Download
Share
Print this page
  1. Manuals
  2. Brands
  3. Innovati Manuals
  4. Robotics
  5. Mini Hexapodinno 18-DOF
  6. Instruction manual

Innovati Mini Hexapodinno 18-DOF Instruction Manual

Hide thumbs

Advertisement

Quick Links

Download this manual
Mini Hexapodinno
18-DOF Robot
Instruction Manual
Version 1.11

Advertisement

loading
Need help?

Need help?

Do you have a question about the Mini Hexapodinno 18-DOF and is the answer not in the manual?

Questions and answers

Related Manuals for Innovati Mini Hexapodinno 18-DOF

Summary of Contents for Innovati Mini Hexapodinno 18-DOF

  • Page 1 Mini Hexapodinno 18-DOF Robot Instruction Manual Version 1.11...
  • 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 Servo Commander 32 and the attached CD-ROM contains instructions for use and functions. Please refer to these for optimal effects.  The input voltage to the Servo Commander 32 must correspond to the voltage rating of the servo. Servos provided in this kit are rated 4.8-6V;...

  • Page 4: Part List

    Part List Specifications and instructions Item Illustration Qty. Assembly Kit Parts PC body Main Board for accommodating parts of the mini Main Board for hexapod robot. Six protrusions are module designed for connecting six leg kits. The center part is for placing installation different modules or power supply according to different needs.
  • Page 5 ISOP 3 x 10 mm Screw C ISOP 3 × 6 mm Screw D Plastic Post A 18mm Plastic Post B 3 x5 mm Module Kits Servo Commander 32 combines the features and functions of both BC1 and Servo Runner A. It can Servo Commander 32 store programs and control the movements of servos.
  • Page 6 Used for fixing wires, so that they do not tangle or affect motions Cable Strap unexpectedly during the operation of the servo. 1. Tools  Phillips Screwdriver (2mm and 3 mm)  Long Nose Pliers  Screw Glue (selectively used at the joint between nut and Aluminum Plate, to prevent the nut from loosening.)

