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Assembling the Shoulders and Mounting Legs

Completed Calf

Requirements

  • Phillips (small) Screwdriver
  • M4 hex key
  • 20x M2x6 machine screws (comes packaged with A1-16 servos)
  • 12x M2 nuts (comes packaged with A1-16 servos)
  • 8x M2 washers
  • 3x M5x10 machine screw
  • 1x M5 nut
  • 1x T-slot End-Feed Double Nut
  • 1x 625 ball bearing
  • 1x Shoulder
  • 1x Hip-Inside
  • 1x Hip-Outside

Assembly Instructions

Follow these instructions in order.

Thigh Servo

  1. Press a 625 bearing into the hole of the Hip-Outside. Make sure the bearing is pressed entirely in hole, it should be flush or very close to flush with the two sides.
    Press Bearing
  2. Insert M2 nuts into each of the four top corners of a servo. It may be helpful to use the side of a flathead screwdriver. This is the "Thigh Servo". These nuts and come packaged with the A1-16 servos.
    Servo Nuts
  3. Secure the Hip-Outside to the Thigh Servo using four M2x8 screws in the location where the nuts were inserted.
    Hip-Outside attached to Thigh Servo
    Do not overtighten, or you will crack the Hip-Outside. Do not use washers here.
    Cracked Hip-Outside

Shoulder Servo

  1. Insert M2 nuts into each of the four locations shown below. This is the "Shoulder Servo". These nuts and come packaged with the A1-16 servos.
    M2 Nut Location 1 M2 Nut Location 2
  2. Secure the Hip-Inside to the Shoulder Servo using four M2x6 screws with M2 washers. Make sure that the markings on the servo rotation platform match the image below. Make sure these screws are not loose before proceeding. Hip-Inside Mounting 1 Hip-Inside Mounting 2
  3. Secure the Thigh Servo assembly to the Shoulder Servo assembly, as shown, using four M2x8 screws. Do not use washers here.
    Servo Assembly 1 Servo Assembly 2 Servo Assembly 3

Shoulder Mount

When mounting the shoulders to the dog's base (aluminum extrusion), ensure the shoulder is in the orientation shown.
Shoulder Nut Bolt 1

  1. Press an M5 nut into the hexagonal recess on the Shoulder part. Secure an M5x10 screw through this nut, as shown.
    Shoulder Nut Bolt 1
    Shoulder Nut Bolt 2
    Shoulder Nut Bolt 3
  2. Secure the shoulder to the T-slot aluminum extrusion base using an End-feed double nut and two M5x10 screws. The dog's Left Front leg is shown. Shoulder Base Mount 1
    Shoulder Base Mount 2
    Shoulder Base Mount 3
  3. Join the servo assembly to the shoulder using four M2x6 screws, as shown. Do not use washers here.
    Shoulder Servo Join 1
    Shoulder Servo Join 2
    Shoulder Servo Join 3

Leg Mount

  1. Mount the leg to the shoulder using four M2x6 screws with M2 washers. When mounting the leg, make sure that the single marking on the servo rotation platform faces away from the direction of the leg, such that the leg is inline with the double marking. A single marking on the leg shown below is drawn on to show alignment.
    Mounting hole locationp
    Mount the Leg