tailieunhanh - Amphibionics build your own biologically inspired reptilian robot - part 5

Khi bạn đặt sự minh bạch trên bảng đồng, cần được định hướng chính xác như trong hình 4,55. Khoan bảng mạch và vị trí các bộ phận. Sử dụng một chút khoan 1/32-inch để khoan tất cả các lỗ thành phần trên PCB. Khoan các lỗ cho các điều chỉnh điện áp (U1) với một chút khoan 3/64-inch. | Amphibionics FIGURE Finished head support pieces. Each of the four head pieces will be assembled to form the robot s head. Use five 6 32-inch X 1 2-inch machine screws and locking nuts to assemble the head as shown in Figure . Connect the two pieces labeled I to the bottom head piece labeled G. When those are secured attach piece H to piece G and the two pieces labeled as I. FIGURE Completed head assembly. 136 Chapter 5 Serpentronic Build Your Own Robotic Snake Assembling the Snake s Mechanical Structure Now that all of the individual pieces that make up the snake s mechanical body have been constructed it is time to put them all together. Start by connecting the servo horn linkages made up of part C and a servo horn to each of the servos of each of the six body sections as shown in Figure . Place the servo horn linkage onto the servo shaft without attaching the mounting screw. Turn the servo by hand all the way clockwise and check to see if it is on a 90-degree angle from the center position. If it is not then pull the servo horn linkage off and reattach it to the servo shaft at 90 degrees from the middle position. Turn the servo horn linkage all the way counterclockwise and verify that it is also positioned on a 90-degree angle from the center position. Attach in place with the servo horn mounting screw that came with the servo. Follow this procedure for each of the six body sections. FIGURE Servo horn linkage attached to the servo. 137 Amphibionics Mount the mechanical linkage piece labeled D to each of the six body sections as shown in Figure . This is accomplished by lining the single hole on the end of piece D up with the single hole on the body section piece A that is opposite to the servo. Secure in place with a 6 32-inch X 1 2-inch machine screw and locking nut with a 6 32-inch nylon washer between the mechanical linkage and the body section piece. The nylon washer acts as a bearing. Tighten the locking nut with enough torque to