Humanoid Biped Leg Pair Assembly Guide

Last modified by Eric Nantel on 2023/01/23 13:59
Humanoid Biped Leg Pair Assembly Guide. Updated 08/30/2007

Hardware:
  - 4 x Multi-Purpose Servo Bracket Two Pack (ASB-04)
  - 5 x "C" Servo Bracket w/ Ball Bearings Two Pack (ASB-09)
  - 1 x Alum. Robot Feet Two Pack (ARF-01)
  - 8 x HS-5645 (168 oz. in.) Digital Standard Servo (S5645MG)

Goal:
  - Assemble a pair of humanoid biped legs using servo brackets.

Notes:
  - This assembly guide covers the assembly of one leg for the robot's right side. You will need to repeat these steps, making a mirror image of the leg for the robot's left side.
  - Know that this is only an example! There are countless other ways for you to make legs for your biped. You might choose to have fewer degrees of freedom, or use tubing; whatever you want to do, you can!
Image of Humanoid Biped's Right Leg.
   
Step 1.
Attach a multi-purpose servo bracket to a "C" bracket as shown, using two 2-56 x .250" screws and 2-56 nuts.

2 x 2 x


Figure 1.
   
Step 2.
Attach two "C" brackets as shown, using two 2-56 x .250 screws and 2-56 nuts.

2 x 2 x


Figure 2.
   
Step 3.
Connect the "C" bracket to the multi-purpose bracket as shown. See figure 3-1 for detailed information.


Figure 3-1.
Figure 3-2.
   
Step 4.
Attach a multi-purpose servo bracket to a "C" bracket as shown, using two 2-56 x .250" screws and 2-56 nuts.

2 x 2 x


Figure 4.
   
Step 5.
Connect the "C" bracket to a multi-purpose bracket as shown. See figure 5-1 for detailed information.


Figure 5-1.


Figure 5-2.
   
Step 6.
Attach a multi-purpose servo bracket to a "C" bracket as shown, using two 2-56 x .250" screws and 2-56 nuts.

2 x 2 x


Figure 6.
   
Step 7.
Connect the "C" bracket to a multi-purpose bracket as shown. See figure 7-1 for detailed information.


Figure 7-1.
Figure 7-2.
   
Step 8.
Attach a multi-purpose servo bracket to the foot panel as shown, using three 2-56 x .125" screws and 2-56 nuts.

3 x 3 x


Figure 8.
   
Step 9.
Connect the "C" bracket to a multi-purpose bracket as shown. See figure 9-1 for detailed information.


Figure 9-1.


Figure 9-2.
   
Step 10.
Attach the servos as shown, using the included 3mm hardware, and two #2 tapping screws. For quick prototype assembly, you can use rivet fasteners (sold separately: NSRF-01) as illustrated.

16 x 8 x


Figure 10.
   
Step 11.
When you are ready to attach the legs to your biped torso, attach the "C" brackets as shown, using the ball bearing hardware and four #2 tapping screws.

2 x 4 x


Figure 11.
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Created by Eric Nantel on 2023/01/23 13:07

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