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Innovati Bipedinno Instruction Manual

12-dof waist-high robot
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Bipedinno
12-DOF Waist-high Robot
Instruction Manual
Version 1.18

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Summary of Contents for Innovati Bipedinno

  • Page 1 Bipedinno 12-DOF Waist-high Robot Instruction Manual Version 1.18...
  • Page 2 If you find any error in this manual, please contact us via the e-mail service@innovati.com.tw. Any related update information will be disclosed on our website. Please visit our website http://www.innovati.com.tw for more updated information.
  • Page 3 Precautions ® This kit comprises 2 modules, and Servo Runner A, each with respective BASIC Commander instructions for use and functions. Please refer to these for optimal effects. ® When installing to the Command Board, make sure the input voltage is within BASIC Commander the 6-12V range, otherwise the module may burn.

  • Page 4: Table Of Contents

    Table of Contents Part List ................................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...

  • Page 5: Part List

    Part List Item Illustration Qt’y Specifications and instructions Assembly Kit Parts PC installation board for linking robot Main Board for electronic modules with its leg parts; installing module provides versatile layout of module or power supply accessories. PC board for installing electronic Top Board for module of the robot and connecting installing module...
  • Page 6 Servo provides for 180° rotation moves capable of simulating articulation behaviors; connections with signal, power and ground are required for the operation. Pay attention to wire polarity. Avoid having the servo sustained to a same Servo movement for a long period of time, to prevent wearing the motor.
  • Page 7 Used for installing BC1, with spare ™ Command Board cmdBUS allowing user to connect ® with Innovati modules. Cable for connecting Servo Runner A Servo Power Line with Power Supply Unit. Command Board Cable for connecting Command Board Power Line with Servo Runner A’s Power Supply.

  • Page 8: Tools

    Links BC1 with PC, allowing downloading of PC program to BC1, USB cable or performing communication in Debug Mode. Used for fixing wires, so that they do not tangle or affect motions Cable Strap unexpectedly during the operation of the Servo. Tools ...

  • Page 9: Assembly Procedure

    Assembly Procedures Calibrating Servos Before starting installation, verify if the servo horn is at the correct position; if not, calibrate as follows:  Connect servo, Servo Runner A, Command Board, and power supply cable in the sequence as illustrated below. Connect to power with Servo Power Line.
  • Page 10 ™ Start the InnoBASIC Workshop ™ Click the application in the InnoBASIC Workshop ™ folder to start the InnoBASIC Workshop. Click the “Tools” item in the menu bar on the top. After clicking each item, a pull-down menu with more function items will be displayed. Please click the “Tools"...
  • Page 11 The message appears for notifying the download is complete. Please make sure that each component has been connected correctly. Please pay attention not to place your hands within the space where the servos may move into to avoid being clamped. Please check the checkbox for activating the servos on the left side to move all the servos to their central points.
  • Page 12 Installing the bearing (For reference only. Please do not assemble it first.) U-shape Bracket Servo Plate While connecting the Servo Bracket and the U-shape Bracket, the bearing should be used for the joints with the same fixing methods. 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.

  • Page 13: Assemble The Leg Frames

    A. Assemble the leg frames Assemble the Right Leg Frame Part A: Align two Servo Brackets and 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 C: Place 22mm U-shape Bracket together with Servo Bracket as shown, fix them with Screw D and Nut B.
  • Page 14 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. Connect Part B above with Part C and fix them with a bearing;...
  • Page 15 Assemble Left Leg Frame Part A: Align two Server Plates as shown; fix them with Screw D and Nut B. Part B: Place the 27mm U-shape Bracket together with Servo Plate as shown; fix them with Screw D and Nut B. Part C: Place the 22mm U-shape Bracket together with Servo Plate as shown;...
  • Page 16 Connect Part A on top of Part B and fix them with a bearing. The upper-most part is Servo Plate of Part A. Note the positions of fixing holes on both Part A and Part B. Connect Part B above Part C and fix them with a bearing;...
  • Page 17 Confirmation of the Right Leg Frame Confirmation of the Left Leg Frame...
  • Page 18 iii. Connecting the Left and Right Legs 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.

  • Page 19: Connecting Top Board With Module

    B. Connecting Top Board with Module Assemble Top Board with Command 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;...
  • Page 20 Assemble Main Board with Servo Runner A Insert Screw 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;...
  • Page 21 iii. Install servos and connect with Main Board Place a servo in each top Servo Plate of the left and right leg frames. Turn the leg frames outward 90 degrees as shown for easy installation. Fix servos to respective Servo Plates; insert Screw A with Washer A downwards, passing through servo and then Servo Plate and then fix the screw with a Nut A on the inside of Servo Plate.
  • Page 22 Install the rest 10 servos respectively into each Servo 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.
  • Page 23 Connect the control line of each servo to the corresponding pins on the Servo Module. Make sure that settings of servo numbers in the program conform to servo numbers on the Servo Module; only the following connection may ensure movements as programmed in the example.

  • Page 24: Fine-Tuning Initial Value Of Servo

    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. Structure fine-tuning: ...
  • Page 25 ® B_1. Connect the PC and the BASIC Commander on the robot with the USB cable The connectors at the two ends of the USB cable are of different sizes, so please connect the smaller one to the BASIC Commander. B_2.
  • Page 26 After clicking each item, a pull-down menu with more function items will be displayed. Please click the “Tools" item now. B_6. Click the “Motion Editor” in the pull-down menu (If a warning window ® appears, it means that the BASIC Commander is not correctly connected.
  • Page 27 The message appears for notifying the download is complete. Please make sure that the servos have been connected correctly at the specified positions. B_9. Please pay attention not to place your hands within the space where the servos may move into to avoid being clamped. Please check the checkbox for activating the servos on the left side to move all the servos to their central points.
  • Page 28 sure that the rotation is in the correct direction. If the reverse rotation is required, click the opposite arrow button. Adjust each servo to its central point one by one. The left/right arrow buttons can be used to rotate the servo clockwise or counterclockwise.
  • Page 29 Click the “Close” button to close the window. B_15. After returning the “Edit Servo Motion” window, click the “Exit” button at the lower right corner to close the fine tune operation. Click the “Exit” button to close the Motion Editor.

  • Page 30: Perform Demonstrative Motions

    Perform Demonstrative Motions 4_1. Please copy the folder “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.
  • Page 31 4_5. Click the “Browse” button at the lower left corner. 4_6. Set the “Browse for Folder” location to the “12-DOF Bipedinno frame” folder under the “12-DOF Bipedinno Docs” folder and then click the “OK” button. The selected folder will be highlighted. Please make sure that the selected folder is “12-DOF Bipedinno frame”.
  • Page 32 “Frame 0” will turn into “12-DOF Bipedinno frame0.frm ”. 4_9. Now click the “12-DOF Bipedinno frame 1” below the “Frame Files” and “Frame 1” below the “Module 0” as the two steps describe above. Repeat the operation for all the motions till Frames 0-11 have been downloaded to the corresponding frames.
  • Page 33 corresponding motions. Please make sure that first 12 Frames have been successfully downloaded. 4_11. After the verifying the operations, click the “Close” 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.
  • Page 34 4_13. Click “File” in the menu bar and click “Open”. 4_14. Please select the “12-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”.
  • Page 35 4_15. Move to the 27 line of the program to see the Initial Function. (To move within the program, the user can also click the mouse button at any position in the program and then rotate the mouse wheel to scroll the program page.) The number on the left side represents the line number of the program.
  • Page 36 4_18. Press the “Build” button and wait until the download is complete. If 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.

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