2.3. Assembly Steps
Contents
1. 19 3 1 4 HOW TO CONTROL SERVOMOTOR 20 3 1 5 POWER SUPPLY WIRES OF 21 32126 THE SPEED OF SERVOMOTOR 21 S b T NOTICES FOR SERVOMOTOR USAGE 21 3 2 JMSC16 SERVOMOTORS CONTROL BOARD DESCRIPTION cccccccecceeceeeeeesessesssesseeeeeeceeeeeeees 22 3 2 WHAT AS THE Ve SS 22 9 22 7 SPBGIEICATIONS OF JM S5C IO iacit pape a tena ebat Pneu ta Pus tu tI dedu 22 323 IM SSCI6 WORKING ENVIRONMENTS 23 3 2 PORTS OF ea eet et to ere texts Dub seeds 23 3 2 5 CONNECTING CABLE BETWEEN JM SSC16 AND PC SERIAL PORT seen 24 6 RS232 COMMUNICATION PROTOCOL OF 55 16 25 3 3 BRIEF INTRODUCTION OF MINI SERVO 26 3 4 THE CONNECTION BETWEEN SERVOMOTOR AND 585 16 27 CHAPTER SIS 28 4 1 GAIT OF GOING FORWARD OR BACKWARD cccccccsssssseeeececcetaensesseescecceceaaenersccccssesaeeserecces 28 A GAIT OF TURNING EET OR RIGHT A N 30 Chapter 1 Brief Introduction Congratulations on your smart purchasing of the Quadruped robot kit delivered by Joinmax Digital Tech This kit will be sure to satisfy your desire for robotic study no matter you are a newcomer or a seasoned veteran This kit includes a complete set of t2. cover and bottom board below 14 2 3 5 Control Board and Battery Cabinet Assembly Assembly Quantity 1 Parts List Main Body 15 Assembly Steps 16 2 3 6 Load Batteries Load 5 AA Size rechargeable batteries in the cabinet as above the poles should be in accordance with the illustration Close and lock the cover Now you have completed assembly of Quadruped 17 Chapter 3 Hardware Description 3 1 Basic Knowledge of Mini Servomotor 3 1 1 Brief introduction of Mini Servomotor Many people think it is very difficulty to make a robot But in fact making a personal robot is not more difficult than making a car model further more it will enable you to experience another kind of pleasure expand your view and elicit your inspiration In the following we will introduce briefly the working theory and controlling way of the mini servomotor which is the most comment intelligent part for personal robot Mini servomotor has been used quite widely in radio amateurs models for a long history It is a main part for controlling the moving directions Servomotor is a kind of motor used for positioning which is able to move to the designated position after receiving an order So it 15 used to control the joints in the robot model and we call these joint the degree of freedom The servomotor has the following advantages large torque easy control flexible assembly
3. inexpensive But it also has some disadvantages firstly it is an precise machine which will be damaged when being overloaded Secondly there is an electronics control circuits inside which will be destroyed by incorrect connecting So it is necessary to understand how theyr works before we use them to avoid losses The servomotors displayed in the pictures of this manual are Vigor s servomotors which designed for robot model usages specially and they have many advantages large torque force good performance lower price etc and are suitable for robot amateurs usages 3 1 2 Internal structure of Mini Servomotor servomotor is constructed by a small D C motor a series of gears a feedback potentiometer variable resistor for position adjustment purpose and an electronic control board The high speed D C motor provides original power to the gears which provide the large 18 torque The higher is speed ration gears convert stronger is torque That means it can carry higher load but its turning speed 15 slower LF Feedback variable resistor electronic control board 3 1 3 Work A mini servomotor 15 a typical closed loop feedback system and its theory is demonstrated as below controlling pulse signal UP Lez gt Control Circuit Board varianle OC Matar gears Cose Resistance feed back The speed reduction gears case are driven by
4. Do not use a pulse which will drive servomotor turn out of 90 range Otherwise the servomotors mechanical stop or the gears will be damaged There is no standard for servomotors output shaft degrees and control pulse length so you need to adjust the parameters in the control software based on different servomotors 3 2 JMSC16 Servomotors Control Board Description 3 2 1 What is the J M SSC16 JM SSC16 JoinMax serial servo controller is a small pre assembled circuit board dedicated controlling up to 16 servos from a micro controller or PC serial port The servos can be easily positioned by sending simple instructions written by your own or just by our software JoinMax Mini Servo Explorer 3 2 2 Specifications of JM SSC16 MPU AVR Series ATmegal6 CPU oscillator 8 MHz Serial input RS 232 or inverted TTL CMOS 9600 N81 PC interface Modular RJ11 port Output Ports to Servomotors Up to 16 servos plug in directly Servo type supported VIGOR FUTABA and HITEC Output Pulse 20 5 Vy 0 5 2 5MS 22 Servo travel range 180 Servo resolution 0 72 step PCB Size 53x60mmY 2 1 x 2 36 Power Supply 5 For Logical Circuit 6V For Servomotor GND Current requirements logic about 26mA 3 2 3 JM SSC16 Working Environments JM SSC16 working environments are demonstrated as below Robot Mech Up to 16 JM SSC16 PC Construction servomotors S
