Table of Contents
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Table of Contents
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Summary of Contents for Stanford Pupper 2.1
- Page 1 Stanford Pupper 2.1 Assembly and Operation...
- Page 2 Overview Mechanical Design Bill of Materials Software Build Instructions IMPORTANT Build notes Steps to complete before following the build video Changes to video instructions Setting motor controller IDs Calibrating motors Reference diagrams for screw sizes (review before watching video) Build video Software Installation Running the robot Troubleshooting...
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Page 3: Mechanical Design
Overview Mechanical Design Fusion 360 CAD ● ○ Outdated, need to upload latest files Bill of Materials Pupper V2.1 BOM ● ● Costs about $2k to build Part files DJI Pupper -> DJI Pupper STLs ● ○ Outdated, need to upload latest files ○... - Page 4 Assembly Important: Read before starting ● Parts that differ between the left and right side are correspondingly embossed with an L or R. ● The embossed triangles indicate the correct direction of the motor wires. ● The following image shows a cross-section of a correctly-inserted hex nut. Note that the flats of the nut are parallel to the pocket walls.
- Page 5 ● Apply Loctite Blue 242 to all M3x6 flat-head cap screws used to mount the motors. This is mandatory, as otherwise these screws will quickly loosen from repeated foot-ground impacts. ● Melt the cut ends of the cable sleeving to prevent them from unravelling.
- Page 6 Electronics 1. Wiring the bottom PCB 1. Solder the XT-60 leads. 2. Mount the Teensy to the bottom PCB in the indicated orientation. 3. Insert the ends of the power switch wires into the screw terminals on the bottom PCB. There are labels on the PCB indicating which color wire goes where. 2.
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Page 7: Calibrate Motors
3. Calibrate motors Whenever you connect the C610 motor controller to a motor (the M2006), the pairing must be calibrated. Before calibrating, check that the motor is free to move. This often means taking off the attached legs. Steps 1. Long-press the C610 button to enter calibration mode, release once it starts beeping 2. - Page 8 Subassemblies 1. Lower Leg L/R Quantity to assemble: 4 Parts: Qty. Descr. M2.5 hex nut 91828A113 Rubber foot 9541K82 3D-printed parts: Lower leg L/R Instructions: Lower Leg L_R - All Steps.mp4 2. Upper Leg Quantity to assemble: 4 Parts: Qty. Descr.
- Page 9 M3x6 flat-head cap screw 92125A126 M3x16 dowel pin 91585A379 Motor DJI M2006 Motor driver DJI C610 3D-printed parts: Motor bulkhead Instructions: Motor Bulkhead - All Steps.mp4...
- Page 10 Assemblies 1. Leg L/R Quantity to assemble: 4 (2 L, 2 R) Parts: Qty. Descr. M2.5x16 shoulder screw 90265A420 Subassemblies: Lower Leg L/R Upper Leg Hip L/R Instructions: Todo: add video 2. Bulkhead Module Quantity to assemble: 2 Parts: Qty. Descr.
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Page 11: Software Installation
Software Installation 1. Requirements a. Mac or Linux machine. Windows instructions are experimental. b. MicroSD card reader c. USB-C data cable 2. Teensy a. Clone https://github.com/Nate711/DJIPupperTests.git clone https://github.com/Nate711/DJIPupperTests.git b. Cd that directory DJIPupperTests c. Update the submodules: git submodule update --init d. -
Page 12: Operation
Operation Startup 1.1. Plug in the battery alarm (if using one). 1.2. Place the robot on a flat, level surface. Position the legs as shown. 1.3. Move the left thumbstick on the transmitter to its bottom position. 1.4. Turn on the transmitter by holding its power button for 5 seconds. 1.5. -
Page 13: Troubleshooting
Shutdown 3.1. Turn off the robot by pressing its power button. 3.2. Turn off the transmitter by holding its power button for 5 seconds. 3.3. Unplug the battery alarm (if using one). Storage 4.1. Position the legs as shown. 4.2. Place the robot in the carrying case with its camera facing to the left. - Page 14 Reference Actuator Numbering...
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