MSR-H01 Hexapod Assembly Guide
Updated: 18-Aug-2008

Read first: Safety First!
Read first: Servo Preparation Guide

Properly identify all screws, washers, stand-offs and hardware etc. and gather together those necessary for each step. Carefully read and study the drawings prior to each assembly.

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	Coxa Bottom Plate Assembly MSR-H01_ASSY01
	Coxa Top Plate Assembly MSR-H01_ASSY02
	Coxa Top Plate & Servo Assembly MSR-H01_ASSY03
	Coxa & Femur Servo Assembly MSR-H01-ASSY04
	Tibia Plate & Servo Assembly MSR-H01-ASSY05
	Right Leg Finish Assembly MSR-H01-ASSY06
	Left Leg Assembly MSR-H01-ASSY07
	Lower Body Assembly MSR-H01-ASSY08
	Upper Body Assembly MSR-H01-ASSY09
	p.Brain-SMB Circuit Board Installation
	Leg & Body Attachment Assembly MSR-H01-ASSY10
	Lower Body Attachment Assembly MSR-H01-ASSY11
	Appendix A - Assembly Hardware
	Appendix B - Aluminum Leg Parts
	Appendix C - Aluminum Body Parts

Assemble as per diagram, pay attention to coxa bottom plate orientation.

Assemble as per diagram, pay attention of coxa top plate orientation.

When using HS-645MG servos for the femur joint, the M3 washer part (4) must be fitted. If using 40mm standard case size servos such as HS-985MG, do not fit part (4).

Parts List

ITEM	QTY	PART NUMBER	DESCRIPTION
1	1	MSR-H01-ASSY02	MSR-H01 Coxa Assembly
2	2	MSR-P006	M4 x 10 Hexagon Socket Button Head
3	2	MSR-P012	M4 Hex Full Nut
4	1	MSR-HS225BB/MG	Hitec HS-225BB or HS-225MG Servo
5	1	MSR-HSH24	Hitec 24mm Servo horn (from HS-225 servo)
6	1	MSR-HSSST	Hitec Servo horn screw (from HS-225 servo)

The servo horn (5) must be removed in order to fit the coxa servo (4). Take care not to rotate the servo spline when unscrewing the horn retaining screw (6). After the servo (4) has been fitted, replace the horn (5) in the same position. Having re-fitted your servo horn, I strongly recommend that you re-check your coxa servo is still centered: Servo Preparation Guide

Pay attention to the servo orientation, the servo horn is at the end closest to the hexagonal spacers.

Parts List

ITEM	QTY	PART NUMBER	DESCRIPTION
1	1	MSR-H01-ASSY01	MSR-H01 Coxa assembly
2	2	MSR-P007	M3 x 10 Hexagon Socket Button Head
3	1	MSR-H01-ASSY02	MSR-H01 Coxa assembly
4	1	MSR-HS645MG	Hitec HS-645MG Servo

Insert the femur servo (4) into the top coxa plate slot as shown with the servo horn towards the bottom coxa plate.

Assemble as per diagram, pay attention to the servo orientation, the servo horn is closest to the foot of the tibia.

Parts List

ITEM	QTY	PART NUMBER	DESCRIPTION
1	1	MSR-H01-ASSY04	MSR-H01 Coxa assembly
2	1	MSR-H01-FEMUR	MDR-H01 Femur plate
3	4	MSR-P008	N0.2 x 6.4mm Self tapping screw
4	1	MSR-H01-ASSY05	MSR-H01 Tibia assembly

Take great care when fitting self tapping screws (3). Use the correct size phillips screw driver to avoid slipping or damaging the screw head. Once fitted the servo horn should fit flush with the femur plate, if this is not the case, back the screws (3) off a couple of turns and then re-tighten. Fit the screws into the middle of the single row of three holes on the horn indicated below (A) & (B).

Although not necessary, the servo horn screw holes can be enlarged using a 1.5mm or 1/16" drill bit for easier screw installation.

You will need to build three right legs for your hexapod, so repeat steps 1 to 6 until all right legs are complete.

You will need to assemble three left legs for your hexapod. As for the right leg, follow steps 1 to 6, however, build the left leg as a mirror of the right leg assembly. To ensure you get your coxa plate orientation correct, take a good look at the left leg pictures below and left.

First insert the insulation washers (2) into the lower body plate, you may find these should insert easier on one side of the body. Now turn the body over and mount the stick-on rubber bumpers in locations shown below.

Assemble the upper body plate as per the diagram to the left, if required move to (9b) to fit the optional p.Brain-SMB circuit board.

Parts List

ITEM	QTY	PART NUMBER	DESCRIPTION
1	1	MSR-H01-ASSY10	MSR-H01 Assembly
2	4	MSR-P007	M3 x 10mm Hexagon Socket Button Head
3	1	p.Brain-SMB	p.Brain-SMB Circuit Board

Fit the p.Brain-SMB as shown in the diagram, if you have a battery switch harness, its a good idea to fit it now.

Parts List

ITEM	QTY	PART NUMBER	DESCRIPTION
1	1	MSR-H01-ASSY09	MSR-H01 Body Assembly
2	3	MSR-H01-ASSY06	MSR-H01 Right Leg Assembly
3	3	MSR-H01-ASSY07	MSR-H01Left Leg Assembly
4	12	MSR-P008	N0.2 x 6.4mm Self tapping screw

Attach right and left legs as shown in the diagram below and exploded detail left.

Take great care when fitting self tapping screws (3). Use the correct size phillips screw driver to avoid slipping or damaging the screw head. Once fitted the servo horn should fit flush with the femur plate, if this is not the case, back the screws (3) off a couple of turns and then re-tighten. Fit the screws into the middle of the single row of three holes on the horn indicated left (A) & (B).

Parts List

ITEM	QTY	PART NUMBER	DESCRIPTION
1	1	MSR-H01-ASSY11	MSR-H01 Assembly
2	1	MSR-H01-ASSY09	MSR-H01 Lower Body Assembly
3	4	MSR-P007	M3 x 10mm Hexagon Socket Button Head
4	6	MSR-P009	Rubber End Cap M5 x 13mm

Slide the bottom plate assembly (2) over the coxa bearings and fix in place. Add rubber end caps (4) to tarsus feet. This completes the MSR-H01 assembly.

You now need to spend some time carefully routing the servo cables back to the control electronics. The way in which the cables are routed very much depends on the electronics used and personal preference. You may use small cable ties or expandable cable sleeving to tidy servo leads. When you have routed and cable tied the servo leads, make sure the legs have room to rotate through their operational range without pulling or pinching any cables.