assembly_guide.md

Assembly guide (INCOMPLETE)

Requirements :

You will need :

• A soldering iron, and basic electronics tools and skills
• X m3 screws (TODO : add the exact number)
• Some wire
• Loctite Threadlocker blue 243

First, we build the robot's skeleton

Parts needed :

• foot_top.stl x2
• foot_side.stl x2
• foot_bottom_tpu.stl x2 (TPU)
• foot_bottom_pla.stl x2
• knee_to_ankle_left_sheet.stl x4
• knee_to_ankle_right_sheet.stl x4
• leg_spacer.stl x4
• left_roll_to_pitch.stl x1
• right_roll_to_pitch.stl x1
• roll_motor_bottom.stl x2
• roll_motor_top.stl x2
• trunk_bottom.stl x1
• trunk_top.stl x1
• neck_left_sheet.stl x1
• neck_right_sheet.stl x1
• head_pitch_to_yaw.stl x1
• head_yaw_to_roll.stl x1
• head_roll_mount.stl x1

General note : Everytime you screw something in the motors, you want to use a little loctite threadlocker. This will prevent the screws from coming loose due to the vibrations during the operation of the robot. It adds a little time to to the build, but you'll be glad you took the time ;)

At any time, you can refer to the CAD here : https://cad.onshape.com/documents/64074dfcfa379b37d8a47762/w/3650ab4221e215a4f65eb7fe/e/0505c262d882183a25049d05

Steps :

Assemble the trunk

Place the bearings in trunk_bottom like so, and insert M3 inserts in these holes

Then assamble trunk_bottom and trunk_top, and screw them together with 2 M3x6 screws through these holes

Mount the middle motor like so and screw it with the plastic screws that came with the motors :

Insert roll_motor_bottom like this

Assemble the feet

Both feet are the same.

First, assemble foot_bottom_tpu with foot_bottom_pla. Insert M3 inserts in these holes :

And screw the two parts together with two M3x6 screws.

Then, insert M3 inserts in these holes in foot_top here :

And assemble everything like so. Make sure the driver side of the motor is on the foot_top part side :

Assemble the shins

Insert M3 Inserts in these holes of leg_spacer (on both sides. Insert 4 M3 inserts in total) :

Then, first plug the motor cable in the foot's motor, and make it go through the right_sheet like so

Then assemble like below:

Assemble the thighs

The thigh is pretty much the same thing, except the hip_pitch motor is mounted this way (important for the zero position)

Assemble the hips

Mount left_roll_to_pitch or right_roll_to_pitch, here the parts are symmetrical so you have to use the right one.

Mount roll_motor_top to the hip_yaw servo (screw from the bottom). Don't mount the servo to the trunk yet.

Then mount hip_roll like this

And insert the sub assembly like this

Screw everything you can (with the plastic screws provided with the servos)

You can now mount the leg like this :

And do the same for the other leg :)

Your duck should now look like this

Assemble the neck

You know the drill

Assemble the head

First, mount head_pitch_to_yaw like this

Then, independently mount head_yaw_to_roll and head_roll_mount to head_roll dof

Then

Then

Your duck should now look like this

### Mount the servo driver board

TODO take a photo

Mount the IMU

Like this

Electronics

Battery pack

Head

The rest

Body parts