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81 lines
4.4 KiB
Markdown
81 lines
4.4 KiB
Markdown
# Mechanism
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## Bill of Materials
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### Servos
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18 TowerPro [MG92B](http://www.towerpro.com.tw/product/mg92b/) are required.
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> The dimension of 3d printed part is highly dependent on the servo's size. Modification is required if you want to use alternative servos.
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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 | <img src="./imgs/body_top.jpg" alt="body_top" width="300"/> | 1 |
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| body_bottom | <img src="./imgs/body_bottom.jpg" alt="body_bottom" width="300"/> | 1 |
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| body_side_wall | <img src="./imgs/body_side_wall.jpg" alt="body_side_wall" width="300"/> | 2 |
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| body_back_wall | <img src="./imgs/body_back_wall.jpg" alt="body_back_wall" width="300"/> | 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 | <img src="./imgs/thigh_top.jpg" alt="thigh_top" width="300"/> | 1 (x6) |
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| thigh_bottom | <img src="./imgs/thigh_bottom.jpg" alt="thigh_bottom" width="300"/> | 1 (x6) |
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| joint_cross | <img src="./imgs/joint_cross.jpg" alt="joint_cross" width="300"/> | 1 (x6) |
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| joint_top | <img src="./imgs/joint_top.jpg" alt="joint_top" width="300"/> | 2 (x6) |
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| joint_bottom | <img src="./imgs/joint_bottom.jpg" alt="joint_bottom" width="300"/> | 2 (x6) |
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| leg_top | <img src="./imgs/leg_top.jpg" alt="leg_top" width="300"/> | 1 (x6) |
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| let_bottom | <img src="./imgs/leg_bottom.jpg" alt="leg_bottom" width="300"/> | 1 (x6) |
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| foot_top | <img src="./imgs/foot_top.jpg" alt="foot_top" width="300"/> | 1 (x6) |
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| foot_bottom | <img src="./imgs/foot_bottom.jpg" alt="foot_bottom" width="300"/> | 1 (x6) |
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| foot_ground | <img src="./imgs/foot_ground.jpg" alt="foot_ground" width="300"/> | 1 (x6) |
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| foot_tip | <img src="./imgs/foot_tip.jpg" alt="foot_tip" width="300"/> | 1 (x6) |
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| servo_horn_j1j2 | <img src="./imgs/servo_horn_j1j2.jpg" alt="servo_horn_j1j2" width="300"/> | 2 (x6) |
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| servo_horn_j3 | <img src="./imgs/servo_horn_j3.jpg" alt="servo_horn_j3" width="300"/> | 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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### Assembly video
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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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### Exploded view
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<img src="./imgs/mech_leg_exploded.jpg" alt="LegAssemble" width="500"/>
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### Detailed steps
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- **Step 1** - Combine `thigh_top`, `MG92B` and `thigh_bottom`, use M2x30mm screw and nut to secure them together.
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<img src="./imgs/mech_leg_1.jpg" alt="LegAssemble1" width="500"/>
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- **Step 2** - Grab one `joint_cross`, `joint_top` and `joint_bottom` and combine them
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<img src="./imgs/mech_leg_2.jpg" alt="LegAssemble2" width="500"/>
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- **Step 3** - First put 2 x `MG92B`, `leg_top` and `leg_bottom` together with M2x30mm screw and nut. Then attach `joint_top` and `joint_bottom` altogether
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<img src="./imgs/mech_leg_3.jpg" alt="LegAssemble3" width="500"/>
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- **Step 4** - Grab `foot_top`, `foot_bottom` and `foot_ground` (and `foot_top`) and assemble them.
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<img src="./imgs/mech_leg_4.jpg" alt="LegAssemble4" width="500"/>
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- **Finish** - Great, you got 1 leg done, 5 more to go :)
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<img src="./imgs/mech_leg_5.jpg" alt="LegAssemble5" width="500"/>
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