MSRL - MSR-µBug Hexapod Assembly Guide

MSR-µBug Hexapod Assembly Guide
Updated: 28-May-2010

Read first: Safety First!
Read first: Servo Preparation Guide
Read first: Acrylic Perparation 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.

Take care not ot over stress or bend the acrylic parts while assembling.

Print this document with the following settings: Paper A4 or Letter, Margins 0.5", Scale 60%. tested in IE7 & Firefox 3.0

Index

	Coxa Bottom Plate Assembly MSR-µBug_ASSY01
	Coxa Top Plate & Servos Assembly MSR-µBug_ASSY02
	Tibia Assembly MSR-µBug-ASSY04
	Left Leg Assembly MSR-µBug-ASSY05
	Right Leg Assembly MSR-µBug-ASSY06
	Lower Body Assembly MSR-µBug-ASSY07
	p.Brain-µ24 Mounting Assembly MSR-µBug-ASSY08
	p.Brain-µ24 Installation MSR-µBug-ASSY09
	Lower Head Assembly MSR-µBug-ASSY10
	Upper Head Assembly MSR-µBug-ASSY11
	Final Head Assembly MSR-µBug-ASSY12
	Leg & Body Attachment Assembly MSR-µBug-ASSY13
	Head Attachment MSR-µBug-ASSY14
	p.Brain-µ24 Cable Routing MSR-µBug-ASSY15
	Lower & Upper Body Attachment MSR-µBug-ASSY16
	Appendix A - Assembly Hardware
	Appendix B - Acrylic Leg & Head Parts
	Appendix C - Acrylic Body Parts
	Appendix D - Acrylic Pan & Grip Head Part

MSR-µBug LEFT Leg Assembly

	Coxa Bottom Plate Assembly MSR-µBug_ASSY01

Parts List
ITEM	QTY	PART NUMBER	DESCRIPTION
1	2	MSR-P030	M2 x 15mm Hex Spacer -Zinc Plated
2	2	MSR-P022	M2 x 8 Pozi-Pan Machine Screw - Zinc Plated
3	1	MSR-µBug-COXA01	MSR-µBug Coxa Bottom Plate

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

	Coxa Top Plate & Servos Assembly MSR-µBug_ASSY02

Parts List
ITEM	QTY	PART NUMBER	DESCRIPTION
1	1	MSR-µBug-ASSY01	MSR-µBug Coxa Bottom Plate Assembly
2	2	MSR-65HB	Hitec HS-65HB Servo
3	3	MSR-P022	M2 x 8 Pozi-Pan Machine Screw - Zinc Plated
4	1	MSR-P026	M2 Hex Full Nut
5	1	MSR-µBug-COXA02	MSR-µBug Coxa Top Plate

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

If your servos have labels on the sides of the case, you may wish to remove them before assembling the coxa, this is primarily for aesthetic reasons, but also allows a better fit between the two servos.

Rear view of assembled coxa joint.

	Tibia Assembly Assembly MSR-µBug-ASSY04

Parts List
ITEM	QTY	PART NUMBER	DESCRIPTION
1	1	MSR-µBug-TIBIA	MSR-µBug Tibia Plate
2	1	MSR-65HB	Hitec HS-65HB Servo
3	2	MSR-P022	M2 x 8 Pozi-Pan Machine Screw - Zinc Plated
4	2	MSR-P026	M2 Hex Full Nut

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

	Left Leg Assembly Assembly MSR-µBug-ASSY05

Parts List
ITEM	QTY	PART NUMBER	DESCRIPTION
1	1	MSR-µBug-ASSY02	MSR-µBug Coxa Assembly
2	2	MSR-µBug-ASSY03	MSR-µBug Femur Assembly
3	4	MSR-P033	No.1 x 6.4mm Self tapping screw
4	1	MSR-P009	Rubber End Cap
5	1	MSR-µBug-FEMUR	MSR-µBug Femur Plate

If you have not yet centered your servo horns, now is the time to do so: Servo Preparation Guide. Do not assemble the legs without setting the servos to their mid positions first.

