About The Angle Of Servo Horn - PLEN Project PLEN5Stack Assembly Manual

3.2 About the angle of Servo horn

1. Body balance is important for biped robots. but, since servomotors have individual
differences in rotation angle, it is necessary to absorb the individual differences by the servo
horn attached to this.
Therefore, the angle of the servo horn needs to be precisely adjusted. If this adjustment is
not successful, you will not be able to walk or fall easily.
Here we will explain how to make this adjustment.
2. The servo horn has a slight offset between the inner serration and the front cross.
Therefore, when rotating the cross of the servo horn by 90 degrees, there is a point where
the cross is just horizontal.
Find this and fix the servo horn.
3. As a method other than servo horn adjustment, a method to adjust by program is also
prepared. (Coming soon)
The shoulder parts are integrated with the servo horn and can not be rotated by 90 degrees,
so they need to be adjusted in the program.
servo horn fix image
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