Shoulder Installation
We'll now install the Shoulder of the Back-Right leg, which is the part that connects the leg to the torso !
Add the Shoulder Part
We'll first add the Shoulder Part, which is the main structural part of the Shoulder assembly.
For this step, you'll need :
| Ressource | Quantity |
|---|---|
Shoulder (FR) Part | 1 |
Slide the Shoulder Part towards the Bottom
Place the Shoulder (FR) part on top of Front-Right slot on the Torso-Bottom part.
Slide it down while twisting it slightly around the shaft of the Servomotor until it sits straight in the slot.
Twist the Shoulder Part towards the exterior
Twist the Shoulder (FR) part towards the exterior of the robot so it's in the correct position.
Add the Straight Servo Horn
Now that the Shoulder (FR) Part is in place, we'll add the Straight Servo Horn to link the Servomotor to it.
For this step, you'll need :
| Ressource | Quantity |
|---|---|
| Straight Servo Horn (from the servo bag) | 1 |
M3 x 6mm screw (from the servo bag) | 1 |
Place the Straight Servo Horn
First, place the Servo Horn in front of the Servomotor Shaft.
Make sure it is straight and aligns with the recess of the Shoulder (FR) part.
Press the Servo Horn on the Servomotor Shaft
Now that it's aligned, press the Servo Horn on the motor's shaft.
Horn Orientation
If you can't push the Servo Horn straight on the shaft, turn it by 180° and try again with the new orientation.
Screw the Servo Horn to secure the Joint
Now that the Servo Horn is in place, use a M3 x 6mm screw from the servo's bag to secure the joint in place.
Make sure this screw is tight so the joint doesn't come apart during use.
Guide the Wires
We'll continue the little cable management we started in the previous step by guiding the wires of the Servomotor and the Contact Switch through the Shoulder Part.
Pull the Contact Switch wires through the Shoulder Part
First, pull the Contact Switch wires through the Shoulder (FR) part and towards the center of the Torso-Bottom part.
Pull the Servomotor wires through the Shoulder Part
Now, pull the Servomotor wires through the Shoulder (FR) part in the same way as the Contact Switch wires.
Check that the wires are not pinched and have enough slack to allow the leg to move freely.
Add the Shoulder Servomotor
Everything is now ready to add the last Servomotor of the leg, which is the one on the Shoulder.
For this step, you'll need :
| Ressource | Quantity |
|---|---|
| Top MG996R Servomotor (the ones with 10cm long wires) | 1 |
M2.5 x 10mm screws (from the servo bag) | 4 |
Place the Servomotor on the Shoulder Part
Slide the Servomotor on the Shoulder (FR) part, with the shaft of the motor on the back side of the robot.
Check that the wires stay guided through the Shoulder (FR) hole on the top of the part and are not pinched.
Screw the Servomotor in place
Now that the Servomotor is in place, use the four M2.5 x 10mm screws to secure it to the Shoulder (FR) part.
Make sure the servomotor is straight in its slot and tighten the screws until it's snug, but avoid overtightening to prevent damage to the motor or the part.
Add the Shoulder pin
The Shoulder assembly is now almost complete, we'll secure the other side of the joint by adding the Shoulder Pin.
For this step, you'll need :
| Ressource | Quantity |
|---|---|
The Shoulder-Pin part | 1 |
Place and Press the Shoulder Pin in the Pin Hole
Align the Shoulder-Pin part with the Hole on the Torso part and the Shoulder (FR) part,
and verify that the little hole on the Shoulder-Pin part is towards the exterior of the robot.
Then, press the Shoulder-Pin part in the hole until it sits flush and secure.
Add the Shoulder Top Part
We'll finish the Shoulder assembly by adding the Shoulder Top part.
For this step, you'll need :
| Ressource | Quantity |
|---|---|
Shoulder-Top Part | 1 |
M2.5 x 6mm screws | 2 |
Align the Shoulder Top Part
Place the Shoulder-Top part on top of the Shoulder (FR) part, and align the holes of the two screws.
Check that the Servo Shaft and the center of the Shoulder-Top part are aligned.
If not, adjust the position of the Servomotor by unscrewing it, moving it slightly, and screwing it back in place.
Screw the Shoulder Top Part
Once the Shoulder-Top part is well aligned, use two M2.5 x 4mm screws to secure it to the Shoulder (FR) part.
As for the other screws, make sure to tighten them until the Shoulder-Top part is snug, but avoid overtightening to prevent damage to the parts.
Add the Leg Assembly
Now is time to add the fix the leg to the Shoulder and see everything come together !
For this step, you'll need :
| Ressource | Quantity |
|---|---|
A M3 x 6mm Screw (from the servo bag) | 1 |
Align the Leg Assembly with the Shoulder
Align the Leg Assembly (FR) with the Shoulder (FR) and check that the marks on either side of the joint are aligned.
Press the Leg Assembly on the Shoulder
Press the Leg Assembly (FR) on the Shoulder (FR) part until it sits flush.
Screw the Leg Assembly to secure the Joint
Use the M3 x 6mm screw to secure the joint.
Make sure to really tighten this screw to ensure the leg is securely attached to the Shoulder and won't come apart during use.
Verification
Good job ! You got your last leg attached to the torso, almost done !
Here's what it should look like at this stage :
We still need to add a couple of plastic covers to make it look nice, so let's do that now !