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LEGS 337
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1" x 1" x1/16" angle stock Bottom view 1/2" x 8/32 bolt Nut Tooth lockwasher
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FIGURE 22.2 Hardware detail for securing the angle stock to the top and bottom frame pieces.
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Connect the two halves with four 12-inch lengths of angle stock, as shown in Fig. 22.2. Secure the angle stock to the frame pieces by drilling holes at the corners. Use 8/32 by 1/2inch bolts and nuts initially; exchange for pop rivets after the frame is complete. The finished frame should look like the one diagrammed in Fig. 22.3. Complete the basic frame by adding the running gear mounting rails. Cut four 24-inch lengths of 1-inch-by-1-inch-by-1/16-inch angle stock and two 17 5/8-inch lengths of the same angle stock. Drill 1/4-inch holes in four long pieces as shown in Fig. 22.4. The spacing between the sets of holes is important. If the spacing is incorrect, the U-bolts won t fit properly. Refer to Fig. 22.5. When the holes are drilled, mount two of the long lengths of angle stock as shown. The holes should point up, with the side of the angle stock flush against the frame of the robot. Mount the two short lengths on the ends. Tuck the short lengths immediately under the two long pieces of angle stock you just secured. Use 8/32 by 1/2-inch bolts and nuts to secure the pieces together. Dimensions, drilling, and placement are critical with these components. Put the remaining two long lengths of drilled angle stock aside for the time being.
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Legs
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You re now ready to construct and attach the legs. This is probably the hardest part of the project, so take you time and measure everything twice to assure accuracy. Cut six 14-inch
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338 BUILD A HEAVY-DUTY SIX-LEGGED WALKING ROBOT
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FIGURE 22.3 How the Walkerbot frame should look so far.
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20 3/4" 11 1/4" 1 3/4"
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Front 24"
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1 1/2"
FIGURE 22.4 Cutting and drilling guide for the motor mount rails (four).
lengths of 57/64-inch-by-9/16-inch-by-1/16-inch aluminum channel stock. Do not miter the ends. Drill a hole with a #19 bit 1/2 inch from one end (the top ); drill a 1/4-inch hole 4 3/4 inches from the top (see Fig. 22.6; refer to the parts list in Table 22.2). Make sure the holes are in the center of the channel stock. With a 1/4-inch bit, drill out the center of six 4 5/8-inch-diameter circular electric receptacle plate covers. The plate cover should have a notched hole near the outside, which is used to secure it to the receptacle box. If the cover doesn t have the hole, drill one with a 1/4-inch bit 3/8 inch from the outside edge. The finished plate cover becomes a cam for operating the up and down movement of the legs. Assemble four legs as follows: Attach the 14-inch-long leg piece to the cam using a 1/2inch length of 1/2 Schedule 40 PVC pipe and hardware, as shown in Fig. 22.7. Be sure the ends of the pipe are filed clean and that the cut is as square as possible. The bolt should be tightened against the cam but should freely rotate within the leg hole. Assemble the remaining two legs in a similar fashion, but use a 2-inch length of PVC pipe and a 3-inch stove bolt. These two legs will be placed in the center of the robot and
LEGS 339
24" x 1" x 1" x 1/16" angle stock
2 1/2"
Side view
17 5/8" x 1" x 1" x 1/16" angle stock
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FIGURE 22.5 The motor mount rails secured to the robot. a. The long rail mounts 2 1/2 inches from the bottom of the frame (the holes drilled earlier point up); b. The short end crosspiece rail mounts 2 5/8 inches from the bottom of the frame.
will stick out from the others. This allows the legs to cross one another without interfering with the gait of the robot. The bearings used in the prototype were 1/2-inch-diameter closet door rollers. Now refer to Fig. 22.8. Thread a 5-inch-by-1/4-inch 20 carriage bolt through the center of the cam, using the hardware shown. Next, install the wheel bearings to the shafts, 1-inch from the cam. The 1 1/4-inch-diameter bearings are the kind commonly used in lawn mowers and are readily available. The bearings used in the prototype had 1/2-inch hubs. A 1/2inch-to-1/4-inch reducing bushing was used to make the bearings compatible with the diameter of the shaft. Install 3 1/2-inch-diameter 30 tooth #25 chain sprocket (another size will also do, as long as all the leg mechanism sprockets in the robot are the same size). Like the bearings,
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