assembly_guide.md

Assembly guide

Before assembling the duck, you should first configure your motors

Requirements :

You will need :

• A soldering iron, and basic electronics tools and skills
• X m3 screws (TODO : add the exact number)
• Some wire
• Loctite Threadlocker blue 243

General note : Everytime you screw something in the motors, you want to use a little loctite threadlocker. This will prevent the screws from coming loose due to the vibrations during the operation of the robot. It adds a little time to to the build, but you'll be glad you took the time ;)

At any time, you can refer to the CAD here : https://cad.onshape.com/documents/64074dfcfa379b37d8a47762/w/3650ab4221e215a4f65eb7fe/e/0505c262d882183a25049d05

Steps :

Assemble the trunk

Place the bearings in trunk_bottom like so, and insert M3 inserts in these holes. It's also a good time to insert the 4 M3 inserts in the bottom of this part to mount body parts later on.

Then assamble trunk_bottom and trunk_top, and screw them together with 2 M3x10 screws through these holes

Mount the middle motor like so and screw it with the plastic screws that came with the motors :

Insert roll_motor_bottom like this

Assemble the feet

Both feet are the same.

First, assemble foot_bottom_tpu with foot_bottom_pla. Insert M3 inserts in these holes :

And screw the two parts together with two M3x6 screws.

Then, insert M3 inserts in these holes in foot_top here :

And assemble everything like so. Make sure the driver side of the motor is on the foot_top part side :

You can add the foot switches like this too :

You press fit them so that the switch is activated when the foot touches the ground

Assemble the shins

Insert M3 Inserts in these holes of leg_spacer (on both sides. Insert 4 M3 inserts in total) :

Then, first plug the motor cable in the foot's motor, and make it go through the right_sheet like so

Then assemble like below:

Assemble the thighs

The thigh is pretty much the same thing, except the hip_pitch motor is mounted this way (important for the zero position)

Assemble the hips

Mount left_roll_to_pitch or right_roll_to_pitch, here the parts are symmetrical so you have to use the right one.

Mount roll_motor_top to the hip_yaw servo (screw from the bottom). Don't mount the servo to the trunk yet.

Then mount hip_roll like this

And insert the sub assembly like this

Screw everything you can (with the plastic screws provided with the servos)

You can now mount the leg like this :

And do the same for the other leg :)

Your duck should now look like this

Assemble the neck

You know the drill

Assemble the head

TODO Update this with the new head features

For reference, the inside of the head looks like this now

First, mount head_pitch_to_yaw like this

Then, independently mount head_yaw_to_roll and head_roll_mount to head_roll dof

(You can insert head_bot_plate and body_middle_top now too to avoid having to disassamble the head later)

Then

Then

Your duck should now look like this

### Mount the servo driver board

TODO take a photo

Mount the IMU

Like this

It's actually better to mount the IMU with the correct natural orientation, which would be flipped along the X axis compared to the pictures below TODO take a picture and explain better

Electronics

Here is the global electonics schematic for reference

Battery pack

To be safe, make sure your cells are charged to the same voltage before placing them in the holder.

Head

First, insert the M3 inserts in all these holes

Then insert the bearing, mount the ear motors and the raspberry pi zero 2w.

Then assemble the neck with the head like this

Body

First screw on body_middle_bottom

Then insert the M3 inserts in all the holes of body_middle_bottom and body_middle_top on which we'll mount the battery pack and body_front.

Then mount body_middle_top, body_front and the battery pack

Et voila :)

Now that your duck is fully assembled, you setup the raspberry pi and the runtime software here