Microsoft Applied Robotics Research Library

Open Source Samples for Service Robotics

gestureBot Construction Guide

Session 6: Assemble the Left Arm

In this session we will 3D-print the eye and ear components (in an alternate color if desired) while assembling the gestureBot's left arm.

Parts:

• servos labeled ID:009, ID:010, ID:011, and ID:012 programmed in Session 2
• (3) 130MM servo cable
• (16) short plastic rivets
• (2) long plastic rivets
• (16) 3mm miniature steel screws
• (2) Screw Mount Swing Bracket 3D-printed in Session 4, the swing brackets and servo wheels form a shoulder joint between servos ID:009 and ID:010 and an elbow joint between servos ID:011 and ID:012.
• (2) Servo Wheel 3D-printed in Session 4, the servo wheels support the swing bracket mounts for servo ID:010 and ID:012.
• (2) Servo Mount Plate 3D-printed in Session 4, the servo mount plates support the servo ID:009 attachment to the upper torso frame and form a lower arm section between servo ID:010 and ID:011.

Tools:

• PH0 Phillips screwdriver
• plastic rivet tool

Procedure:

First, start 3D-printing the parts required for future sessions:

• Eyes (use alternative color plastic if desired)
• (2) Ear (use alternative color plastic if desired)

Second, assemble the left arm:

• Mount a swing bracket to servo ID:009 with (4) 3mm miniature screws, taking care to align the tick-marks on the servo horn, the servo cover, and the swing bracket.

• Attach servo wheel to left shoulder swing bracket by inserting a long rivet through the bracket and into the back of servo ID:010. Do not install the rivet pin to allow the servo wheel to rotate freely.

• Mount the servo ID:010 horn to the left shoulder swing bracket with (4) 3mm miniature screws and taking care to align servo horn double tick-marks with the tick-mark on the bracket. Note that in this case the alignment is made with the opposite side of the servo horn.

• With (3) short rivets, attach a servo mount plate to the back of servo ID:011 with the mount hole rings oriented length-wise to the servo.

• Connect a 130mm cable to the top-side connector of servo ID:010.

• Attach servo ID:010 to ID:011 using (4) short rivets in the mount plate while routing the cable connected to servo ID:010 through the space between the servo and the mount plate.

• Connect cable from servo ID:010 to servo ID:011 on its bottom-side connector.

• Mount the left elbow swing bracket to servo ID:011 with (4) 3mm miniature screws taking care to align the tick-mark on the servo horn with the tick-mark on the servo cover and the bracket.

• Attach servo wheel to left elbow swing bracket by inserting a long rivet through the bracket and into the back of servo ID:012. Do not install the rivet pin to allow the servo wheel to rotate freely.

• Mount the servo ID:012 horn to the left elbow swing bracket with (4) 3mm miniature screws and taking care to align servo horn double tick-marks with the tick-mark on the bracket. Note that in this case the alignment is made with the opposite side of the servo horn.

• Connect a 130mm cable from the top connector of servo ID:011 to the rear-side connector of servo ID:012.

• Connect a 130mm cable from the rear-side connector of servo ID:009 to the bottom-side connector of servo ID:010.

Next-> Session 7: Attach the Arms and Test the Servos