update mechanism documentation
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Zhengyu Peng
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# Bill of Materials
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## Servo - MG92B
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Servo is the key component. I use TowerPro [MG92B](http://www.towerpro.com.tw/product/mg92b/). It has metal gear (important!).
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An hexapod requires 18 of them.
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> The dimension of 3d printed part is highly depended on servo's dimension.<br>
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> Modification is required if you want to use other alternative servo.
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> 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.
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## 3D-Printed Parts
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### Body x 1
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Filename | Thumbnail | Required |
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-------- | --------- | -------- |
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body_top |  | 1 |
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body_bottom |  | 1 |
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body_center |  | 1 |
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body_side_wall |  | 2 |
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body_back_wall |  | 1 |
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### Leg x 6
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Filename | Thumbnail | Required |
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-------- | --------- | -------- |
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thigh_top |  | 1 (x6) |
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thigh_bottom |  | 1 (x6) |
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joint_cross |  | 1 (x6) |
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joint_top |  | 2 (x6) |
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joint_bottom |  | 2 (x6) |
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leg_top |  | 1 (x6) |
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let_bottom |  | 1 (x6) |
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foot_top |  | 1 (x6) |
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foot_bottom |  | 1 (x6) |
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foot_ground |  | 1 (x6) |
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foot_tip |  | 1 (x6) |
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## Others
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Name | Spec | Thumbnail | Required | Note
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---- | ---- | --------- | -------- | ----
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Screw | M2 6mm |  | 54 | Servo Arm: 1 x 18<br>Joint: 4 x 6<br>Thigh: 2 x 6
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Screw | M2 10mm |  | 24 | Thigh: 1 x 6<br>Pin lock: 1 x 18
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Screw | M2 30mm |  | 36 | Servo: 2 x 18
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Nuts | M2 |  | 36 | Servo: 2 x 18
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Pin (304) | M4 6mm |  | 18 | Servo: 1 x 18
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@ -1,57 +0,0 @@
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# Leg Assemble Instruction
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Leg assembly instruction video https://youtu.be/oaAE5fC09KQ is also available.
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<a href='https://youtu.be/oaAE5fC09KQ'><img src='http://img.youtube.com/vi/oaAE5fC09KQ/mqdefault.jpg'/></a>
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## Preparation
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For one leg, you will need 3 MG92B servo and below printed parts
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Filename | Thumbnail | Required |
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-------- | --------- | -------- |
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thigh_top |  | 1 |
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thigh_bottom |  | 1 |
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joint_cross |  | 1 |
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joint_top |  | 2 |
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joint_bottom |  | 2 |
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leg_top |  | 1 |
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let_bottom |  | 1 |
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foot_top |  | 1 |
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foot_bottom |  | 1 |
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foot_ground |  | 1 |
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foot_tip |  | 1 |
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## Step 1
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Combine `thigh_top`, `MG92B` and `thigh_bottom`, use M2x30mm screw and nut to secure them together.
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## Step 2
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Grab one `joint_cross`, `joint_top` and `joint_bottom` and combine them
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## Step 3
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First put 2 x `MG92B`, `leg_top` and `leg_bottom` together with M2x30mm screw and nut.
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Then attach `joint_top` and `joint_bottom` altogether
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## Step 4
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Grab `foot_top`, `foot_bottom` and `foot_ground` (and `foot_top`) and assemble them.
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## Finish!
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Great, you got 1 leg done, 5 more to go :)
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@ -4,19 +4,114 @@
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## Bill of Materials
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## Bill of Materials
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[BOM](BOM.md)
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### Servo - MG92B
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## Leg Assemble
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Servo is the key component. I use TowerPro [MG92B](http://www.towerpro.com.tw/product/mg92b/). It has metal gear (important!).
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An hexapod requires 18 of them.
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> The dimension of 3d printed part is highly depended on servo's dimension.<br>
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> Modification is required if you want to use other alternative servo.
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> 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.
