | -foot_top | ![foot_top](files/foot_top.jpg) | 1 (x6) | -foot_bottom | ![foot_bottom](files/foot_bottom.jpg) | 1 (x6) | -foot_ground | ![foot_ground](files/foot_ground.jpg) | 1 (x6) | -foot_tip | ![foot_tip](files/foot_tip.jpg) | 1 (x6) | - -## Others - -Name | Spec | Thumbnail | Required | Note ----- | ---- | --------- | -------- | ---- -Screw | M2 6mm | ![6mm](files/M2_6mm.JPG) | 54 | Servo Arm: 1 x 18
Joint: 4 x 6
Thigh: 2 x 6 -Screw | M2 10mm | ![10mm](files/M2_10mm.JPG) | 24 | Thigh: 1 x 6
Pin lock: 1 x 18 -Screw | M2 30mm | ![30mm](files/M2_30mm.JPG) | 36 | Servo: 2 x 18 -Nuts | M2 | ![6mm](files/M2_nut.JPG) | 36 | Servo: 2 x 18 -Pin (304) | M4 6mm | ![pin](files/pin_M4_6mm.JPG) | 18 | Servo: 1 x 18 diff --git a/mechanism/LEG.md b/mechanism/LEG.md deleted file mode 100644 index 42baff3..0000000 --- a/mechanism/LEG.md +++ /dev/null @@ -1,57 +0,0 @@ -# Leg Assemble Instruction - -Leg assembly instruction video https://youtu.be/oaAE5fC09KQ is also available. - - -## Preparation - -For one leg, you will need 3 MG92B servo and below printed parts - -Filename | Thumbnail | Required | --------- | --------- | -------- | -thigh_top | ![thigh_top](files/thigh_top.jpg) | 1 | -thigh_bottom | ![thigh_bottom](files/thigh_bottom.jpg) | 1 | -joint_cross | ![joint_cross](files/joint_cross.jpg) | 1 | -joint_top | ![joint_top](files/joint_top.jpg) | 2 | -joint_bottom | ![joint_bottom](files/joint_bottom.jpg) | 2 | -leg_top | ![leg_top](files/leg_top.jpg) | 1 | -let_bottom | ![leg_bottom](files/leg_bottom.jpg) | 1 | -foot_top | ![foot_top](files/foot_top.jpg) | 1 | -foot_bottom | ![foot_bottom](files/foot_bottom.jpg) | 1 | -foot_ground | ![foot_ground](files/foot_ground.jpg) | 1 | -foot_tip | ![foot_tip](files/foot_tip.jpg) | 1 | - -## Step 1 - -![LegAssemble1](files/mech_leg_1.jpg) - -Combine `thigh_top`, `MG92B` and `thigh_bottom`, use M2x30mm screw and nut to secure them together. - -## Step 2 - -![LegAssemble2](files/mech_leg_2.jpg) - -Grab one `joint_cross`, `joint_top` and `joint_bottom` and combine them - -## Step 3 - -![LegAssemble3](files/mech_leg_3.jpg) - -First put 2 x `MG92B`, `leg_top` and `leg_bottom` together with M2x30mm screw and nut. -Then attach `joint_top` and `joint_bottom` altogether - -## Step 4 - -![LegAssemble4](files/mech_leg_4.jpg) - -Grab `foot_top`, `foot_bottom` and `foot_ground` (and `foot_top`) and assemble them. - -## Finish! - -![LegAssemble5](files/mech_leg_5.jpg) - -Great, you got 1 leg done, 5 more to go :) - - - - diff --git a/mechanism/README.md b/mechanism/README.md index 6807d43..c2227a3 100644 --- a/mechanism/README.md +++ b/mechanism/README.md @@ -4,19 +4,114 @@ ## Bill of Materials -[BOM](BOM.md) +### Servo - MG92B -## Leg Assemble +Servo is the key component. I use TowerPro [MG92B](http://www.towerpro.com.tw/product/mg92b/). It has metal gear (important!). +An hexapod requires 18 of them. + +> The dimension of 3d printed part is highly depended on servo's dimension.
+> Modification is required if you want to use other alternative servo. + +> TowerPro MG92B can be found on Ebay seller [servohorns959](https://www.ebay.com/usr/servohorns959), which is listed on TowerPro official website ([Link] (http://www.towerpro.com.tw/about-us-2/)).