5. and face outside when assemble The wrong fixing will affect the activity of the whole leg Right Leg Assembly Steps Leg Assembly Steps 10 2 3 2 Bottom Board Module Assembly Assembly Quantity 2 Parts List Assembly Steps 2 3 3 Top Cover Module Assembly Assembly Quantity 1 Parts List 12 Connecting Board 11 Assembly Steps 2 3 4 Main Body Assembly Assembly Quantity 1 Parts List 1 M2 5X18 51 Top Cover Module Bottom Board Module 12 Assembly Steps a RR i ou EE m D C an D oN D c O e e gt N oD N c D ra D gt e gt 4 an e D gt gt an e D gt gt gt O 2 Oo aa servomotors into the line pipe of the waist first let all the lines pass through the hole on the top cover as below and then pack up the cables with nylon cable button 13 i BS 7 gia jan Line Hole oO lt o D D oN gt E o o ec gt O N O o c dum oN D O D c c D S O 2 D 3 esl 5 gt gt gt D D 27 Nn ee cD
6. 5 Connecting Cable between JM SSC16 and PC Serial Port Specification of the cable Illustration Pinouts 6 RS232 Communication Protocol of JM SSC16 Real time control Servo NO Servo position ff 0 15 0 250 25 3 3 Brief Introduction of Mini Servo Explorer Mini Servo Explorer is the specially designed control software based on Windows for JM SSC16 which has many good features such as visible interface easy to operate and they will be demonstrated as below 1 2 3 4 5 6 Tx 8 The upper limit and lower limit of servomotors set separately according to parameters or environmental conditions of each servomotor You can control any servomotor in the system separately and make them work separately or work together harmoniously You can make the servomotor move to the designated position at the highest speed or you can make it move smoothly to there by setting its speed factor The servomotor can be controlled by inputting the value of position or drawing scrollbar on the interface The graphical user interface is friendly and is easy to operate and the software also provides many useful functions You can modify the unsatisfied actions of the robot while you are playing it and you can also edit the actions in the PC without connecting robot It is very convenient to modify the actions of the robot because you can store the edited acti
7. JOINMAX DIGITAL QUADRUPED ROBOT KIT Assembly Manual Version 1 2 CONTENTS MSIE E au EE SI E 2 CHAPTER 1 BRIEF INTRODUCTION e eee ee eene eee eee e ette noe e eee eee tano esee eee en nasse eee eene esee ee eeea 3 1 1 WHAT IS THE JOINMAX eene esses ness ns 3 1 2 WHY TO ASSEMBEEQUADRUPEJD 5 Led PACKAGE LI 5 CHAPTER 2 HOW TO ASSEMBEBE 5 PA PN PREPARE WORE qm 5 PANNI OO DI AZPNESSE tet t cL 5 22 ABOUT OW BR SUPPLI 6 2 2 ASSEMBLY PARTS LIS 6 2 90 44 SSBMBDEY open Nena necu Eso MNT Dens 6 ZS Als EGA Nerio dH 8 2 3 2 BOTTOM BOARD MODULE ASSEMBLY 11 2 3 3 TOP COVER MODULE ASSEMBLY 2 39 rete npud 11 2 544 MAN BODY ASSEMBEY 12 2 3 5 MAIN CONTROL BOARD AND BATTERY CABINET ASSEMBLY eee 15 2 9 0 LOAD BATTERIE S 17 CHAPTER 3 HARDWARE DESCRIPTION ssscccccsssssssscscccsssssssccsscsssscsscccsscsssssssccscsssss 18 3 1 BASIC KNOWLEDGE OF 18 3 1 1 BRIEF INTRODUCTION OF MINI SERVOMOTOR 18 3 1 2 INTERNAL STRUCTURE OF 5 18 3 1 3 WORKING THEORY OF MINI SERVOMOTOR
8. are s control the Quadruped Monster will be able to simulate various behaviors of animals and that will make the science theory visualizes more The global appearance of Joinmax Quadruped Monster Figure 1 Features It is able to move flexibly because it has 8 Servomotors for the joints control It is able to run fast because it has 4 Strong Legs lifting vertically and Turning horizontally The gripper mounted on its head is able to clamp and deliver objects easily It is high expansible because it adopts a general purpose servo control PCB It is easy to upgrade to 6 legs or 8 legs robot by adding parts Through controlling its 8 servomotors precisely it is able to simulate various walking gaits of the hexapod animals such as rambling quick walking fast running turning spinning etc and is able to adjust its gaits to adapt different ground environments such as smooth ground rough ground sandy ground or wet ground It is even enable to do many A I behaviors by means of the control circuit board 1 2 Why to Assemble Quadruped Through assembling the Joinmax Quadruped by yourself you will be acquainted with the mechanical theory of walking you will also learn how to control servo motor and operate software and then you can master the skills to enable the Quadruped Monster to walk 1 3 Package List 1 42recise plastic modules and 4 parts the total is 82eparate parts 2 1 Mini servo c
