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Vstone Robovie-nano Manual

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Vstone Co.,Ltd.
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Summary of Contents for Vstone Robovie-nano

  • Page 1 Vstone Co.,Ltd.

  • Page 2: Please Read First

    0．Introduction Please Read First Thank you for purchasing the Robovie-nano bipedal robot kit. Contained herein are the directions for assembling the robot kit. Please carefully follow the instructions and have fun. This is a do it yourself assembly kit. The quality of the end product will vary depending on how the robot is assembled by the user, so careful attention must be followed to following the directions.

  • Page 3: Safety Warnings

    Safety Warnings ●As for this product、this is a do it yourself robot kit so much of the stated performance in this manual cannot guaranteed, due to the nature of varying methods of user assembly.. ●Please do not use of this product、assemble、or store parts around small children、This kit contains small pieces which may be easily swallowed.
  • Page 4 About the Servo Motors A servo motor has an important rule and concept concerning its mounting. If it is mounted in a wrong way, the robot will not move correctly. When assembling the servo motor, read this page thoroughly. ○Servo motor original position The servo motor is controlled by the CPU and can be programmed by the user to freely run.
  • Page 5 １．Equipment Please prepare the following tools and have readily available during and after assembling the robot. ●Personal Computer CPU：Pentium 3 or equivalent (1GHz or Greater) RAM：128MB OS：Windows 2000／XP／Vista Display：XGA or Better Interface：USB CD-ROM Drive Installed。 ●Tools ・Screw Drivers ＃０、＃１ Philips （＃２ cannot be used） ＃０...

  • Page 6: Included Parts

    2．Parts Discription Included Parts ・Servo Motor VS-S020 Dimensions：22.5×11.5×24.6mm（L×W×H） Torque：2.2kg・cm Speed：0.11S/60° Weight：12g Range of Motion：140° Electrical Input：4.8V～6V（7.4V Optimal） Protocol：PWM ・Robot Internal CPU Board ＶＳ-ＲＣ003ＨＶ Dimensions： 52x48(44)x13mm Weight： 21g Servo Motor Output：30ch Voice/Sound Output：2W Electrical Input： 5V～16V PC interface：USB (HID) Remote Control： PS2 Wireless Remote, Probo Expansion Boards：IXBUS ×...

  • Page 7: Parts List

    Parts List Please confirm all parts are included in kit × ２ each Main Body Frame ＜L＞ ＜Ｒ＞ Servo Holder Ａ X 1 each X 1 each ＜L＞ ＜Ｒ＞ ＜L＞ ＜Ｒ＞ Servo Holder Ｂ Servo Holder Ｃ ×４ ×４ ×２ Servo Holder Ｄ...
  • Page 8 X 2 each X 1 each ＜L＞ ＜Ｒ＞ ＜L＞ ＜Ｒ＞ Bracket Ａ Bracket Ｂ ×２ Foot X 1 each Body Frame ＜L＞ ＜Ｒ＞ Side Frame ×１ ×１ ×１ Bottom Frame Battery Box Frame Top Frame...
  • Page 9 ×１ ×１ Front Cover Back Cover ×１each Frames ＜L＞ ＜Ｒ＞ Hand Frames ×２ ×２ ×２ Arm Holder Ａ Arm HolderＢ Arm HolderＣ ×２ Flat Washer...
  • Page 10 バインドネジ Binding Screw Screw S Tight Screw Varieties Spacer ×１０２ ×４ ×７５ ４ ４ Screw NA Screw NB Screw NC M2-3 Course Thread M2-４ Course Thread M2-４ Ｓ Tight ×１０ ×２４ ×４ ５ バ Screw ND Screw NE Screw NF M2-５...
  • Page 11 ×２ ×２８ ×１０ Washer Bearing Washer Cable Ties ×１５ ×１５ Major Parts Servo Motors VS-S020 VS-S020 Servo Horn ×１ ×１ ×１ CPU Board Connector and Cable Speaker VS-RC003HV Gamepad Receiver ×１ ×１ ×１ Battery Terminal USB Cable Initial Position Adjustment Jig...

