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Zhengyu Peng 2022-01-01 20:22:51 -05:00
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mechanism/README.md
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# Mechanism
![Body](files/mech_body.png)
![Body](imgs/mech_body.png)
## Bill of Materials
@ -21,41 +21,41 @@ An hexapod requires 18 of them.
| 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 |
| body_top | ![body_top](imgs/body_top.jpg) | 1 |
| body_bottom | ![body_bottom](imgs/body_bottom.jpg) | 1 |
| body_center | ![body_center](imgs/body_center.jpg) | 1 |
| body_side_wall | ![body_side_wall](imgs/body_side_wall.jpg) | 2 |
| body_back_wall | ![body_back_wall](imgs/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) |
| thigh_top | ![thigh_top](imgs/thigh_top.jpg) | 1 (x6) |
| thigh_bottom | ![thigh_bottom](imgs/thigh_bottom.jpg) | 1 (x6) |
| joint_cross | ![joint_cross](imgs/joint_cross.jpg) | 1 (x6) |
| joint_top | ![joint_top](imgs/joint_top.jpg) | 2 (x6) |
| joint_bottom | ![joint_bottom](imgs/joint_bottom.jpg) | 2 (x6) |
| leg_top | ![leg_top](imgs/leg_top.jpg) | 1 (x6) |
| let_bottom | ![leg_bottom](imgs/leg_bottom.jpg) | 1 (x6) |
| foot_top | ![foot_top](imgs/foot_top.jpg) | 1 (x6) |
| foot_bottom | ![foot_bottom](imgs/foot_bottom.jpg) | 1 (x6) |
| foot_ground | ![foot_ground](imgs/foot_ground.jpg) | 1 (x6) |
| foot_tip | ![foot_tip](imgs/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 |
| 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 |
### Leg Assemble
![LegAssemble](files/mech_leg_exploded.jpg)
![LegAssemble](imgs/mech_leg_exploded.jpg)
#### Leg Assemble Instruction
@ -68,46 +68,46 @@ 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 |
| thigh_top | ![thigh_top](imgs/thigh_top.jpg) | 1 |
| thigh_bottom | ![thigh_bottom](imgs/thigh_bottom.jpg) | 1 |
| joint_cross | ![joint_cross](imgs/joint_cross.jpg) | 1 |
| joint_top | ![joint_top](imgs/joint_top.jpg) | 2 |
| joint_bottom | ![joint_bottom](imgs/joint_bottom.jpg) | 2 |
| leg_top | ![leg_top](imgs/leg_top.jpg) | 1 |
| let_bottom | ![leg_bottom](imgs/leg_bottom.jpg) | 1 |
| foot_top | ![foot_top](imgs/foot_top.jpg) | 1 |
| foot_bottom | ![foot_bottom](imgs/foot_bottom.jpg) | 1 |
| foot_ground | ![foot_ground](imgs/foot_ground.jpg) | 1 |
| foot_tip | ![foot_tip](imgs/foot_tip.jpg) | 1 |
##### Step 1
![LegAssemble1](files/mech_leg_1.jpg)
![LegAssemble1](imgs/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)
![LegAssemble2](imgs/mech_leg_2.jpg)
Grab one `joint_cross`, `joint_top` and `joint_bottom` and combine them
##### Step 3
![LegAssemble3](files/mech_leg_3.jpg)
![LegAssemble3](imgs/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)
![LegAssemble4](imgs/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)
![LegAssemble5](imgs/mech_leg_5.jpg)
Great, you got 1 leg done, 5 more to go :)