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### 3D-Printed Parts
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#### Body x 1
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| Filename | Thumbnail | Required |
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| -------------- | ------------------------------------------- | -------- |
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| body_top |  | 1 |
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| body_bottom |  | 1 |
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| body_center |  | 1 |
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| body_side_wall |  | 2 |
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| body_back_wall |  | 1 |
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#### Leg x 6
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| Filename | Thumbnail | Required |
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| ------------ | --------------------------------------- | -------- |
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| thigh_top |  | 1 (x6) |
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| thigh_bottom |  | 1 (x6) |
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| joint_cross |  | 1 (x6) |
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| joint_top |  | 2 (x6) |
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| joint_bottom |  | 2 (x6) |
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| leg_top |  | 1 (x6) |
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| let_bottom |  | 1 (x6) |
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| foot_top |  | 1 (x6) |
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| foot_bottom |  | 1 (x6) |
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| foot_ground |  | 1 (x6) |
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| foot_tip |  | 1 (x6) |
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### Others
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| Name | Spec | Thumbnail | Required | Note |
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| --------- | ------- | ---------------------------- | -------- | ------------------------------------------------- |
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| Screw | M2 6mm |  | 54 | Servo Arm: 1 x 18<br>Joint: 4 x 6<br>Thigh: 2 x 6 |
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| Screw | M2 10mm |  | 24 | Thigh: 1 x 6<br>Pin lock: 1 x 18 |
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| Screw | M2 30mm |  | 36 | Servo: 2 x 18 |
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| Nuts | M2 |  | 36 | Servo: 2 x 18 |
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| Pin (304) | M4 6mm |  | 18 | Servo: 1 x 18 |
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### Leg Assemble
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Please check [Leg Assemble](LEG.md) for more detail instructions
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#### Leg Assemble Instruction
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Leg assembly instruction video https://youtu.be/oaAE5fC09KQ is also available.
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<a href='https://youtu.be/oaAE5fC09KQ'><img src='http://img.youtube.com/vi/oaAE5fC09KQ/mqdefault.jpg'/></a>
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##### Preparation
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For one leg, you will need 3 MG92B servo and below printed parts
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| Filename | Thumbnail | Required |
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| ------------ | --------------------------------------- | -------- |
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| thigh_top |  | 1 |
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| thigh_bottom |  | 1 |
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| joint_cross |  | 1 |
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| joint_top |  | 2 |
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| joint_bottom |  | 2 |
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| leg_top |  | 1 |
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| let_bottom |  | 1 |
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| foot_top |  | 1 |
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| foot_bottom |  | 1 |
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| foot_ground |  | 1 |
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| foot_tip |  | 1 |
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##### Step 1
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Combine `thigh_top`, `MG92B` and `thigh_bottom`, use M2x30mm screw and nut to secure them together.
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##### Step 2
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Grab one `joint_cross`, `joint_top` and `joint_bottom` and combine them
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##### Step 3
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First put 2 x `MG92B`, `leg_top` and `leg_bottom` together with M2x30mm screw and nut.
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Then attach `joint_top` and `joint_bottom` altogether
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##### Step 4
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Grab `foot_top`, `foot_bottom` and `foot_ground` (and `foot_top`) and assemble them.
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##### Finish!
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Great, you got 1 leg done, 5 more to go :)
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Leg assembly instruction video https://youtu.be/oaAE5fC09KQ is also available.
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Leg assembly instruction video https://youtu.be/oaAE5fC09KQ is also available.
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<a href='https://youtu.be/oaAE5fC09KQ'><img src='http://img.youtube.com/vi/oaAE5fC09KQ/mqdefault.jpg'/></a>
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<a href='https://youtu.be/oaAE5fC09KQ'><img src='http://img.youtube.com/vi/oaAE5fC09KQ/mqdefault.jpg'/></a>
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> Note. Total 6 Legs are required.
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> Note. Total 6 Legs are required.
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## Body Assemble
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TBD
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