9. ervomotor MCU sensors control board control board Power supply Power supply Includes the power supply of the control system 5 volts and that of servomotor 6 volts If you want to use only one power supply you must keep the voltage between 5 0 volt and 5 5 volt and short the jumper J4 3 2 4 Ports of JM SSC16 reset button logic servo power shorter servo control power port controller I t por Rsz32 serial port servo control port 23 Pinouts on JM SSC16 LOGIC GHD GND 6V SERVO POWER JP4 RESET BUTTON im SWITCH SERVO 1 SERVU 9 SERVO amp SERVO 16 Note You must set an ID number to the control board before it is used The ID number should be NO 1 if you use only one board The DIP switch setting for NO 1 is shown as below DIPsWtch NO 1 2 3 4 M M y OF X M MW There are two operation modes for the Mini servo Control Board Operation Mode On line mode 1 It s connected to the PC Its on line controlled by RS232 port via download Mini servo Explorer program cable Mini servo Explorer has been run on the above PC Off line mode No cable 15 connected to It will run the actions which its RS232 serial port being edited and downloaded 4 seconds after powered on by Mini servo Explorer at the or being reset last time 24 3 2
10. he electronic and mechanical parts and basic control software It will take you about 2 hours to set up a complete lively Quadruped according to the user manual and base on it you will be able to bring your imagination and creativity into play To acquaint yourself with the excellent property of the Quadruped Monster and its correct assembling and control method you are strongly proposed to read this manual carefully If you have any comment or suggestion please send us a letter or email through our web site and its address is http www robotplayer com We d love to hear from you Your suggestion will be very helpful to the improvement of our robots If you have a good case of playing the Quadruped Monster please don t hesitate to send us the jpg images and some necessary descriptions of it we will publish them on our web site so that more players can share your success and joy 1 1 What is the Joinmax Quadruped The Joinmax bionic Quadruped Monster is a typical model for robot walking gait study and it is a basic platform of walking robot It can be applied in many fields such as research education entertainment etc and it is also a good tool to expand your view and enhance your ability You need to assemble the Quadruped Monster by yourself and you should use more than 170 parts in it this will challenge your intellect and handwork ability but you will experience the pleasure through assembly and testing it Through the softw
11. mbly process please array them 1 M2 5x18 2 M2 5x10 Tapping 3 5x6 Tapping 4 Long Leg 4 Screw TS1 8 Pieces Screw TS2 24 Pieces Screw TS3 8 Pieces Pieces 5 Servo hoop 4 6 Upper Limb A 4 7 Upper Limb 4 8 Lower Limb A 4 Pieces Pieces Pieces Pieces 9 Lower Limb B 4 11 Bottom Board 2 12 Connecting Board Pieces pus Pieces 2 pieces 13 Turning Board 4 15 Battery cabinet 16 Battery Cabinet pieces T ll IE cover 1 1 Piece pieces 17 Servomotor 8Pieces to battery 1 piece 21 connecting cable 23 Joinmax mini servo 22 Assembly manual 24 nylon cable of computer Explorer software 1 Piece button 1 piece CDrom 1 Piece you re reading 5 piece 2 3 Assembly Steps We suggest you to check up the types and quantities of all parts first and then you had better follow the illustrations below strictly to assemble the Quadruped Monster and pay attention to the relative warning 2 3 1 Leg Assembly Assembly Quantity 2 Right Legs and 2 Left Legs Parts List For each leg 2 23 M2 5x10 TS2 nma 91 Lower Limb B 41 Long Leg 7 13 Turning Board wmm D 71 Upper Limb B 191 Servomotor turning arm WARNING Make all the screws face to same direction for better appearance Pay attention to the assembly direction of 10 Lower Limb A Illustration 3 There is a deeper hole at one side you had better make the screw cap sink inside the hole
12. one is control wire which should be connected to control chip And the middle one is power supply wire and the power is usually 5 volt And the third one is GND 3 1 6 The Speed of Servomotor The instant speed of servomotor depends on the coordination between the internal D C motor and the gears and remains unchanged under a constant driving voltage But its average speed can be changed by inserting stop points between the start position and the designated position For example we can divide a distant of 90 degrees into 128 stop points and lengthen the stop time in each stop points to slow down the average speed of servomotor because to most servomotors the unit of the speed is degrees second 3 1 7 Notices for Servomotor Usage The shaft position of servomotor is not so accurate unless it is a digital servomotor The normal servomotors are not precise positioning devices and the differences 21 between them vary largely even they are of same brand model So it is normal that different servomotors have 10 degrees deviation under the same driving pulse Because of the mention above it is not recommended that don t use a driving pulse less than Ims or larger than 2ms And in fact the turning range of servomotor original designed is within 45 becausethe linear relationship between the pulse length and the turning angle will become worse when the turning angle exceed 45 Warning
