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20

iii.

 

Fine-tuning initial value of servo 

There might be some positioning errors in each servo that are possibly caused by installation 

or mechanical errors. Therefore, before assembling and installing, it is necessary to perform a 

two-step adjustment so as to allow the follow-up operations to be positioned correctly. 

 

A.

 

Structure fine-tuning: 

 

Prior to the final step of installation, the disks of all servos are not yet fixed to the 

structure. You may unscrew the central black screw and adjust position of the disk 

now. 

 

Connect all servos to the Servo Module and connect to the power supply. Referring to 

servo calibration procedures, let all servos move to their center point respectively.   

 

Check if all screw holes align with holes on the disk. If not, unscrew the central screw 

and pull up the disk, align disk holes to holes on the structure and lower the disk. 

※

Both the PC and aluminum are flexible to a certain extent. In case hole positions on the PC board 

misalign with the hole positions of servos, just slightly pull PC board up and adjust the disk, by lifting 

it up, to a desired angle and replace it. 

 

Align holes of all 12 servos one by one, and then proceed with final fixing of the 

installation. 

B.

 

Software fine-tuning: 

 

After completing structure fine-tuning and fixing disks (the final step of installation), 

proceed with software fine-tune program. 

 

Enter fine-tune value of each servo respectively and adjust all motors to their desired 

positions. In case satisfactory result cannot be achieved within the limit range 

(127~-128), go back to structure fine-tune and readjust the structure. 

 

※ 

Make sure all disk screws are tightened and all servos are within the tolerance range while 

performing software fine-tuning. 

 

Содержание Bipedinno

Страница 1: ...Bipedinno 12 DOF Waist high Robot Instruction Manual Version 1 18 ...

Страница 2: ...e loss of equipment the loss of human safety and health and the loss of profit and reputation The product of the company shall not be used in life saving or any related instrument and equipment Children under 14 shall not use this product for any related experiment without being accompanied by adults Errata We hope the users may regard this document as a lively and practical instruction manual We ...

Страница 3: ...total of 12 servos When operated simultaneously they consume a large current make sure the power supply or battery connecting to Servo Runner A is capable of providing 8A of current so as to properly operate the kit Insufficient current may cause unexpected results and damage of the kit When using a battery power supply to the module the voltage may lower after some while of operation and cause ab...

Страница 4: ...1 Tools 4 Assembly Procedure 5 Calibration Servos 5 Assemble the Leg Frames 10 Connecting Top Board with Module 16 Fine Tuning Initial value of Servo 21 Structure fine tuning 21 Software fine tuning 21 Perform Demonstrative Motions 27 ...

Страница 5: ...layout of modules Aluminum Foot Bracket 2 For connecting with the Ankel Servo Bracket Aluminum Servo Bracket 12 For accommodating and fixing servo lock holes are provided for connecting with another Servo Bracket or U shape Bracket Aluminum U shape Bracket 27mm 4 Provides connection with the Servo Bracket and movement space of the Servo it also provides connection with two U shape Brackets for dif...

Страница 6: ...r a long period of time to prevent wearing the motor Dimensions LxWxH 40 6mmx20 0mmx42 8mm Weight 73 g Speed 0 33 sec 60 Torque 7 4 kg cm Screw A 48 ISOT 3 x 8 mm Screw B 10 ISOP 3 x 6 mm Screw C 20 ISOP 3 x 10 mm Screw D 32 ISOP 2 x 5 mm Screw E 40 TP1P 2 x 6 mm Screw F 8 TP1P 2 x 8 mm Screw G 4 ISOF 3 x 6 mm Screw H 8 ISOF 2 x 5 mm Nut A 90 3 x 5 mm Nut B 32 2 x 4 mm Washer A 72 3 x 0 4 x 8 mm W...

Страница 7: ...spare cmdBUS allowing user to connect with Innovati modules Servo Power Line 1 Cable for connecting Servo Runner A with Power Supply Unit Command Board Power Line 1 Cable for connecting Command Board with Servo Runner A s Power Supply cmdBUS 1 Signal cable for connecting Command Board with Servo Runner A Servo Extension Cable 4 Extends controlling signal cable of the Servo so that the user may per...

Страница 8: ...ation in Debug Mode Cable Strap 12 Used for fixing wires so that they do not tangle or affect motions unexpectedly during the operation of the Servo i Tools Cross Screwdriver 2mm and 3 mm Long Nose Pliers Screw Glue selectively used between nut and Bracket joints to prevent the nut from loosening ...

