Process

Step 1: Attach F2 to F9. Make 3 sets

$Description: C:\Users\mpenmetc\Desktop\robotis\Capture61.PNG$

Step 2: Attach F1 to F3 .Make 3 sets

$Description: C:\Users\mpenmetc\Desktop\robotis\Capture62.PNG$

Step 3: Attach STEP 1, STEP 2, ID1, ID2, ID4, and ID5 together

Take ID1, ID2, ID4 and ID5 make sure horn position is properly aligned and attach with step 1 with step 2 as shown in the figure

Attach Step 1 to one side of ID 4 and step 2 on another side.
Attach ID2 to a.
Follow above steps for ID 5 and ID 2.

$Description: C:\Users\mpenmetc\Desktop\robotis\Capture60.2.PNG$

Step 4: Attach STEP 1, STEP 2, ID3, and ID6 together

Attach Step 1 to one side of ID 6 and step 2 on another side.
Attach ID3 to step a.

$Description: C:\Users\mpenmetc\Desktop\robotis\Capture64.PNG$

Step 5: Attach F3, F10, F52, and F60 together

$Description: C:\Users\mpenmetc\Desktop\robotis\Capture65.PNG$

Step 6: Attach F3 to F51

$Description: C:\Users\mpenmetc\Desktop\robotis\Capture66.PNG$

Step 7: Attach Step 5 to step6

See the UP and Down views
$Description: C:\Users\mpenmetc\Desktop\robotis\Capture67.PNG$

Step 8: Attaching Step 3, 4 and 7 together

Attach Step 3, Step 4 and Step 7 together.
Connect ID1 to ID4; ID2 to ID5; ID3 to ID6 with three CABLE-10,
Connect ID1, ID2, and ID3 to CM-510 each with CABLE-20.
$Description: C:\Users\mpenmetc\Desktop\robotis\Capture68.PNG$

Step 9: Connect the battery through the battery cable

$Description: C:\Users\mpenmetc\Desktop\robotis\Capture 69.PNG$
Final Product:
$Description: C:\Users\mpenmetc\Desktop\robotis\Capture69.1.PNG$
Assembly Check:

Step 1: Run the assembly check program

Set the robot in PLAY mode; hold the D button then press START.
Once the START button is pressed, the assembly check program begins

Step 2: AX12+ initial position and ID check

Select each actuator separately and compare it to the picture below.
Ensure the actuators’ horns are properly aligned (the horn’s notch should be aligned with the actuator’s).
Pressing the U or D button selects one actuator at a time.
The selected actuator’s LED lights up and goes to its initial position.
Check starts from ID1.
U moves to the next ID in ascending numerical order; D, in descending numerical order.
If the actuator’s ID does not exist then the robot beeps.
Although the LED may lit, if there is no power then check the wiring on the actuator.
$Description: C:\Users\mpenmetc\Desktop\robotis\Capture60.3.PNG$

Step 3: Sensor and behavior check

From STEP2 press R. The robot returns to its initial position as pictured above.
Place your hand close to the sensors as pictured below. Robot behavior begins.
If the robot does not behave as pictured below, then check the sensor wiring and its port.
Pressing L will return the robot back to STEP2.

Robot Flower

Lab 7