  • Page 12: Important Points

    ３．Assembly Important Points ・Please use new screw driver. Philips head screwdriver ＃０： Ｍ２‐３ Course thread, Ｍ２‐４ course thread. Flat head screwdriver ＃１： Ｍ２‐４Ｓ tight、Ｍ２‐５ Binding、M３‐６、M３‐８ screws. ・Please make sure to use correct screw type. In particular, M2-4 tapping screws and M2-5tapping screws are very similar. Please note that if you use M2-5 tapping screw for the output shaft of the servo, it may case a malfunction of the robot.
  • Page 13 Naming and positioning of the servo motors ＣＮ３ ＣＮ４ Ｓ6：Head Ｓ6：Power Cable Ｓ5：（Right Eye ＬＥＤ） Ｓ5：（Left Eye ＬＥＤ） Ｓ4：（Right Hand） Ｓ4：（Left Hand） Ｓ3：Right Elbow Roll Axis Ｓ3：Left Elbow Roll Axis Ｓ2：Right Shoulder Roll Axis Ｓ2：Left Shoulder Roll Axis Ｓ1：Right Shoulder Pitch Axis Ｓ1：Left Shoulder Pitch Axis ＣＮ２...
  • Page 14 ① Setting up servo motors Please prepare the necessary parts ×１５ ×１ ×１ CPU Board Servo motor Battery Box VS-S020 VS-RC003HV ×１ Other Parts NiCad rechargeable battery （AAA、full charged） USB Cable If you are installing Yaw axis extension kit, please prepare following parts. ×２...
  • Page 15 １ Installing RobovieMaker2 Please insert RobovieMaker２ Install CD into CD drive of your PC, and open the folder from MyComputer. Please Double click the file called “RobovieMaker2_Inst_***.exe” (*** indicates the software version) Click Next Click Read the license agreement and select Next “Agree”.
  • Page 16 Click Next Click Next Click Next Click Install It takes a few minutes Click Finish...
  • Page 17 ２ Connect CPU board to PC Connect CPU Board to PC and PC will recognize the CPU Board. Connect to PC Connect USB cable to Insert the cable firmly. CPU Board. PC will automatically detect the CPU Board when it is connected. It may take several times to detect the CPU board when you are connecting it for the first time.
  • Page 18 ５ Creating new robot project Start RobovieMaker and prepare for controlling Robot from PC. ③Click 「RobovieMaker2」 ②Place the cursor over the “All Programs”. ① Click Start The following dialogues will appear when you start the program for the first time. Click 「...
  • Page 19 Type in name of your robot. Select directory your want to save the data of the robot. Select “Robovie-nano” Make sure you select this check box. Click “Create” Click “OK” Please initialize your CPU Board if you are using new board.
  • Page 20 The initialization of the CPU Board is completed. It will open the following window.
  • Page 21 ３ Numbering Servo Motors Placing number tags on to the cable of each servo motor. Please place the tag onto the cable, not the connector. Please use ＣＮ１-Ｓ６ and ＣＮ２-Ｓ６ for “Yaw Axis kit”. If you are installing the Yaw Axis kit, please place the CN1-S16 and CN2-S6 to the servo cables.
  • Page 22 ５ Connecting Battery Box Do not insert battery Connect the cable on Ｃ Ｎ ４ － ６ Pin of the CPU Board. Make sure the black (or brown) cable is placed toward outside. ６ Connecting Servo Motors Connecting all servo motors onto the CPU board. Rotary Switch ＵＳＢPort ＣＮ４...