I also got mime servo from him. + + +### 3D-Printed Parts + +#### Body x 1 + +| Filename | Thumbnail | Required | +| -------------- | ------------------------------------------- | -------- | +| body_top | ![body_top](files/body_top.jpg) | 1 | +| body_bottom | ![body_bottom](files/body_bottom.jpg) | 1 | +| body_center | ![body_center](files/body_center.jpg) | 1 | +| body_side_wall | ![body_side_wall](files/body_side_wall.jpg) | 2 | +| body_back_wall | ![body_back_wall](files/body_back_wall.jpg) | 1 | + +#### Leg x 6 + +| Filename | Thumbnail | Required | +| ------------ | --------------------------------------- | -------- | +| thigh_top | ![thigh_top](files/thigh_top.jpg) | 1 (x6) | +| thigh_bottom | ![thigh_bottom](files/thigh_bottom.jpg) | 1 (x6) | +| joint_cross | ![joint_cross](files/joint_cross.jpg) | 1 (x6) | +| joint_top | ![joint_top](files/joint_top.jpg) | 2 (x6) | +| joint_bottom | ![joint_bottom](files/joint_bottom.jpg) | 2 (x6) | +| leg_top | ![leg_top](files/leg_top.jpg) | 1 (x6) | +| let_bottom | ![leg_bottom](files/leg_bottom.jpg) | 1 (x6) | +| foot_top | ![foot_top](files/foot_top.jpg) | 1 (x6) | +| foot_bottom | ![foot_bottom](files/foot_bottom.jpg) | 1 (x6) | +| foot_ground | ![foot_ground](files/foot_ground.jpg) | 1 (x6) | +| foot_tip | ![foot_tip](files/foot_tip.jpg) | 1 (x6) | + +### Others + +| Name | Spec | Thumbnail | Required | Note | +| --------- | ------- | ---------------------------- | -------- | ------------------------------------------------- | +| Screw | M2 6mm | ![6mm](files/M2_6mm.JPG) | 54 | Servo Arm: 1 x 18
Joint: 4 x 6
Thigh: 2 x 6 | +| Screw | M2 10mm | ![10mm](files/M2_10mm.JPG) | 24 | Thigh: 1 x 6
Pin lock: 1 x 18 | +| Screw | M2 30mm | ![30mm](files/M2_30mm.JPG) | 36 | Servo: 2 x 18 | +| Nuts | M2 | ![6mm](files/M2_nut.JPG) | 36 | Servo: 2 x 18 | +| Pin (304) | M4 6mm | ![pin](files/pin_M4_6mm.JPG) | 18 | Servo: 1 x 18 | + +### Leg Assemble ![LegAssemble](files/mech_leg_exploded.jpg) -Please check [Leg Assemble](LEG.md) for more detail instructions +#### Leg Assemble Instruction Leg assembly instruction video https://youtu.be/oaAE5fC09KQ is also available. -> Note. Total 6 Legs are required. +##### Preparation + +For one leg, you will need 3 MG92B servo and below printed parts + +| Filename | Thumbnail | Required | +| ------------ | --------------------------------------- | -------- | +| thigh_top | ![thigh_top](files/thigh_top.jpg) | 1 | +| thigh_bottom | ![thigh_bottom](files/thigh_bottom.jpg) | 1 | +| joint_cross | ![joint_cross](files/joint_cross.jpg) | 1 | +| joint_top | ![joint_top](files/joint_top.jpg) | 2 | +| joint_bottom | ![joint_bottom](files/joint_bottom.jpg) | 2 | +| leg_top | ![leg_top](files/leg_top.jpg) | 1 | +| let_bottom | ![leg_bottom](files/leg_bottom.jpg) | 1 | +| foot_top | ![foot_top](files/foot_top.jpg) | 1 | +| foot_bottom | ![foot_bottom](files/foot_bottom.jpg) | 1 | +| foot_ground | ![foot_ground](files/foot_ground.jpg) | 1 | +| foot_tip | ![foot_tip](files/foot_tip.jpg) | 1 | + +##### Step 1 + +![LegAssemble1](files/mech_leg_1.jpg) -## Body Assemble +Combine `thigh_top`, `MG92B` and `thigh_bottom`, use M2x30mm screw and nut to secure them together. -TBD \ No newline at end of file +##### Step 2 + +![LegAssemble2](files/mech_leg_2.jpg) + +Grab one `joint_cross`, `joint_top` and `joint_bottom` and combine them + +##### Step 3 + +![LegAssemble3](files/mech_leg_3.jpg) + +First put 2 x `MG92B`, `leg_top` and `leg_bottom` together with M2x30mm screw and nut. +Then attach `joint_top` and `joint_bottom` altogether + +##### Step 4 + +![LegAssemble4](files/mech_leg_4.jpg) + +Grab `foot_top`, `foot_bottom` and `foot_ground` (and `foot_top`) and assemble them. + +##### Finish! + +![LegAssemble5](files/mech_leg_5.jpg) + +Great, you got 1 leg done, 5 more to go :) + +Leg assembly instruction video https://youtu.be/oaAE5fC09KQ is also available. + + +> Note. Total 6 Legs are required.