With the servos in their mid positions, attach the femur plate (5). The leg angles should be approximately equal to the image opposite. This does not need to be precise right now, as we will trim these angles during the calibration procedure.

Next add the rubber end cap (4) to the foot of the tibia.

MSR-µBug RIGHT Leg Assembly

Right Leg Assembly
Assembly MSR-µBug-ASSY06

MSR-uBug Right Leg Allignment

Right Leg Femur & Tibia Alignment

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


Right Leg Assembly	Left Leg Assembly

Once you have completed the construction of all the legs, you may wish to tidy the servo cables as per the image right. Each cable has been passed behind the back of the rear hex spacer. In order to pass the cables behind the spacer, remove the lower coxa plate as shown, and align one flat of the spacer with the case of the servo.

Ensure that none of the cables are bent at sharp angles or pinched when re-assembling the lower coxa plate.

Click on the image for a larger view.

MSR-µBug Body Plate Assemblies

	Lower Body Assembly MSR-µBug-ASSY07

Parts List
ITEM	QTY	PART NUMBER	DESCRIPTION
1	7	MSR-P029	M2 x 12 Pozi-Pan Machine Screw - Zinc Plated
2	7	MSR-P023	M2 x 6 round spacer - Zinc Plated
3	7	MSR-P026	M2 Hex Full Nut
4	1	MSR-µBug-BODY02	MSR-µBug Lower Body Plate

Assemble as per the diagram.

p.Brain-µ24 Assembly
Assembly MSR-µBug-ASSY08

assy09

p.Brain-µ24 Assy

Parts List
ITEM	QTY	PART NUMBER	DESCRIPTION
1	1	p.Brain-µ24	p.Brain-µ24 PCB Assembly
2	2	MSR-µBug-BODY04	MSR-µBug PCB Mounting Plate
3	4	MSR-P007	M3 x 10mm Hexagon Socket Button Head
4	4	MSR-P013	M3 Hex Full Nut
5	4	MSR-P025	M3 Nylon Insulation Washer

If you are not fitting a p.Brain-µ24 module, move to the next section.

Attach the PCB mounting plates (2) to the PCB (1) as shown, the insulation washer (5) MUST be used to keep the PCB insulated from the M3 Hex Full Nut (4). Although it should not be possible for the M3 nut to short any tracks on the PCB, the use of the insulation washer adds and additional protective layer.

µ24

	p.Brain-µ24 Circuit Board Installation Assembly MSR-µBug-ASSY09

Parts List
ITEM	QTY	PART NUMBER	DESCRIPTION
1	1	MSR-µBug-BODY01	MSR-µBug Body Plate 01
2	1	MSR-µBug-ASSY08	p.Brain-µ24 PCB Assembly
3	4	MSR-P007	M3 x 10mm Hexagon Socket Button Head
4	4	MSR-P028	M3 x 35mm Hex Spacer Black Nylon

Fit the p.Brain-µ24 assembly (2) as shown in the diagrams, the black RJ11 socket on the p.Brain-µ24 goes to the back end of the body plate.

If you have a battery switch harness, its a good idea to fit it now. (see right)

MSR-µBug Pan Head Assembly or Pan and Grip Head Assembly

	Lower Head Assembly Assembly MSR-µBug-ASSY10

Parts List
ITEM	QTY	PART NUMBER	DESCRIPTION
1	1	MSR-181Bug-HEAD01	MSR-µBug Lower Head Plate
3	2	MSR-P016	M3 x 20mm Hex Spacer Nylon Black
4	2	MSR-P007	M3 x 10mm Hexagon Socket Button Head

Assemble as per the diagram.

If you are assembling the pan and grip head, please click on the image below.

