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tutorials:plen2:leg [2016/04/21 19:38]
tutorials:plen2:leg [2021/04/01 13:52] (current)
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 +====== Leg ======
  
 +===== Table of Contents =====
 +  - [[firmware]]
 +  - [[battery]]
 +  - [[arm]]
 +  - [[leg]] **Current section**
 +  - [[head]]
 +  - [[body]]
 +  - [[merge]]
 +  - [[cover]]
 +  - [[tune]]
 +
 +Prev < [[arm]]\\
 +Next > [[head]]
 +----
 +
 +===== Parts List =====
 +Parts list of the left leg is enumerated below.
 +If you would like to assemble the right leg, please use parts which have '_mirror' suffix or no suffix.
 +
 +^Name                                                                                                                              Q'ty  ^
 +|[[https://github.com/plenprojectcompany/PLEN2/blob/master/stl/servo_horn.stl|serve_horn.stl]]                                    |  4     |
 +|[[https://github.com/plenprojectcompany/PLEN2/blob/master/stl/servo_assem_type2.stl|servo_assem_type2.stl]]                      |  1     |
 +|[[https://github.com/plenprojectcompany/PLEN2/blob/master/stl/servo_assem_type2_mirror.stl|servo_assem_type2_mirror.stl]]        |  1     |
 +|[[https://github.com/plenprojectcompany/PLEN2/blob/master/stl/servo_bracket_knee_mirror.stl|servo_bracket_knee_mirror.stl]]      |  1     |
 +|[[https://github.com/plenprojectcompany/PLEN2/blob/master/stl/servo_bracket_shin_mirror.stl|servo_bracket_shin_mirror.stl]]      |  1     |
 +|[[https://github.com/plenprojectcompany/PLEN2/blob/master/stl/servo_bracket_ankle_1_mirror.stl|servo_bracket_ankle_1_mirror.stl]]|  1     |
 +|[[https://github.com/plenprojectcompany/PLEN2/blob/master/stl/servo_bracket_ankle_2_mirror.stl|servo_bracket_ankle_2_mirror.stl]]|  1     |
 +|[[https://github.com/plenprojectcompany/PLEN2/blob/master/stl/foot_mirror.stl|foot_mirror.stl]]                                  |  1     |
 +|Servo Motor (Length B)                                                                                                            2     |
 +|Servo Motor (Length C)                                                                                                            1     |
 +|Servo Motor (Length D)                                                                                                            2     |
 +
 +{{ :tutorials:plen2:motors.png?direct }}
 +
 +
 +===== Print Detail =====
 +[[specifications/print_detail/legs]]
 +
 +
 +===== Assembling Process =====
 +==== Parts List ====
 +{{:tutorials:plen2:leg:00_parts_list.png?direct}}
 +
 +==== Thigh ====
 +**Attention!**:
 +In assembling the left thigh, you should use **servo_assem_type2_mirror.stl**.
 +But in assembling the other thigh, you should use **servo_assem_type2.stl**.
 +
 +{{:tutorials:plen2:leg:01_attach_upper_thigh.png?direct}}
 +{{:tutorials:plen2:leg:02_attach_lower_thigh.png?direct}}
 +
 +==== Knee ====
 +{{:tutorials:plen2:leg:05_attach_knee.png?direct}}
 +
 +==== Upper Foot ====
 +**Attention!**:
 +In assembling the left upper foot, you should use **servo_assem_type2.stl**.
 +But in assembling the other upper foot, you should use **servo_assem_type2_mirror.stl**.
 +
 +{{:tutorials:plen2:leg:03_attach_upper_foot.png?direct}}
 +{{:tutorials:plen2:leg:04_attach_lower_foot.png?direct}}
 +
 +==== Lower Foot ====
 +**Attention!**:
 +If you assemble plastic cast parts, this step has already been completed.
 +
 +{{:tutorials:plen2:leg:13_attach_ankle_1.png?direct}}
 +{{:tutorials:plen2:leg:14_attach_ankle_2.png?direct}}
 +
 +==== Merge Parts ====
 +**Attention!**:
 +Before to merge the parts, you should connect servos' cables and the control-board.
 +When it was completed, please turn on both switches and keep the status.
 +
 +{{:tutorials:plen2:leg:06_connect_wires.png?direct}}
 +
 +**Attention!**:
 +Please connect the white wire which is owned by a servo to inside of the control-board.
 +
 +{{ :tutorials:plen2:leg:06_connect_wires.sub.png?direct }}
 +{{ :tutorials:plen2:turn_on.png?direct }}
 +
 +**Attention!**:
 +Attach a servo-horn to the left thigh. At that time, please check it is placed approximately parallel to edge of the servo.
 +
 +{{:tutorials:plen2:leg:07_attach_servo_horn.png?direct}}
 +{{:tutorials:plen2:leg:08_attach_thigh_and_knee.png?direct}}
 +
 +**Attention!**:
 +Attach a servo-horn to the left knee. At that time, please check it is placed approximately parallel to edge of the servo.
 +
 +{{:tutorials:plen2:leg:09_attach_servo_horn.png?direct}}
 +{{:tutorials:plen2:leg:10_attach_shin_and_knee.png?direct}}
 +
 +**Attention!**:
 +Attach a servo-horn to the left upper foot. At that time, please check it is placed approximately parallel to edge of the servo.
 +
 +{{:tutorials:plen2:leg:11_attach_servo_horn.png?direct}}
 +
 +**Attention!**:
 +In merging the left shin and the left upper foot, servos' cables are passed through inside the left shin.
 +
 +{{:tutorials:plen2:leg:12_attach_shin_and_foot.png?direct}}
 +
 +**Attention!**:
 +Attach a servo-horn to the left upper foot. At that time, please check it is placed approximately parallel to edge of the servo.
 +
 +{{:tutorials:plen2:leg:15_attach_servo_horn.png?direct}}
 +{{:tutorials:plen2:leg:16_attach_ankle_and_foot.png?direct}}
 +
 +==== Finished Leg ====
 +{{:tutorials:plen2:leg:17_complete.jpg?direct}}
 +
 +----
 +Prev < [[arm]]\\
 +Next > [[head]]