  • Page 23 ７ Positioning Servo Motors Start up RobovieMaker2. Servo Motor ON/OFF Button Communic Connect CPU Board to PC and push the button in tool bar. Button opens status window. Place batteries in the battery box and turn on the switch, and turn on the switch on the CPU Board. Then, click servo motor ON/OFF button in tool bar.
  • Page 24 ②Right Leg Assembly Please gather the necessary parts ×１ ×１ ×１ Servo Holder Ａ (Right) Servo Holder B (Right) Servo HolderＤ ×１ ×１ ×１ Foot Plate BracketＡ(Right) VS-S020 Type Servo Horn ×２ ×１０ ※ Please prepare the servos with following seals attached。...
  • Page 25 １ Right Ankle Block Assembly ① ２ Right Ankle Block Assembly ② Watch the Direction CN1-S１ CN1-S２ ３ Back of Right Leg ① Servo Horn Positioning CN1-S１Installed...
  • Page 26 ４ Back of Right Leg ② From Above Bushing ブ Back of Right Leg ③ ５ ＜Back＞ ＜Front＞ Inversion Note that the screws are too close ４...
  • Page 27 Screw NA M2-3 Course Thread Please gather the necessary parts。 ×１ ×１ ×１ Servo Holder A (Right) Servo Holder C (Right) Servo Holder D ×２ ×６ ※Please prepare the servos with the following seals attached。 CN1-S３ CN1-S４ Servo Motor Screw NA VS-S020 M2-3 Course Thread ６...
  • Page 28 Please gather the necessary parts ×２ ×２ ×２ Link Arm A Link Arm B Link Arm C ×２ ×２ ×１ VS-S020Type Rear Link Arm A Knee Frame A Servo Horn ×８ ×１０ ×８ ４ Screw NA Screw NC Screw NE M2-3 Course Thread M3-6 Fine Thread M2-４...
  • Page 29 ８ Right Link Arm Assembly ４ 2 Sets DO NOT Strip the Screw Threads！ ９ Right Arm Link Assembly ① ＜Front＞ Inversion Servo Horn Positioning ４...
  • Page 30 １０ Right Link Arm Assembly ② Servo Horn Positioning ４ ＜Front＞ Inversion...
  • Page 31 １１ Attaching the rear link ① Side View ＜Back＞ １２ Attaching the rear link ② Side and Rear View ８ ８ ＜Back＞...
  • Page 32 １３ Completed Right Leg Assembly ＜Front＞ ＜Back＞...
  • Page 33 ③Left Leg Assembly Please gather the necessary parts ×１ ×１ ×１ Servo Holder Ａ (Left) Servo Holder B (Left) Servo Holder Ｄ ×１ ×１ ×１ Bracket A (Left) VS-S020Type Right Foot Plate Servo Horn ×２ ×１０ ※Please prepare the servos with the following seals attached CN２-S１...
  • Page 34 １ Left Ankle Block Assembly ① ２ Left Ankle Block Assembly② Watch the Direction CN２-S１ CN２-S２ ３ Back of Left Leg ① Servo Horn Positioning CN1-S１Installed...
  • Page 35 ４ Back of Left Leg② Top Down View Bushing ５ Back of Left Leg ③ ＜Back＞ ＜Front＞ Inverted Do NOT Strip the Screw Threads！ ４...
  • Page 36 Please gather the necessary parts。 ×１ ×１ ×１ Servo Holder A (Left) Servo Holder C (Left) Servo Holder D ×２ ×６ ※Please prepare the servos with the following seals attached. CN２-S３ CN２-S４ Servo Motor Screw NA VS-S020 M2-3 Course Thread ６...
  • Page 37 Please gather the necessary parts ×２ ×２ ×２ Link Arm A Link Arm B Link Arm C ×２ ×２ ×１ VS-S020Type Rear Link Arm A Knee Frame A Servo Horn ×８ ×１０ ×８ ４ Screw NA Screw NC Screw NE M2-3 Course Thread M3-6 Fine Thread M2-４...