	Upper Head Assembly Assembly MSR-µBug-ASSY11

Parts List
ITEM	QTY	PART NUMBER	DESCRIPTION
1	1	MSR-µBug-HEAD02	MSR-µBug Upper Head Plate
2	1	MSR-HS55	Hitec HS-55 Servo
3	2	MSR-P022	M2 x 8 Pozi-Pan Machine Screw - Zinc Plated
4	2	MSR-P026	M2 Hex Full Nut

Assemble as per the diagram. Make sure the servo is mounted so that its output shaft is furthest away from the front of the head.

	Final Head Assembly Assembly MSR-µBug-ASSY12

Parts List
ITEM	QTY	PART NUMBER	DESCRIPTION
1	1	MSR-P007	M3 x 10mm Hexagon Socket Button Head
2	1	MSR-µBug-HEAD03	MSR-µBug Front Head Plate
3	1	MSR-µBug-ASSY10	MSR-µBug Lower Head Assembly
4	1	MSR-µBug-ASSY11	MSR-µBug Upper Head Assembly

Assemble as per the diagram.

MSR-µBug Final Assembly

	Leg & Body Attachment Assembly MSR-µBug-ASSY13

Parts List
ITEM	QTY	PART NUMBER	DESCRIPTION
1	12	MSR-P033	No.1 x 6.4mm Self tapping screw
2	1	MSR-µBug-ASSY09	MSR-µBug Upper Body Assembly
3	3	MSR-µBug-ASSY05	MSR-µBug Left Leg Assembly
4	3	MSR-µBug-ASSY06	MSR-µBug Right Leg Assembly

Attach right and left legs as shown in the diagrams.

The anterior and posterior legs should be attached as close to the angles indicated in the right diagram, however, this does not have to be precise, as we can adjust the servo position during the calibration process.

The left side is a mirror of the right.

	Head Attachment Assembly MSR-µBug-ASSY14

Parts List
ITEM	QTY	PART NUMBER	DESCRIPTION
1	1	MSR-µBug-ASSY12	Pan Head Assembly
2	2	MSR-P033	N0.1 x 6.4mm Self tapping screw

Attach assembled head (1) or the pan & grip head to the µBug body as per diagram opposite.

PGH

p.Brain-µ24 Cable Routing
Assembly MSR-µBug-ASSY15

MSR-uBug Servo Numbers

p.Brain-u24 servo channel map, assuming the hexEngine "UBUG" configuration is used. If fitting the Pan & Grip head, the grip servo is plugged into output (1).

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.

The table to the right lists which servo plugs into the corresponding channel of the p.Brain-µ24. This assumes that you will use the "UBUG" configuration within the HexEngine firmware, which configures the servo outputs in accordance with this table. This is the simplest way to rout the servo cables using this hardware configuration, and keeps servo lead lengths to a minimum.

p.Brain-µ24 Channel	Leg Servo
23	Right Anterior Coxa
22	Right Anterior Femur
21	Right Anterior Tibia
19	Right Middle Coxa
18	Right Middle Femur
17	Right Middle Tibia
15	Right Posterior Coxa
14	Right Posterior Femur
13	Right Posterior Tibia
12	Left Posterior Coxa
11	Left Posterior Femur
10	Left Posterior Tibia
8	Left Middle Coxa
7	Left Middle Femur
6	Left Middle Tibia
4	Left Anterior Coxa
3	Left Anterior Femur
2	Left Anterior Tibia
24	Pan Servo
1	Grip Servo (uses tilt channel)

An example of servo cable routing. You can also see the battery switch harness (black and red cable from switch) which is routed down through the center of the body and connected to the green power terminal of the p.Brain-µ24. The battery positive is connected to VS, negative to GND. The p.Brain-µ24 is configured for a single battery supply VL=VS using JP2. Also the optional ESD200 bluetooth module has been fitted.

Click image for larger view.

