H) Mounting The Legs - Maker Factory MF-4992453 Operating Instructions Manual

h) Mounting the legs

Try to mount the legs the as well as you can. Minor deviations do not play a role and
cannot be avoided by the mechanical tolerances and by the coarse teeth of the servo
disks.
The legs will be exactly adjusted later by software!
Figure 48 (see also Figure 20) shows the basic configuration of a Hexapod leg. It
should be noted that the thigh (femur) is aligned parallel to the ground ("ground" in the
picture).
The pivot point of the shin ("tibia") is parallel to the body ("body"). When the leg is
fully adjusted, there is a 90° angle between the femur and the tibia. The arrangement
between "body" and "femur" is parallel in one line. The difference in height does not
play a role here.
Figure 49 (see also Figure 17) once again shows the pin assignment of the robot board
for the leg servos. The following list shows wherein each servo is connected.
Basically, the connection sequence "COXA", "FEMUR", "TIBA" always applies; then
follows the plug contact "SAx", which remains free!
Now connect the servos to the board. With the "ServoCenter" programme you can always check during assembly whether the leg is still in the basic position.
After mounting each leg, use the "ServoCenter" programme to check whether the leg is in the basic configuration or whether an error has crept in due
to turning the servo while mounting!
RR (right rear)
S0 = Coxa
S1 = Femur
S2 = Tibia
RM (right middle)
S3 = Coxa
S4 = Femur
S5 = Tibia
RF (right front)
S6 = Coxa
S7 = Femur
S8 = Tibia
32
Figure 49
LR (left rear)
S9 = Coxa
S10 = Femur
S11 = Tibia
LM (left middle)
S12 = Coxa
S13 = Femur
S14 = Tibia
LF (left front)
S15 = Coxa
S16 = Femur
S17 = Tibia
Coxa = hip
Femur = thigh
Tibia = leg or shin-bone
Figure 48