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Table of Contents
Page
1. Introduction...........................................................................................................................................................................................................................4
2. Explanation of symbols.........................................................................................................................................................................................................4
3. Intended Use ........................................................................................................................................................................................................................4
4. Package Contents ................................................................................................................................................................................................................5
5. Product Description ..............................................................................................................................................................................................................5
6. Features ...............................................................................................................................................................................................................................6
7. Safety Instructions................................................................................................................................................................................................................7
8. Required accessories...........................................................................................................................................................................................................8
9. General notes.......................................................................................................................................................................................................................9
10. Preparatory work ................................................................................................................................................................................................................10
a) Application of the screw locking lacquer .......................................................................................................................................................................10
b) Ball bearings and cylindrical pins..................................................................................................................................................................................10
c) Power Supply................................................................................................................................................................................................................ 11
d) Installationofthesoftwareandrmware......................................................................................................................................................................11
11. Transferring the Firmware ..................................................................................................................................................................................................12
a) Installing the driver........................................................................................................................................................................................................12
b) Install Arduino IDE.........................................................................................................................................................................................................12
c) Setting up Arduino IDE..................................................................................................................................................................................................12
12. Preparing the leg servos for installation .............................................................................................................................................................................15
13. Assembling the mechanical parts.......................................................................................................................................................................................18
a) Mounting servos............................................................................................................................................................................................................18
b) Mounting of bearings.....................................................................................................................................................................................................20
c) Mounting the servo disks ..............................................................................................................................................................................................22
d) Mounting the spacer......................................................................................................................................................................................................24
e) Mounting the servos on the top plate............................................................................................................................................................................25
f) Mount bottom plate .......................................................................................................................................................................................................27
g) Mounting the Receiver and Hexapod Robot Board.......................................................................................................................................................29
h) Mounting the legs..........................................................................................................................................................................................................32
i) Laying the cables ..........................................................................................................................................................................................................35
j) Installing the battery......................................................................................................................................................................................................39
k) Mounting the rubber feet...............................................................................................................................................................................................40
l) Setting jumpers .............................................................................................................................................................................................................40
14. Transferring the Firmware ..................................................................................................................................................................................................41
15. Controlling with the Gamepad ............................................................................................................................................................................................42
16. Calibrate legs......................................................................................................................................................................................................................44
17. Using user boards ..............................................................................................................................................................................................................47
18. Demo Programmes ............................................................................................................................................................................................................50
19. Overview of the connections and components of the robot board .....................................................................................................................................53
20. Schematic system overview (block diagram) .....................................................................................................................................................................55
21. Pan unit ..............................................................................................................................................................................................................................56
22. Pin assignment of the user boards.....................................................................................................................................................................................57
23. Parts list..............................................................................................................................................................................................................................58
24. FAQ ....................................................................................................................................................................................................................................63
25. Cleaning .............................................................................................................................................................................................................................64
26. Declaration of Conformity (DOC)........................................................................................................................................................................................64