Страница 9: ... Connect the power line of the servo to the power supply Please make sure that the voltage and current from the power supply are within the ranges required by the servo After the power line is connected the servo may make a transient motion due to receiving a switch surge this is normal While connecting the power line please pay attention not to place your hands within the space where the servo ma...

Страница 10: ...tion and wait a moment viii After the downloading is complete a notification window will appear Please make sure that each servo has been connected correctly After confirming all the connections please click OK If Cancel is clicked the Motion Editor will be closed If there is any component is incorrectly connected at this moment please click Cancel to terminate the program Click the application in...

Страница 11: ...he disk adjust it to the correct angle and re lock While making the assembly before fixing the disk make sure the disk is maintained at the correct angle In case the disk is moved follow this procedure to adjust it to prevent from any unexpected movement or damage of the parts The message appears for notifying the download is complete Please make sure that each component has been connected correct...

Страница 12: ...ds Pass the Screw C from outside towards the inside through the bearing mounted on the U shape Bracket then the Washer B and the Servo Bracket Finally fix it with the Nut A at the inner side of the Servo Bracket Servo is fixed on the Servo Plate with Screw A passing through Washer A and the square hole on the motor tightened with Nut A from the lower side of Servo Plate After fixing servo fix U sh...

Страница 13: ...w D and Nut B Part D Place two 22mm U shape Brackets back to back as shown fix them with Screw B and Nut A Add bearings to each U shape Bracket on the same side Part C Place 22mm U shape Bracket together with Servo Bracket as shown fix them with Screw D and Nut B Part B Place 27mm U shape Bracket together with Servo Bracket as shown fix them with Screw D and Nut B Part A Align two Servo Brackets a...

Страница 14: ... n the Part C and fix them bearing now that t U shape Brackets a perpendicular to ea other with the 27m U shape Bracket o top Connect Part A on top of Part B and fix them with a bearing The upper most part is Servo Bracket of Part A Note the positions of fixing holes on both Part A and Part B Finally fix the lowest Se Leg Frame is complete C structure in the illustratio rvo Plate to Part F with a ...

Страница 15: ... 22mm U shape Bracket together with Servo Plate as shown fix them with Screw D and Nut B Part D Place two 22mm U shape Brackets back to back as shown and fix them with Screw B and Nut A Place bearings on the U shape Brackets on the same side Part E Align two Servo Plates as shown fix them with Screw D and Nut B Part F Fix the Foot Bracket with 27mm U shape Bracket with Screw G and Nut A Make sure ...

Страница 16: ...its upper side to Part C with another bearing so that a Servo Plate is at the bottom and a 22mm U pate at the top as shown Connect Part B above Part C and fix them with a bearing now that two U shape Brackets are perpendicular to each other with the 27mm U shape Bracket on the top Finally fix the lowest Servo Plate to Part F with a bearing and the Left Leg Frame is complete Check if the Left Leg F...

Страница 17: ...13 Confirmation of the Right Leg Frame Confirmation of the Left Leg Frame ...

Страница 18: ... Place two 22mm U shape Brackets back to back as shown Then fix them with Screw B and Nut A and add bearings to each U shape Bracket on the same side Connect the bearing to the Servo Bracket on top of leg frames Right Leg Frame Left Leg Frame ...

Страница 19: ...mand Board Insert Screw C into 4 holes of Command Board and fix them with Nut A from below as illustrated Pass 4 screws through Top Board Add a Nut A on each of the protruding screws under the Top Board after turning them up with hand secure them with long nose pliers ...

Страница 20: ...rew C into 4 holes of Servo Runner A and fix them with Nut A in the direction as illustrated Pass the 4 screws through Top Board Add a Nut A on each of the protruding screws under the Top Board after turning them up with hand secure them with pointed pliers ...

Страница 21: ... and then lock another two screws Add Screw B to Top Board and lock with the copper post Place Top Board on top of the 8 screw holes that fix the servos from lower side of Main Board secure Nut A with long nose pliers Connect Command Board and Servo Runner A with Command Board Power Line Make sure red line is connected to and black to Incorrect connection may damage the module Use correct Servo Po...