13. ons for later usage or link up many separate actions into a complete set of actions The software has many powerful functions and lively samples Please read the manual or online help of Mini Servo Explorer for more details 26 Servo Function Servo Function Position Channel Position Channel Rear Leg Leg Horizontal Servo 3 Horizontal Servo NN Right Vertical Servo Left Vertical Servo 3 4 The Connection Between Servomotor and JM SSC16 im _ j Vertical Servo Right Rear Leg Left Rear Leg Right Front Leg Left Front Leg Horizontal Servo 21 Chapter 4 Gait Analysis All actions of Hexapod Monster can be edited by customer And we provide a sample of Gait Analysis as below 4 1 Gait of Going Forward or Backward Quadruped needs a tripod to stand otherwise it will tumble So we must use three legs of Quadruped to make a tripod There are 4 steps for the Quadruped to walk forward or backward To walk forward follow the step 1 2 3 4 then repeat And to walk backward follow the step 4 3 2 then repeat Leg Step 1 Step 2 Step 3 Step 4 Number Step 1 28 Step 2 Step 4 29 4 2 Gait of Turning or Right The Quadruped should take 4 steps to turn left or right It can repeat these 4 steps keep turning and I can repeat these 4 steps in reverse to keep turning another direction Number ENS pu Step 1 Ste
14. ontroller board that can control up to 16 servomotors 3 8 precise servo motors 4 1 Joinmax Mini Servo Explorer CD for installation 5 1 computer connecting cable 6 1 battery cable 7 1 assembly manual You re reading it Chapter 2 How to Assemble 2 1 Prepare to Work 2 1 1 Required Tools Before assemble the Quadruped you must prepare the following tools 13 1 cross screwdriver 23 tip pincers 2 1 2 About Power Supply Quadruped needs strong power supply which voltage is about 5 to 6 volts so we suggest you to choose 5 rechargeable batteries which voltage is 1 2 volts each with large capacity and good quality Please prepare 5 1800mAh 5 rechargeable batteries At the same time you should prepare a good quality battery charger for example the GP battery charger which can be bought in the market easily It can save your money because you can use these batteries repeatedly WARNING 1 Don t use normal alkaline battery which voltage is 1 5 volts and it will do harm to electrics circuit of Hexapod Monster 2 Don t use any inferior or easy leakage batteries because any damages caused by batteries misuse are not covered under our guarantee 3 Remember to use the batteries at least after half an hour after they are completely charged otherwise it will hurt the control circuit because of high voltage 2 2 Assembly parts List You will use the following parts in the asse
15. p 2 30 Step 3 1 i Step 4 You will find that these 4 steps can be divided into two parts 2 main actions and 2 auxiliary actions The main actions provide the propulsion and the auxiliary actions keep the balance of body so that the Quadruped will not tumble in any status because it has a tripod to support its body at any time You can combine the auxiliary action and the main action together try it and enjoy it 31
16. the D C motor and its output drives a variable resistance varying linearly which acts as a position detector and transforms the degrees of turning angle into a voltage and feed it back to the control circuit board which compares the voltage to the input controlling pulse signal then an adjusting pulse will be produced to drive the motor turning forward or backward and make the adjusting pulse becomes zero so that the servomotor moves to the designated position 19 3 1 4 How to Control A standard mini servomotor has three control wires which is power GND and control line The power wire and GND are used to supply the power to the D C motor and the control circuit The power should be between 4V 6V and separated from the one of processing system because the servomotor will cause high frequency noise and sometimes even a small servomotor can lower the voltage of the amplifier when it is loaded highly so the configuration of the power supply should be reasonable Normally servomotor requires a high pulse of 111 to 2ms in period and a low pulse of 5ms to 20ms in period which is not very strict The illustration below demonstrates the relationship between the pulse length and the mini servomotor output shaft position the period of pulse is 20ms Input pulse width T 20MS Servo position 20 3 1 5 Power Supply wires of Servomotor Control Wire Yellow SERVO Power Red GND Black The yellow
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