T-Hex 4DOF Leg (Front/Middle legs)

fish-5 · March 4, 2010, 10:39pm

This assembly guide will illustrate how to construct the front and middle 4DOF legs for the T-Hex. The text and images refer to building the robot’s right legs. You will need to mirror these instructions to construct the robot’s left legs. To complete the T-Hex, you will need four of these legs, two right legs (by following these instructions), and two left legs (by mirroring these instructions.)

Image of the completed leg.
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Step 1.

Attach a Tubing Connector Hub to an “L” bracket as shown, using two 2-56 x .250 screws and 2-56 nuts.

2xhttp://www.lynxmotion.com/images/inv/256025ph.GIF 2xhttp://www.lynxmotion.com/images/inv/256zpn.GIF
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Step 2.

Attach the other side of the “L” connector bracket to the Multi-Purpose bracket as shown, using two 2-56 x .250 screws and 2-56 nuts.

2xhttp://www.lynxmotion.com/images/inv/256025ph.GIF 2xhttp://www.lynxmotion.com/images/inv/256zpn.GIF
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Step 3.

Connect a 1.5" tube to the hub using a 4-40 x .250" screw.

1xhttp://www.lynxmotion.com/images/inv/4250hscs.gif
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Step 4.

Attach an offset “C” bracket to an “L” bracket as shown, using two 2-56 x .250 screws and 2-56 nuts.

2xhttp://www.lynxmotion.com/images/inv/256025ph.GIF 2xhttp://www.lynxmotion.com/images/inv/256zpn.GIF
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Step 5.

Attach the other side of the “L” connector bracket to the Multi-Purpose bracket as shown, using two 2-56 x .250 screws and 2-56 nuts.

2xhttp://www.lynxmotion.com/images/inv/256025ph.GIF 2xhttp://www.lynxmotion.com/images/inv/256zpn.GIF
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Step 6.

Attach the offset “C” bracket to the Multi-Purpose bracket as shown. See the diagram below for detailed information.

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Step 7.

Attach a long “C” bracket to an offset “C” bracket as shown, using two 2-56 x .250 screws and 2-56 nuts.

2xhttp://www.lynxmotion.com/images/inv/256025ph.GIF 2xhttp://www.lynxmotion.com/images/inv/256zpn.GIF
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Step 8.

Attach the offset “C” bracket to the Multi-Purpose bracket as shown. See the diagram below for detailed information.

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Step 9.

Attach a ball bearing to the Multi-Purpose bracket as shown. See the diagram below for detailed information.

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Step 10.

Attach the two multi-purpose brackets as shown, using two 2-56 x .250" screws and 2-56 nuts.

2xhttp://www.lynxmotion.com/images/inv/256025ph.GIF 2xhttp://www.lynxmotion.com/images/inv/256zpn.GIF
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Step 11.

Attach the “C” bracket to the Multi-Purpose bracket as shown. See the diagram below for detailed information.

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Step 12.

Install the servos as shown, using the included 3mm hardware, and #2 tapping screws. Note, for quick prototype assembly, you can use rivet fasteners (sold separately: NSRF-01).

6xhttp://www.lynxmotion.com/images/inv/2250phts.gif 16xhttp://www.lynxmotion.com/images/inv/srvhdw.gif
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Step 13.

Slide a rubber foot over the over the end of the 1.5" tube, and you’re finished!

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