Страница 22: ...rvo Plate and fix them with Screw A Washer A and Nut A Then lock U shape Bracket onto servo with Screw E While locking these screws make sure the each U shape Bracket is either parallel or perpendicular to the servo DO NOT disturb the disk before fixing it ...

Страница 23: ...mbers on the Servo Module only the following connection may ensure movements as programmed in the example A Servo number is provided beside each Servo Module Note that the white wire is signal red the power and black the Ground Connect them as indicated on the module to avoid any damage of the module No 0 No 1 No 2 No 3 No 4 No 5 No 8 No 9 No 10 No 11 No 12 No 13 ...

Страница 24: ...rew the central screw and pull up the disk align disk holes to holes on the structure and lower the disk Both the PC and aluminum are flexible to a certain extent In case hole positions on the PC board misalign with the hole positions of servos just slightly pull PC board up and adjust the disk by lifting it up to a desired angle and replace it Align holes of all 12 servos one by one and then proc...

Страница 25: ...l make a transient motion due to receiving the switch surge which is normal While connecting the power cord please pay attention not to place your hands within the space where the servo will move into to avoid being clamped B_4 Start InnoBASIC Workshop B_5 Click Tools in the menu bar on the top Click the application under the innoBASIC Workshop folder to start the innoBASIC Workshop The connectors...

Страница 26: ...position and wait a moment B_8 After the downloading is complete a notification window will appear Please make sure that each servo has been connected correctly After confirming all the connections please click OK If Cancel is clicked the Motion Editor will be closed If there is any component is incorrectly connected at this moment please click Cancel to terminate the program After clicking each i...

Страница 27: ...enter the number 1500 and then click Enter B_10 Click the Adjust Offset button at the upper right corner B_11 If the fine tune values are not yet stored the Filename will be Untitled The user can specify a preferred name while storing the file B_12 Observe the servo that requires the fine tune and click the corresponding arrow buttons The servo will rotate in the selected direction Please make The...

Страница 28: ...the PC If it is required to query or download the values click Load to read out the values B_14 Click the Close button at the lower right corner to close the window The left right arrow buttons can be used to rotate the servo clockwise or counterclockwise Please observe the rotation of the servo to the required central position Then adjust the next servo Please enter a preferred name in the File n...

Страница 29: ...r returning the Edit Servo Motion window click the Exit button at the lower right corner to close the fine tune operation Click the Close button to close the window Click the Exit button to close the Motion Editor ...

Страница 30: ...der 12 DOF Bipedinno Doc to the PC 4_2 In the InnoBASIC Workshop click Tools in the menu bar on the top 4_3 Click Motion Editor in the pull down menu 4_4 Click the button Match at the bottom of the Motion Editor e button Match at the bottom of the Motion Editor ...

Страница 31: ... under the 12 DOF Bipedinno Docs folder and then click the OK button 4_7 Please click the 12 DOF Bipedinno frame0 frm below the motion files on the left side click the Frame 0 under the Module 0 and then click the button The selected folder will be highlighted Please make sure that the selected folder is 12 DOF Bipedinno frame 1 2 ...

Страница 32: ...s 0 11 have been downloaded to the corresponding frames 4_10 After all the download operations are complete it is clear that all the motions above Motion 12 and below the Module 0 have been changed to the Before clicking the button to download the motion file into the module please make sure that the Frame 0 under the Module 0 has been selected and highlighted After the download is complete the or...

Страница 33: ...ose button at the lower right corner to close the window for setting the corresponding motions 4_12 In the Edit Servo Motions window click the Exit button at the lower right corner to close the Motion Editor Please make sure that first 12 Frames have been successfully downloaded ...

Страница 34: ...2 DOF Bipedinno Walk Demo in the folder and click Open The selected folder will be highlighted Please make sure that the selected folder is 12 DOF Bipedinno Walk Demo 1 2 Click the Open button to download the program into the innoBASIC Workshop for editing or creating motions ...

Страница 35: ... robot from starting the motion directly after the program is successfully created The number on the left side represents the line number of the program The Function starts at Sub and ends at End Sub within which the operations are defined to store the fine tune values into the module At the beginning of each program it is necessary to set the fine tune values The SetPosOffset command has two para...

Страница 36: ... the user is not sure about the function of each button the user can move the mouse pointer over the image After a while the English name will automatically appear After click the Build button the program will be downloaded into the BASIC Commander and stored automatically According to the layout the Build button may appear at different position After the download is complete the output window wil...

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