  • Page 38 ８ Left Link Arm Assembly ４ 2 Sets DO NOT Strip the Screw Threads！ ９ Left Arm Link Assembly ① ＜Front＞ Inverted Servo Horn Positioning ４...
  • Page 39 １０ Left Link Arm Assembly ② Servo Horn Positioning ４ ＜Front＞ Inverted...
  • Page 40 １１ Attaching the rear link① Side View ＜Back＞ １２ Attaching the rear link ② Side and Rear View ８ ８ ス ＜Back＞...
  • Page 41 １３ Completed Left Leg Assembly ＜Front＞ ＜Back＞...
  • Page 42 ④Right Arm Assembly Please gather the necessary parts ×１ ×１ ×１ Holder Arm A Holder Arm B Holder Arm C ×１ ×２ ※Please prepare the servos with the following seals attached。 CN３-S２ CN３-S３ Servo Motor Hand Frame (Right) VS-S020 ×１ ×４...
  • Page 43 １ Right Arm Block Assembly ① ２ Right Arm Block Assembly ② Watch the Direction！ CN３-S３ CN3-S２ ３ Right Arm Block Assembly③ Inverted...
  • Page 44 ４ Attaching the Right Forearm ① Servo Horn Positioning Attaching the CN３-S３ ５ Attaching the Right Forearm ② ブッシュ Bushing ブ...
  • Page 45 ６ Attaching the Right Forearm ③ ４ DO NOT Strip the Screw Threads! ＜Back＞ Inverted ＜Front＞...
  • Page 46 ⑤Left Arm Assembly Please gather the necessary parts ×１ ×１ ×１ Holder Arm A Holder Arm B Holder Arm C ×１ ×２ ※Please prepare the servos with the following seals attached。 CN４-S２ CN４-S３ Servo Motor Hand Frame (Right) VS-S020 ×１ ×４...
  • Page 47 １ Left Arm Block Assembly ① ２ Left Arm Block Assembly ② 向きに注意！ CN４-S２ CN４-S３ ３ Left Arm Block Assembly③ Inverted...
  • Page 48 ４ Attaching the Right Forearm ① Servo Horn Positioning Attaching the CN３-S３ ５ Attaching the Right Forearm ② ブッシュ Bushing...
  • Page 49 ６ Attaching the Right Forearm ③ ４ DO NOT Strip the Screw Threads! ＜Back＞ Inverted ＜Front＞...
  • Page 50 ⑥Assembling the Torso Please gather the necessary items ×１ each ×１ each Bracket Ｂ Side Frame ×１ ×１ ×１ Bottom Frame Battery Box Frame Top Frame ×３ ×１ ※Please prepare the servos with the following seals attached CN３-S１ CN４-S１ CN３-S６ Servo Motor VS-S020Type VS-S020...
  • Page 51 ×５ ４ Screw NC M2-４ Ｓ Tight This page explains the procedures for assembling the yaw axis upgrade with the robot. If you are assembling the kit without the yaw axis upgrade, please move to the page and steps listed below. W/Out Yaw Axis →...
  • Page 52 Steps 1 and 2 on this page are for robots without the yaw axis extension. When assembling the yaw axis, please skip to page 52 step 3. １ Mounting Bracket B Watch the Direction！ ２ Mounting the Arm Pitch Axis CN４-S１...
  • Page 53 Steps 3, 4 and 5 outline the procedures for installing the yaw axis extension upgrade. If you do not have the yaw axis extension upgrade, please start from Page 51. ３ Thigh Bracket Assembly ＜R＞ ＜L＞ Do NOT Strip the Screw ４...
  • Page 54 ５ Mounting Arm Pitch Axis Loop the cable through the hole CN４-S１ CN３-S１ → 「 」 Move to Step 6: Mounting the Battery Case...
  • Page 55 ６ Mounting the Battery Case...
