252 lines
9.3 KiB
Markdown
252 lines
9.3 KiB
Markdown
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# Assembly guide
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> Before assembling the duck, you should first [configure your motors](./configure_motors.md)
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## Requirements :
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You will need :
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- A soldering iron, and basic electronics tools and skills
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- X m3 screws (TODO : add the exact number)
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- Some wire
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- Loctite Threadlocker blue 243
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> General note : Everytime you screw something in the motors metal against metal, 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 ;)
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>
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> Don't use loctite with the plastic screws
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> At any time, you can refer to the CAD here : https://cad.onshape.com/documents/64074dfcfa379b37d8a47762/w/3650ab4221e215a4f65eb7fe/e/0505c262d882183a25049d05
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## Steps :
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### Assemble the trunk
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Place the bearings in `trunk_bottom` like so, and insert M3 inserts in these holes. It's also a good time to insert the 4 M3 inserts in the bottom of this part to mount body parts later on.
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<img src="https://github.com/user-attachments/assets/9ed8591a-7c96-4410-8d7e-9b7d88c6bd1f" alt="1" width="500px" >
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Then assamble `trunk_bottom` and `trunk_top`, and screw them together with 2 `M3x10` screws through these holes
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<img src="https://github.com/user-attachments/assets/ae36b396-a34a-4691-8e62-fd916cd1f76c" alt="1" width="500px" >
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Mount the middle motor like so and screw it with the plastic screws that came with the motors :
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<img src="https://github.com/user-attachments/assets/d4a6ba6c-852f-440e-afb7-3b9ca66ad3dc" alt="1" width="500px" >
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Insert `roll_motor_bottom` like this
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<img src="https://github.com/user-attachments/assets/31c031b7-58b8-4c4c-a3fa-1f14a310c2f2" alt="1" width="500px" >
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### Assemble the feet
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Both feet are the same.
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First, assemble `foot_bottom_tpu` with `foot_bottom_pla`. Insert M3 inserts in these holes :
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<img src="https://github.com/user-attachments/assets/6749a5ba-cea9-4b0a-ac32-f32e130fd057" alt="1" width="500px" >
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And screw the two parts together with two `M3x6` screws.
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Then, insert M3 inserts in these holes in `foot_top` here :
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<img src="https://github.com/user-attachments/assets/1a77f2f8-56ea-43d2-91c7-78130456c45b" alt="1" width="500px" >
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And assemble everything like so. Make sure the driver side of the motor is on the `foot_top` part side :
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<table>
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<tr>
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<td> <img src="https://github.com/user-attachments/assets/197cd9b7-05a6-46ed-9af5-d2def37970c8" alt="1" width="500px" > </td>
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<td> <img src="https://github.com/user-attachments/assets/f532fbcc-100b-4715-96a8-66697e4fda26" alt="1" width="500px" > </td>
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</tr>
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</table>
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You can add the foot switches like this too :
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> You press fit them so that the switch is activated when the foot touches the ground
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<table>
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<tr>
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<td> <img src="https://github.com/user-attachments/assets/71b9ad91-864e-423f-97a3-911d65182ab9" alt="1" width="500px" > </td>
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<td> <img src="https://github.com/user-attachments/assets/59e15c7c-3515-4408-bfe9-80e30c4cd007" alt="1" width="500px" > </td>
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</tr>
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</table>
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### Assemble the shins
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Insert M3 Inserts in these holes of `leg_spacer` (on both sides. Insert 4 M3 inserts in total) :
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<img src="https://github.com/user-attachments/assets/41eb01a2-d6f9-43b1-a83e-d14785907425" alt="1" width="500px" >
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Then, first plug the motor cable in the foot's motor, and make it go through the `right_sheet` like so
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<img src="https://github.com/user-attachments/assets/a1432505-6b6c-4765-aea6-0a7a0b8b220b" alt="1" width="500px" >
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Then assemble like below:
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<img src="https://github.com/user-attachments/assets/54615217-fec9-46dd-8b40-e21a4f527b55" alt="1" width="500px" >
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### Assemble the thighs
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The thigh is pretty much the same thing, except the `hip_pitch` motor is mounted this way (important for the zero position)
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<img src="https://github.com/user-attachments/assets/951157a4-26dc-41bb-b97f-18dbbb0c1cd3" alt="1" width="500px" >
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### Assemble the hips
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Mount `left_roll_to_pitch` or `right_roll_to_pitch`, here the parts are symmetrical so you have to use the right one.
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<img src="https://github.com/user-attachments/assets/368a85ad-1c58-4db2-bdd0-812334b6c784" alt="1" width="500px" >
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Mount `roll_motor_top` to the `hip_yaw` servo (screw from the bottom). Don't mount the servo to the trunk yet.
