Parallax Penguin Manual page 7

Step 3: Assemble the Penguin body
Install the servos into the Penguin body using (8) 4-40 1/4" long button socket cap stainless steel screws
and the 1/16" hex key. The picture shows how the servo splines are oriented: the stride (bottom) servo
spline is near the rear of the Penguin; the tilt (top) servo spline is near the top of the Penguin. Tighten
the screws.
Step 4: Install stride linkage on the stride servo
Locate the small black plastic stride linkage with two ball-shaped ends. (This part has changed: the style
shown on the left is included in your kit. The previous style is shown in all the photographs.) The stride
linkage has a recess in the reverse shape of the servo spline. Press it onto the servo so that it is as close
to cross-wise to the Penguin body as possible; it may not be perfectly perpendicular because the spline is
toothed. For fine-tuning, this can be corrected with calibration-in-software using sample code available
for free download from the Penguin product page. Secure the stride linkage to the spline with the servo
screw.
Copyright © Parallax Inc. Penguin Robot (#27313-27316) v1.4 2/16/2010 Page 7 of 23