  • Page 7: Assembly Procedures

    2. Assembly Procedures Step 1: Assemble the Supporting Leg Plates Screw A While installing, please pay attention that the left and right leg plates should be assembled in different orientations. Each side has three leg plates. Step 2: Adjust the servo to the central point ...
  • Page 8 Connect the PC and Servo Commander 32 with a USB line. 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 range required by the servo.
  • Page 9 If this message appears, it means that the USB cable is not connected correctly. If the connection is correct, the message “Downloading Editor Program...” will be displayed on the PC screen meaning that the program is being downloaded. Please wait a moment. The message means that the program is being downloaded.
  • Page 10 Step 3: Mount Servo Disks Screws for servo disks (provided with the Notices during assembly: Please maintain servo) the servo at the same angle before the disk is fastened during the assembly. In case the disk is moved, please follow this adjustment procedure again to prevent from any unexpected movement or damage to the parts.
  • Page 11 Screw B While assembling, the curved edge should face outward. While assembling, be careful that all the larger sides of the center hole on the installation plate face down as shown in the above figure. Step 5: Assemble the Module Installation Board While assembling, please pay attention to the direction.
  • Page 12 Step 6: Assemble the Module Installation Board and Legs While assembling, please pay attention that the circular hole faces forward and the PC board of all the legs faces forward. Double-sided Tape While assembling, please pay attention that the positions marked with arrows should be aligned point to point and the two servos should be placed perpendicular to each other.
  • Page 13 Step 7: Install the Velcro Cable Strap While installing the Velcro cable strap, please pass the strap upward through Point A on the Module Installation Board and then pass it downward through Point B. Note: The two ends of the cable strap under the Module Installation Board should be balanced in length as shown in the above figure.
  • Page 14 Screw C While installing, please check if the Velcro cable strap has been installed. Plastic Post A...
  • Page 15 Step 9: Install the Power Switches Remove the nut and washers on the switch as shown in the following figure. It is disassembled into the Power Line with Switch, Nut A, Washer B, Washer C, and Nut D. Assemble them in the sequences of Nut A  Washer B Module Installation Board Power Line with Switch as describe above.
  • Page 16 Pass the red and white wires upward through the hole and then fix them into the power input terminals with the screws. While installing, please pay attention to the polarity. The red wire should be connected to the “+” terminal and the white wire should be connected to the “-”...
  • Page 17 Module ID: 1 模組編號：1 模組編號：0 Module ID: 0 伺服機編號： Servo ID: 0, Servo ID: 4, 伺服機編號： 1, 2 0、1、2 5, 6 4、5、6 Module ID: 1 模組編號：1 Module ID: 0 模組編號：0 Servo ID: 8, 伺服機編號： 伺服機編號： Servo ID: 12, 9, 10 8、9、10 13, 14 12、13、14...
  • Page 18 Step 11: Install the Sonar Module Screw C Plastic Post B Screw D While installing, please pay attention to adjust the ID of the sonar module to 3 according to Note 1. Double-sided Tape After the installation is completed, connect the wires of the head servo to Pin 3 of Module 0 on Servo Commander32 and then connect the cmdBUS.
  • Page 19 3. Fine-tuning Initial Values of Servos 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 the adjustment so as to allow the follow-up operations to be positioned correctly. Fine-tuning in Software: Connect the PC and the Servo Commander 32 on the Mini hexapod Robot with the USB line.
  • Page 20 Click the “Motion Editor” in the pull-down menu. (If a warning window appears, it means that the BASIC Commander is not correctly connected. Please check if the USB line is connected or unplugged, and then plug it again to ensure a correct connection.
  • Page 21 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 one by one to move all the servos to their central points. Please note that the number next to each checkbox should be 1500.
  • Page 22 11. Observe the servo that requires the fine tune and click the corresponding arrow buttons. The servo will rotate in the selected direction. Please make sure that the rotation is in the correct direction. If the reverse rotation is required, click the opposite arrow button.
  • Page 23 Please enter a preferred name in the “filename” and then click “Save”. After the file is successfully stored, the filename of the last stored file will be displayed in the “Filename”. 13. Click the “Close” button at the lower right corner to close the window. Click the “Close”...

  • Page 24: Perform Demonstrative Motions

    4. Perform Demonstrative Motions Please copy the folder “Mini 6-Legged Robot Documents” to the PC. In the innoBASIC Workshop, click “Tool” in the menu bar on the top. Click “Motion Editor” in the pull-down menu. Click the button “Set the Corresponding Motion” at the bottom of the Motion Editor.
  • Page 25 Click the “Browse File” button at the lower left corner. Set the “Browse File” folder to the “Mini 6-Legged Robot Frame” folder under the “Mini 6-Legged Robot Documents” folder and then click the “OK” button. The selected folder will be highlighted. Please make sure that the selected folder is “Mini 6-Legged Robot Frame”.
  • Page 26 “Mini 6-Legged Robot Demonstrative Motion0”. After the download is complete, the original text “frame0” will turn into “Mini 6-Legged Robot Demonstrative Motion0”. Now click the “Mini 6-Legged Robot Demonstrative Motion1” below the Motion File and “Frame1” under the Module0 and Module1 as the two steps describe above.
  • Page 27 10. After all the download operations are complete, it is clear that all the motions above Frame13 under the Module0 and Module1 have been changed to the corresponding motions. Please make sure that first 13 Frames have been successfully downloaded. 11.
  • Page 28 12. In the Edit Servo Motions window, click the “Exit” button at the lower right corner to close the Motion Editor. 13. Click “File” in the menu bar and click “Open File”.
  • Page 29 14. Please select the “Mini 6-Legged Robot Forward Movement Demonstration Program” in the folder and click “Open”. The selected folder will be highlighted. Please make sure that the selected folder is “Mini 6-Legged Robot Forward Movement Demonstration Program” or “Mini 6-Legged Robot Forward Movement Demonstration Program”.
  • Page 30 16. Update the fine tune values, which are recorded during the software fine tune, into the Initial Function to replace the original values of “0”. The SetPosOffset command has two parameters: one is the Servo ID and the other is the fine tune value.