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<img src="https://github.com/user-attachments/assets/768f1664-030c-4432-9071-c52d79d3ef6b" alt="1" width="500px" >
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Then mount `hip_roll` like this
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<img src="https://github.com/user-attachments/assets/e1287f67-320c-42cf-a5dc-84f4c64abb17" alt="1" width="500px" >
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And insert the sub assembly like this
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<img src="https://github.com/user-attachments/assets/dba458ae-e9cb-4e16-a82e-cbe74d2350fa" alt="1" width="500px" >
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Screw everything you can (with the plastic screws provided with the servos)
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You can now mount the leg like this :
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<img src="https://github.com/user-attachments/assets/a7169791-9f0a-4827-aea7-00ab1d0f6212" alt="1" width="500px" >
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And do the same for the other leg :)
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Your duck should now look like this
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<img src="https://github.com/user-attachments/assets/4921b29b-b38b-423d-9da1-1c8f84689e84" alt="1" width="500px" >
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### Assemble the neck
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You know the drill
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<img src="https://github.com/user-attachments/assets/f96fe44f-a7bc-423e-a925-4aef3e7bf568" alt="1" width="500px" >
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### Assemble the head mechanism
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First, mount `head_pitch_to_yaw` like this
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<img src="https://github.com/user-attachments/assets/a4dba395-eb0d-4150-8980-8e14f1173d02" alt="1" width="500px" >
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Then, independently mount `head_yaw_to_roll` and `head_roll_mount` to `head_roll dof`
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<img src="https://github.com/user-attachments/assets/4648cd6c-391e-41e4-9617-4ecebfa9215b" alt="1" width="500px" >
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(You can insert `head_bot_plate` and `body_middle_top` now too to avoid having to disassamble the head later)
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Then
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<img src="https://github.com/user-attachments/assets/03f3bdae-06c3-4c37-b68f-14587edd6123" alt="1" width="500px" >
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Then
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<img src="https://github.com/user-attachments/assets/04a219d8-bbaf-4910-b5d3-7ca67bce466c" alt="1" width="500px" >
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Your duck should now look like this
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<img src="https://github.com/user-attachments/assets/71545d40-f0f5-411d-a8d5-1cd676a74e75" alt="1" width="500px" >
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### Mount the servo driver board
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TODO take a photo
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### Mount the IMU
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Like this
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> It's actually better to mount the IMU with the correct natural orientation, which would be flipped along the X axis compared to the pictures below
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> In the picture below, the IMU is mounted upside down.
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> It probably doesn't really matter a lot if you mount it upside down or not. You can configure how you mounted it later
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<table>
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<tr>
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<td> <img src="https://github.com/user-attachments/assets/8772996d-5906-48fa-8cbe-6b6823982375" alt="1" width="500px" ></td>
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<td> <img src="https://github.com/user-attachments/assets/172f44c7-c7c6-47f8-894a-14024abd24f4" alt="2" width="500px" ></td>
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</tr>
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</table>
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## Electronics
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Here is the global electonics schematic for reference
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<table>
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<tr>
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<td> <img src="open_duck_mini_v2_wiring_diagram.png" alt="1" width="500px" ></td>
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<td> <img src="wiring.png" alt="2" width="500px" ></td>
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</tr>
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</table>
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Here is how to wire the feet
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### Battery pack
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> To be safe, make sure your cells are charged to the same voltage before placing them in the holder.
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<table>
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<tr>
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<td> <img src="https://github.com/user-attachments/assets/371db809-7cb3-47e1-b277-7fc2bdf21025" alt="1" width="500px" ></td>
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<td> <img src="https://github.com/user-attachments/assets/3acfa4e6-ecf7-41f6-a965-35a3040f52fb" alt="2" width="500px" ></td>
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</tr>
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</table>
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### Head
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First, insert the M3 inserts in all these holes
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> TODO add instructions for expression features (camera, antennas, eye leds, projector and speaker)
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Then insert the bearing, mount the ear motors and the raspberry pi zero 2w.
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For reference, the inside of the head looks like this now
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Then assemble the neck with the head like this
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## Body
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First screw on `body_middle_bottom`
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Then insert the M3 inserts in all the holes of `body_middle_bottom` and `body_middle_top` on which we'll mount the battery pack and `body_front`.
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Then mount `body_middle_top`, `body_front` and the battery pack
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<table>
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<tr>
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<td> <img src="https://github.com/user-attachments/assets/679a9cd2-89ca-41e8-9d03-f93fc040068b" alt="1" width="500px" ></td>
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<td> <img src="https://github.com/user-attachments/assets/ca292c48-1c72-4649-b7d1-4d3c9eac62ac" alt="2" width="500px" ></td>
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</tr>
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</table>
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Et voila :)
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<table>
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<tr>
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<td> <img src="https://github.com/user-attachments/assets/312ec747-8eb4-4145-92eb-c1c3ddba80da" alt="1" width="500px" ></td>
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<td> <img src="https://github.com/user-attachments/assets/864d9dd7-3daf-4e63-913c-2e99157e4aaf" alt="2" width="500px" ></td>
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</tr>
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</table>
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> Now that your duck is fully assembled, you setup the raspberry pi and the runtime software [here](https://github.com/apirrone/Open_Duck_Mini_Runtime)
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