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FIGURE 436
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Right and left legs attached to the robot body
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Amphibionics
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FIGURE 437
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Spring used for the right and left legs
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FIGURE 438
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Spring attached to the robot s leg and body
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Fabricating the Servo Mounts
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Use 1/16-inch thick aluminum to create two servo mounts, as detailed in Figure 439 Use a 5/32-inch bit to drill the holes Once the pieces have been cut and drilled, bend the pieces, as shown by the arrows in Figure 439 Use a table vise or the edge of a table to bend the pieces Figure 440 shows a finished servo mount
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4 / Frogbotic: Build Your Own Robotic Frog
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FIGURE 439
Cutting, bending, and drilling guide for the servo mounts
FIGURE 440
Finished servo mount
Amphibionics
To fabricate the two servo horn spring-loading mechanisms, take a piece of the 1/2-inch aluminum stock and cut two pieces to a length of 2 inches each Cut and drill the pieces, as shown in Figure 441 The finished pieces should resemble the one shown in Figure 442 Modify two servo horns so that they resemble the one shown in Figure 442 This is accomplished by cutting two of the cross pieces off with a pair of side cutters, and then lining up the middle hole of the servo horn with the middle hole in piece W or X When the middle holes are lined up, mark the area where the 5/32-inch holes line up Use a 5/32-inch bit to drill on the markings so that the finished horn looks like the one in Figure 442 Attach one of the modified servo horns to piece W with two 6/32inch 1/2-inch machine screws and locking nuts Attach the second servo horn to piece X, also using two 6/32-inch 1/2-inch machine screws and locking nuts Insert two 6/32-inch 3/4inch machine screws through the two outer holes of piece W, and secure in place with two lock washers and nuts Do the same for piece X One of the finished spring-loading mechanisms is shown in Figure 443, and can be used as a guide
FIGURE 441
Cutting and drilling guide for spring-loading mechanism
4 / Frogbotic: Build Your Own Robotic Frog
FIGURE 442
Spring-loading mechanism and modified servo horn
FIGURE 443
Finished spring-loading mechanism
Amphibionics
Take the two completed spring-loading mechanisms and attach each one to a servo that has been modified for continuous rotation Use the servo screw that came with the servo horn to secure the mechanism in place on the servo shaft, as shown in Figure 444 Take one of the servos with the spring-loading mechanism attached and secure it to a servo mount, using four 6/32-inch 1/2-inch machine screws, lock washers, and nuts Attach the second servo to the second servo mount, also using four 6/32-inch 1/2-inch machine screws, lock washers, and nuts, but note that the servo is attached so that it mirrors the first one, as shown in Figure 445 Attach the servo mounts to the frog s body using four 6/32-inch 1/2-inch machine screws, lock washers, and nuts The servo
FIGURE 444
Spring-loading mechanism attached to a modified servo
4 / Frogbotic: Build Your Own Robotic Frog
FIGURE 445
Servos attached to servo mounts Note the mirrored configuration
mounts should be positioned with the servo shaft closest to the frog s head Figure 446 illustrates the proper orientation of the servo mounts on the frog s body
FIGURE 446
Servo mounts attached to the frog s body
Amphibionics
Constructing the Front Legs
Cut two front leg pieces to a length of 4 inches, using the 1/2-inch aluminum Use Figure 447 as a guide to cut, drill, and bend the aluminum Attach the finished legs to the robot s body, using two 6/32-inch 1/2-inch machine screws, lock washers, and nuts, as shown in Figure 448
FIGURE 447
Cutting, drilling, and bending guide for the front legs
FIGURE 448
Front legs attached to the robot s body
4 / Frogbotic: Build Your Own Robotic Frog
Leg Position Sensors
The leg position sensors are limit switches that will determine when the legs are set to their jumping position, at which point the spring mechanism is fully loaded This information will be used by the microcontroller to coordinate the legs for jumping To attach the limit switches, manually rotate each servo by hand so that the spring is fully loaded toward the top of the spring-loading mechanism s travel, as shown in Figure 449 While maintaining this position, use hot glue to fix the limit switch to part E so that the switch is triggered, as shown in Figure 449 Do the same for the other leg, attaching the second limit switch to part F
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