44 lines
3.1 KiB
Markdown
44 lines
3.1 KiB
Markdown
# Alexander Koch Arm V1.1
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This folder the instructions to assembly a slightly modified version of the [Alexander Koch Arms](https://github.com/AlexanderKoch-Koch/low_cost_robot).
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## Assembly Instructions
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### Leader Arm
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Video of the Assembly: #TODO: What is the best format to put this video? I'm thinking Youtube?
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1. Order all off the shelf parts from the BILL_OF_MATERIALS.md.
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2. Print all parts with a 3D printer.
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1. Precision: 0.2mm minimum height layer
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2. Material: PLA, ABS, PETG or other reasonably strong plastics.
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3. Suggested: Prusa Mini+, Bambu P1, Ender3, etc.
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3. Scan each motor. #TODO: Check this-- should I add more information?
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4. Follower the video to in assembling the mechanical structure. #TODO(jess-moss): Should I add more info here?
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5. Use the electrical diagram to wire the robot
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1. Using 6 Dynamixel motor cables, daisy chain each motor to the one after it. Tip: Each Dynamixel has two ports, but they are electrically identical.
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2. Get three male to female wires. Plug them into the D, V, and G of the PCB.
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3. Connect these to the motor cable of the first (shoulder rotation) Dynamixel with G being connected to Pin 1, V to Pin 2, and D to Pin 3. (Hint: The cable connector has a small 1, 2, and 3 on it so you can identify each pin).
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4. Plug in the PWR using the 5V power source, and connect the USB-C connector to your computers.
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### Follower Arm
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Video of the Assembly: #TODO: What is the best format to put this video? I'm thinking Youtube?
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1. Order all off the shelf parts from the BILL_OF_MATERIALS.md.
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2. Print all parts with a 3D printer.
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1. Precision: 0.2mm minimum height layer
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2. Material: PLA, ABS, PETG or other reasonably strong plastics.
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3. Suggested: Prusa Mini+, Bambu P1, Ender3, etc.
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3. Scan each motor. #TODO: Check this-- should I add more information?
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4. Follower the video to in assembling the mechanical structure. #TODO(jess-moss): Should I add more info here?
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5. Use the electrical diagram to wire the robot
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1. Use the 6 Dynamixel motor cables to daisy chain the four XL330 motors together and the two XL430 motors together. Do not connect the XL430 motor to the XL 330 motor.
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2. Get three male to female wires. Plug them into the D, V, and G of the PCB.
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3. Connect these to the motor cable of the first (shoulder rotation) Dynamixel XL430 with G being connected to Pin 1, V to Pin 2, and D to Pin 3. (Hint: The cable connector has a small 1, 2, and 3 on it so you can identify each pin).
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4. Get three more male to female wires. Plug them into the second port D, V, and G of the PCB.
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5. Connect the V to IN+ and G to IN- of the DC Converter.
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6. Connect the motor cable of the first Dynamixel XL330 (i.e. wrist extention rotation) by connecting Pin 1 to OUT- of the DC converter, Pin 2 connected to OUT+ of the DC converter and Pin 3 connected to D from the second port of the PCB.
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7. Plug in the PWR using the 12V power source, and connect the USB-C connector to your computers.
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