	Lower & Upper Body Attachment Assembly MSR-µBug-ASSY16

Parts List
ITEM	QTY	PART NUMBER	DESCRIPTION
1	4	MSR-P007	M3 x 10mm Hexagon Socket Button Head
2	4	MSR-P010	Rubber Bumpers (Black)
3	1	MSR-µBug-ASSY07	Lower Body Assembly

Slide the bottom plate assembly (3) into the coxa bearing holes and fix in place with screws (1). Add the self adhesive rubber bumpers (2) to the bottom of the body plate.

This completes the MSR-µBug assembly. Your kit will have included a small piece of adhesive velcro, this is used to attach your battery to the top of the µBug body.

If you are using the p.Brain-µHexEngine, follow this link for the quick start guide: µBug HexEngine Quick Start Guide

Appendices

	Appendix A Assembly Hardware

Assembly Hardware Parts List
ITEM	QTY	PART NUMBER	DESCRIPTION
1	4	MSR-P016	M3 x 35mm F-F Black Nylon Hex Spacer
2	2	MSR-P028	M3 x 20mm F-F Black Nylon Hex Spacer
3	12	MSR-P030	M2 x 15mm F-F BZP Brass Hex Spacer
4	7	MSR-P023	M2 x 6mm BZP Brass Round Spacer
5	8	MSR-P009	M5 x 13mm Rubber End Cap
6	7	MSR-P012	M3 BZP Steel Hex Full Nut
7	19	MSR-P007	M3 x 10mm Stainless Steel Hexagon Socket Button Head
8	40	MSR-P033	No.1 x 6.4mm BZP Steel Self tapping screw
9	48	MSR-P022	M2 x 8mm BZP Pozi Pan machine Screw
10	8	MSR-P024	M2 x 10mm BZP Pozi Pan machine Screw
11	4	MSR-P010	12 x 3.5mm Stick-on Rubber Bumper
12	30	MSR-P026	M2 BZP Steel Hex Full Nut
13	4	MSR-P025	M3 Nylon Insulation Washer
14	1	MSR-P004	M3 x 16mm Stainless Steel Hexagon Socket Button Head
15	2	MSR-P031	M3 Ny lock Nut
16	3	MSR-P014	M3 Plain Steel Washer
17	1	MSR-P032	Spring 25 x 5 mm
18	1	MSR-P019	Zinc plated Brass Spacer 6x5mm

	Appendix B Acrylic Leg & Head Parts

Aluminum Leg Parts List
ITEM	QTY	PART NUMBER	DESCRIPTION
1	6	MSR-µBug-COXA01	MSR-µBug Lower Coxa Plate
2	6	MSR-µBug-COXA02	MSR-µBug Upper Coxa Plate
3	6	MSR-µBug-FEMUR	MSR-µBug Femur
4	6	MSR-µBug-TIBIA	MSR-µBug Tibia
5	1	MSR-µBug-HEAD02	MSR-µBug Upper Head Plate
6	1	MSR-µBug-HEAD01	MSR-µBug Lower Head Plate
7	2	MSR-µBug-HEAD03	MSR-µBug Front Head Plate

	Appendix C Acrylic Body Parts

Aluminum Body Parts List
ITEM	QTY	PART NUMBER	DESCRIPTION
1	1	MSR-µBug-BODY01	MSR-µBug Body Upper Plate
2	1	MSR-µBug-BODY02	MSR-µBug Body Lower Plate
3	2	MSR-µBug-BODY03	MSR-µBug p.Brain-µ24 Electronics Mounting Plate

	Appendix D Acrylic Pan & Grip Head Parts

Aluminum Body Parts List
ITEM	QTY	PART NUMBER	DESCRIPTION
1	1	MSR-µBug-PGH01	MSR-µBug Right Mandible
2	1	MSR-µBug-PGH02	MSR-µBug Left Mandible
3	1	MSR-µBug-PGH03	MSR-µBug PG Head Top
4	1	MSR-µBug-PGH04	MSR-µBug PG Head Bottom