  • Page 56 ７ Mounting the Battery Case ８ Head Assembly ４ Do Not Strip the Screw Threads! CN３-S６...
  • Page 57 ９ Head Assembly Cables go UNDER the head frame。 Make sure to loop the head servo cable under the frame!
  • Page 58 １０ Attaching the CPU １１ Attaching the Power Switch Attach the black side of the servo cable toward the outside of connector CN4-S6...
  • Page 59 ⑦ Arm & Leg Mounting Please gather the necessary parts X 2 each ×２ ＜L＞ ＜Ｒ＞ Bracket Set Ａ Flat Washer ×６ ×８ ×３０ ４ VS-S020 Screw NA Screw NC Servo Horn M2-3 Course Thread M2-４ Ｓ Tight ×４ ×４ Screw NE Washer M3-6 Fine Thread...
  • Page 60 １ Attaching ① Leg ＜Back＞ Bushing Direction for attaching the servo horn...
  • Page 61 ２ Attaching ② Leg ＜Back＞ ４ ４ Inversion ＜Front＞...
  • Page 62 ３ Mounting ① Arm ４ ＜Ｌ＞ ＜Ｒ＞ ４ Mounting ② Arm Aligning the servo motor ４ Aligning the servo motor ＜正面＞ ４...
  • Page 63 ５ Arm ③ Mounting Bushing Bushing Aligning the Aligning the servo motor servo motor...
  • Page 64 ６ Mounting ④ Arm ＜Back＞ ４ ４ 反転 ＜Front＞...
  • Page 65 ⑧ Securing the Wires It is important to properly secure the wires after assembly in order to prevent unnecessary accidents from wire tangling and snagging. Please gather the necessary parts ×８ ×８ ５ バ Screw ND Wire Tie Down M2-５ Binding...
  • Page 66 １ Fastening the Screws Attached the screws the areas in the ○ below...
  • Page 67 ２ Wiring the Arms ５ バ Wire Tie Wire Ties Cable 結束バンドの止め方 ＜背面＞ ５ バ From the bottom Wrap around the top Through the Bottom...
  • Page 68 ３ Wiring the Legs ＜Back＞ Through the middle ５ バ Through the bottom Wire Ties Through ５ バ the middle Insert through the middle of the frame Over the top...
  • Page 69 ４ Cable Connection to CPU Connect all of the servo cables to the CPU board as shown Rotary Switch USB Port ＣＮ４ ＣＮ３ Ｓ6：power cable Ｓ6：Head Ｓ5：（左目ＬＥＤ） Ｓ5：（右目ＬＥＤ） 茶赤橙 橙赤茶 Ｓ4：（左ハンド） Ｓ4：（右ハンド） Ｓ3：Lt Elbow Roll Axis Ｓ3：Rt Elbow Roll Axis Ｓ2：Lt Arm Roll Axis Ｓ2：Rt Arm Roll Axis Ｓ1：Lt Arm Pitch...
  • Page 70 ⑨ Securing the Front and Back Covers Please gather all the necessary parts ×１ ×１ ×８ Front Cover Back Cover Screw NA M2-3 Course Thread ×４ ×２ ×２ ４ ５ ス バ Screw NB Screw ND Spacer A M2-４ Course Thread M2-５...
  • Page 71 １ Attaching the Speaker ４ Cable is on the Right ２ Attaching the Front Cover Be careful not to crimp the speaker cable with the frame Twist Screw ＜正面＞...
  • Page 72 ３ Speaker Connection ４ Attaching the Receiver Connctor Receiver Connector ス CN11 Connect the speaker cable to CN11. There is no polarity for direction. ５ Connecting the Receiver IXBUS Cable Connect to CN6 with the brown cable (▲) facing up. Line up the right side (▲) of the cable as shown Connector comes already...
  • Page 73 ６ Wiring Together Taping down the excess cable. ※Taping is not required, however it makes covering the back of the robot easier. ７ Attaching the Back Cover Cable Tie The cable tie has holes in ５ バ both ends for tying down ５...

