Adding the Motors
All the components and PCBs are mounted on the torso, so let's add some motors !
We'll start by adding the 4 motors used for the Hip-Roll joints of the legs, which are mounted directly on the torso.
For this section, you'll need
| Ressource | Quantity |
|---|---|
| Top MG996R Servomotors (the ones with the 10cm long wires) | 4 |
M2.5 x 10mm Screws (from the servo bag) | 16 |
The Front-Left motor
Place the motor
Place the Front-Left motor with the shaft pointing towards the front of the robot.
Also make sure the shaft is on the left side of the torso so that it aligns with the Shoulder Pin Hole in front of it.
Screw the motor
Secure the motor to the torso using the provided four screws.
Place the screws in the four mounting holes so the motor sits flush and stable. Tighten the screws until it's snug, but avoid overtightening to prevent damage to the motor or torso.
The Back-Left motor
Place the motor
Place the Back-Left motor with the shaft pointing towards the back of the robot.
Also make sure the shaft is on the left side of the torso so it aligns with the Hip Pin Hole behind it and clears nearby components.
Screw the motor
Secure the motor to the torso using the provided four screws.
Place the screws in the four mounting holes so the motor sits flush and stable. Tighten the screws until it's snug, but avoid overtightening to prevent damage to the motor or torso.
The Back-Right motor
Place the motor
Place the Back-Right motor with the shaft pointing towards the back of the robot.
Also make sure the shaft is on the right side of the torso so it aligns with the Hip Pin Hole behind it and clears nearby components.
Screw the motor
Secure the motor to the torso using the provided four screws.
Place the screws in the four mounting holes so the motor sits flush and stable. Tighten the screws until it's snug, but avoid overtightening to prevent damage to the motor or torso.
The Front-Right motor
Place the motor
Place the Front-Right motor with the shaft pointing towards the front of the robot.
Also make sure the shaft is on the right side of the torso so it aligns with the Shoulder Pin Hole in front of it and the drive coupling lines up correctly.
Screw the motor
Secure the motor to the torso using the provided four screws.
Place the screws in the four mounting holes so the motor sits flush and stable. Tighten the screws until it's snug, but avoid overtightening to prevent damage to the motor or torso.
Verification
Great ! All the motors should now be securely mounted to the torso !
Here's what the final result should look like at this stage :
We can start wiring all of this !