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Kondo KHR-1 Hardware Manual

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H a r d w a r e M a n u a l

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Summary of Contents for Kondo KHR-1

  • Page 1 H a r d w a r e M a n u a l...
  • Page 2 S a f e t y I n f o r m a t i o n This product is an assemble kit. Almost responsibility of use is belonging to user.Please use the kit recognizing this point. Precautions are classified into Warning and Caution according to their bearing on safety. Read the Warning, Cuation and Note thoroughly before attempting to assemble the kit.
  • Page 3 Remove battery charger from plug not in use. To avoid short circuit. Keep plug clean. Never disassemble remodeling servo motors and boards. Probihit disassemble and remodeling besides of instructions in this manual. Wrong remodeling and disassemble may occur fire or shock. Prohibited Call customer service for repair.
  • Page 4 I n d e x S a f e t y i n f o r m a t i o n I n d e x I n t r o d u c t i o n A b o u t m a n u a l A b o u t M a n u a l H o w t o h a n d l e N i C d b a t t e r y ?
  • Page 5 I n d e x A s s e m b l e l e g a n d f o o t p a r t s A s s e m b l e s o l e s A t t a c h c r o s s a r m t o l e f t a n d r i g h t f o o t A s s e m l b e K n e e...
  • Page 6 I n t r o d u c t i o n Thank you for buying our product. This is reasonable humanoid robot kit for bipedal locomotion. Please read carefully to make robot for safety. We recommend to copy this manual harddisks on your PC or to print out to refer, if you need.

  • Page 7: Software Manual

    A b o u t M a n u a l This product has three manuals. 1.Kit guidance Paper manual (1 sheet) about description of kit and introduction of manual in PDF file. 2. Hardware manual This manual. It is in PDF. This is description to assemble robot hardware.
  • Page 8 How to handle NiCd battery? This product uses NiCd battery for robot power source. NiCd battery is rechargeable. Please read carefully this manual to use it safety. R e c h a r g e Battery charger is for AC100V. Cable for NiCd battery It is to link NiCd battery to the battery charger.
  • Page 9 NiCd battery Safety Information P r o f h i b i t Do not following action because of danger. Remove connector from cables or boards, replace or remodeling of cables.Do not make a short circuit of NiCd battery. Causes severe eye injury or injury by short circuit of NiCd battery. Short circuit breaks battery or flames or leaks.
  • Page 10 Fittings KRS-784ICS KRS-784ICS is the digital FET servo motor. It has been developed to drive joint of robot. It is the basic robot servo which is inherited know-how of the servo motors for a radio control car and KRS-2346 servo motor.

  • Page 11: Product Parts List

    Expanding cable(100mm) PartsBag D Link Cable (gray) PartsBag E Battery link cable PartsBag E Extend cable for AC adaptor PartsBag E Adaptor for battery charger PartsBag F Interface cable ICS-PC Interface II Nyron band SKB-80M KHR-1 sticker goto PartsList goto Index...
  • Page 12 2-6 BH Black tapping screw P a r t s L i s t M2 washer 2.6-6 BH Nickel tapping screw These parts consists of the product. Please confirm number of each part. M3 washer 2-4 Nickel pan screw some of screws are added in bags for HR-011 servo arm spare.
  • Page 13 E x p a n d e d A d a p t e r f o r c a b l e f o r battery charger Battery Charger battery Board case PCB base NiCd(5N600AE) HR-008 Hand R HR-009 Hand L HR-001 Top cover HR-015 foot sole HR-007 body frame L...

  • Page 14: Install Bracket

    Install bracket First of all, servo motors are attached to brackets. R e m o v e s c r e w s f r o m K R S - 7 8 4 I C S Bracket is fixed to a servo motor by these removed screws.

