Parallax Penguin Manual page 8

Step 5: Attach legs and ankles to body
The Penguin's legs and ankles come pre-assembled since they required a specialized tool to properly
insert small dowel pins through the round ankle. Each Penguin has a pair of left and right legs. Also
notice that there's a round machined recess with a diameter slightly larger than the shoulder screw head
on each pair of legs. The recess faces out towards the shoulder screw, and the shortest part of the ankle
faces forward. Shoulder screws have a 1/8" diameter smooth stainless steel surface upon which the legs
will rock back and forth.
To install the leg assemblies on the Penguin, use the (4) 4-40 1/8" long shoulder screws and the 5/64"
hex key. The ball-shaped ends of the stride linkage fit within the matching oval cutout in the rear legs.
The legs should move freely when assembled, and you will hear the stride servo's gears moving at the
same time. If it takes force to move the legs you have one of two problems: either the metal parts have
bound, or the screws are too tight into the body panels. Tighten everything enough to remove "slop" but
not so tight that parts are unable to move freely.
Copyright © Parallax Inc. Penguin Robot (#27313-27316) v1.4 2/16/2010 Page 8 of 23