update mechanism documentation

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Zhengyu Peng 3 years ago
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# 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.<br>
> 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/)). <br>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<br>Joint: 4 x 6<br>Thigh: 2 x 6
Screw | M2 10mm | ![10mm](files/M2_10mm.JPG) | 24 | Thigh: 1 x 6<br>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

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# Leg Assemble Instruction
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>
## 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 :)

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## Bill of Materials ## 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.<br>
> 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/)). <br>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<br>Joint: 4 x 6<br>Thigh: 2 x 6 |
| Screw | M2 10mm | ![10mm](files/M2_10mm.JPG) | 24 | Thigh: 1 x 6<br>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) ![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. 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> <a href='https://youtu.be/oaAE5fC09KQ'><img src='http://img.youtube.com/vi/oaAE5fC09KQ/mqdefault.jpg'/></a>
> 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 ##### 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.
<a href='https://youtu.be/oaAE5fC09KQ'><img src='http://img.youtube.com/vi/oaAE5fC09KQ/mqdefault.jpg'/></a>
> Note. Total 6 Legs are required.

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