  • Page 15: Attach Bracket

    Attach bracket These two parts are used for thigh. L e f t t h i g h b r a c k e t S e r v o m o t o r KRS-784ICS 2-4 Nickel pan screw HR-012 Foot R 2-4 Nickel pan screw At first, all screws are tightened...
  • Page 16 goto Index goto PartsList...
  • Page 17 Assemble body Body (torso) parts. Body frame and part units are attached each other. A s s e m b l e b o d y f r a m e B Bracket A unit Servo motor units which are attached to brackets are installed to body frame B.
  • Page 18 Assemble Arms and Legs I n s t a l l h a n d p a r t s Hand parts are installed to KRS-784ICS and servo bracket B unit. HR-008 hand L These parts are left and right hand. HR-008 hand R 2-4 Nickel pan screw A s s e m b l e s e r v o a r m s...
  • Page 19 Assemble cross servo arms A s s e m b l e s e r v o a r m s Two different direction units are assembled here. Two sets of two kinds of parts are made here. HR-011 servo arm For left leg Assemble two sets 2-4 Nickel pan screw...
  • Page 20 Get servo axis position How to attach servo hone to axis? Servo motor axis and other parts are fixed by a servo hone. Servo motor rotates limited degree (about 180 degree.) It is important to make robot performance that it is found out better axis position on the servo case.
  • Page 21 How to find neutral position? Plug NiCd battery to RCB-1 NiCd battery has already charged. Switch position "POWER ON" Turn on switch on RCB-1 which is plugged NiCd battery. Servo axis rotates to neutral position. (Initialized position) Put servo hone to axis to find place to horizontal/vertical degree such as left figure.
  • Page 22 Assemble Arms A s s e m b l e A r m s Hand L unit 2-4 screw are used to fix servo hone. Hand R unit Already assembled hand units and ser vo ar ms are installed in this procedure.In this procedure, servo axis must be to set up neutral p o s i t i o n u s i n g R C B - 1 b o a r d .
  • Page 23 Assemble leg and foot parts A s s e m b l e s o l e s Right bracket C unit L e f t f i g u r e s h ow s r i g h t s o l e assemble procedure.
  • Page 24 Assemble Knee and Foot A s s e m b l e K n e e a n d F o o t These parts are used for knee and foot. Right foot unit Please get neutral position using RCB-1 in this procedure. Left foot unit 2 screws are used to fix free hone.
  • Page 25 A t t a c h c r o s s a r m t o t h i g h Cross arm Right 1 for left Attach cross arm to thigh unit. 1 for right Pay attention to direction of cross arm. RCB-1 is used to get neutral position of servo axis.
  • Page 26 Assemble leg F i n i s h e d l e g Thighs and knees are jointed. Right leg Using RCB-1, servo axis must be neutral position to fix servo hone. Left thigh 2 screws are used to fix free hone. A Left knee screw is used to fix servo hone.
  • Page 27 Fix boards on the robot A t t a c h P C B b a s e RCB base 2-5 chrome pan screw is used to fix this part. Pay attention to screw. 2-5 chrome pan screw is yellowish screw. 2-4 screw Body (torso) w h i c h i s u s e d f o r o t h e r assemble is silver.
  • Page 28 Prepare to finish A t t a c h s h o u l d e r s e r v o a r m s Assembled body Using RCB-1, servo axis must HR-011 servo arm be on neutral position. Servo arm is installed to the servo hone at neutral position.
  • Page 29 Prepare to finish C o n f i r m a s s e m b l e d p a r t s Before finish, confirm direction and posture of all parts which are assembled. Especially, posture and direction of legs and arms are important to make locomotion. Pay attention to direction and assembled position of cross arms and servo arms.
  • Page 30 Finish F i n i s h 2-4 Nickel pan screw Arms and legs are installed to assembled torso.Ser vo axises are set up neutral position using RCB-1. A screw is used to fix free hone. Other holes of servo hone are used to fix with nyron crip.(But we recommend to fix them temporary.) A screw is used to fix free hone.
  • Page 31 Setting of RCB-1 (ID) ID means identifier of board. ID setting to RCB-1 Two RCB-1 are used for this kit. Therefore, different ID is required to distinguish each board. At shipment, both of them are set ID 0. One of boards must be set ID 1. Cables are plugged shown in right figure.
  • Page 32 Lines for servo motor Connection of RCB-1 A t t a c h e x p a n d i n g cable for battery. Connect them using link cable. Never make wrong insert connector position and direction. w h i t e Warining: w h i t e w h i t e...
  • Page 33 C o n f i r m a t i o n Confirmation of RCB-1 RCB-1 and channel of servo motor can be confirmed using software on PC. Plug ICS-PC interface II to RCB-1 and PC. Start software. Turn on the board and Set "SYNC" to ON in the software. Confirm channel and servo motor position using slider of channel on the software.
  • Page 34 T r i m f u n c t i o n What is trim function? Servo motor axis is fixed by a servo hone using RCB-1 function to get neutral position. In this step, little gap of degree may occur. Espcially, it causes large gap by difference degree of servo motors on the groin.
  • Page 35 O r g a n i z e c a b l e s ( 1 ) Each cable of servo motor sometimes hold servo motor performance. We recommend to organize cables with nyron crip or nyron band. 2-6 BH black tapping M2 washer Hint Nyron crip...
  • Page 36 O r g a n i z e c a b l e s ( 2 ) This is the example of organizing cables. Nyron crip which bands cables is fixed to servo hone or free hone with M2 washer and 2-6 tapping screw.
  • Page 37 A s s e m b l e o f c a s e C u t t i n g b o a r d c a s e Board case covers boards and cables. Board case requires cut to put to the robot for cable holes. Using cutter or scissors to remove these regions.
  • Page 38 H o m e p o s i t i o n s e t t i n g In this step, robot can stand alone if power is supplied. However, the robot is just standing. At first, we set basement posture to the robot called "home position." What is home position? Home position is the basement posture.
  • Page 39 Servo motors make noise if power is supplied. It is normal performance. In the case of robot, each servo motor works to keep position even if the robot is just standing. How long the robot works with NiCd battery? Depending on charge level of NiCd battery and performance, full charge battery can work the robot 20-30 minutes. Of cause, various performance need much electricity.
  • Page 40 Ver1.0 © Sep.2004 KONDO KAGAKU CO.,LTD.