  • Page 74: Servo Motor Position

    ４．Servo Motor Position Correction If you turn the robot’s servo motors ON immediately after assembly, the limbs will move into an awkward posture and the robot will not move correctly. Please correct the position of the servo motor according to the following steps １...
  • Page 75 ２ Checking the Servos Turn on the robot’s power switch. At this time, please check the 5v voltage as indicated below. If you experience a low voltage (3v, etc.), there may be a problem with battery, the battery connection or the servo motors may be improperly connected.
  • Page 76 ３ About the Slider Specify the angle of the servo motor to change the value of the slider. Slider Name Angle of the Servo Motor Turn ON/OFF the servo motor by Click the top half and bottom checking or unchecking the box. half of the spin button to Check in the box is live power.
  • Page 77 ４ Power the Servo Motors One at a Time Uncheck all of the boxes to remove power from the servo motors Push the button on the software to confirm no moving servos. ※Even if you turn the robot ON, the servos will not have power. Servo ON/OFF Button...
  • Page 78 ５ Leg Yaw Please continue only if you have purchased a yaw extension kit for your robot. 「Place a check in the LEFT and RIGHT yaw access boxes and click the servo motor power button. As shown below, "yaw left thigh", "yaw right thigh," lets you adjust the angle of the servo. Align the two sides as shown.
  • Page 79 ７ Pitch right leg axis Place a check in the 「Right Leg Pitch」、「Right Ankle Pitch」boxes and push the servo motor power button. Align the 2 sides as shown Use the provided jig as shown to adjust the initial position of the servos on the right leg. You have aligned the legs properly if the jig is flush against the two brackets.
  • Page 80 ９ Right leg and roll axis Apply the jig to the Place a check in the 「Right Leg Roll」box and bracket without any push the servo motor power button. gaps Adjust the servos to be parallel with the jig, as shown As shown on the right, using a jig for adjusting the initial position lets you set the proper angle Place a check in the 「Right Ankle Roll」box...
  • Page 81 １１ Shoulder Pitch Correction Place a check in the 「LEFT Shoulder Pitch」 and 「Right Shoulder Pitch」 boxes then click the servo power button Align the 「LEFT Shoulder Pitch」 and 「Right Shoulder Pitch」 as shown below. Adjust so that the frame and body are parallel to the upper bracket of the shoulder...
  • Page 82 １３ Right Arm “Shoulder” Roll Axis Adjust the inner side of the Place a check in the 「Right Arm Roll」box and arm and torso to be parallel. push the servo motor power button (Torso and arm spacing is about 15mm) Adjust the shoulder roll as shown on the image to the right Place a check in the 「Right Elbow Roll」box...
  • Page 83 １５ Servo Initial Position Adjustment After all the servo motors have been configured click the button. Servo initial configuration button After clicking the button, the following dialogue will appear. Click Yes. The writes the configuration to the RAM (temporary memory). Click OK. Since the settings have only been written to the RAM at this time, all settings will be lost once power is disconnected.
  • Page 84 In the CPU Write Settings Dialogue Window, click "Overwrite all" and select "Run" to begin the write press. Once the files have been written to the CPU board your robot assembly is complete.
  • Page 85 ５．Gamepad Operations Motion files for operating the robot are uploaded to the CPU board by default when the initial settings are written. You can control the robot with the PS2 wireless remote controller if a receiver is connected. At this time, the only controller supported is the wireless robot gamepad controller"VS-C1", manufactured by Hori "Vibration Wireless Anaheim 2 TURBO”.
  • Page 86 With the map and auto demo, you can register up to 10 operations. Robovie-nano is written in the following modes by default as shown below: ０： Basic (Plain) Control Map Control maps in this mode should not have any optional parts.
  • Page 87 ３ Always Common Buttons （motions） These buttons have the same functionality in all default control maps All direction Shift button Turn left Turn right Forward LEFT Side step left RIGHT Side step right DOWN Get up from face up down Get up from face Backward ３...
  • Page 88 ４ Soccer SELECT + ● While pushing R1 button R1+▲ ▲ Walk forward slightly Forward little R1+● ● Keeper save right Shoot right R1+■ ■ Keeper save left Shoot left R1+× × Keeper save middle ５ Battle Mode SELECT + ■ While Holding R1 Button R1+▲...