Vstone Robovie-X Assembly Manual

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ASSEMBLY MANUAL

ver.1.11b

Vstone

0. INTRODUCTION

READ FIRST

Thank you for purchasing our bipedal robot assembly kit “Robovie-X.” The Manual describes assembly of the robot and handling of its accessories. Read it thoroughly to assemble the Product with care.

- The Product is an assembly kit. It may not be able to exhibit its intended performance depending on how you assemble it. If you cannot assemble it properly, utilize our support services. For details, see Page 71 “9. INQUIRIES ABOUT TROUBLES, MISSING PARTS, DAMAGE, ETC.”

- Assembly and operation of the Product assumes use of a personal computer (hereinafter, to be referred to as the PC). The Manual and other accompanying manuals have been prepared, assuming that you are familiar with basic operation of the PC. Note that we cannot answer any questi ons or inquiries about operation of the PC or Windows.

*The specifications are subject to change without prior notice due to improvement or enhanced performance.

PRECAUTIONS PRIOR TO ASSEMBLY

• Note that the Product is an assembly kit and does not always assure robot operations after its assembly.

• When you use, assembly or store the Product and its parts, make sure that there are not infants around you. The Product comes with small parts. Care should be taken so that they will not swallow them by mistake.

•The Product is not a toy. When it is operated by a child, his/her parent must be present to watch.

•Do not wet the Product or its part, or use/store them at high humidity or in an environment where due condensation may occur.

• Use the tools with utmost care paid to safety.

•Do not disassemble or remodel servo motors and PC boards because they are precision electronic parts. Neglect of this may cause a trouble or a resultant electric shock or fire.

• Care should be taken not to allow conductive foreign substances into contact with the PC boards.

- As the terminals of the PC boards are exposed, they can be easily short-circuited by conductive foreign substances (metals, water, etc.). Short-circuit could result in a PC board failure or ignition of the battery or wiring.

• When you adjust or operate the Product after its assembly, it may move in an unexpected way in the nature of the assembly it. It may tumble or drop to injure you or get damaged. Secure sufficient work space and operate. Handle the Product with utmost care because it may catch your finger while operating.

•Connect the connectors securely, paying attention to their polarity. Neglect of this could cause a trouble or fire.

• Do not allow the cables to be caught when assembling. Catching of the cable could cause snapping or short-circuit.

• When disconnecting a cable, hold its plug and connector. If it is disconnected by holding its cord, an electric shock or fire may be caused by snapping or short-

circuit.

•For handling of the battery and battery charger, be sure to observe the instructions described in the Instruction Manual, Robovie-X Assembly Manual and Robovie-X Software Reference.

1. CONTENTS

0. INTRODUCTION

1. CONTENTS

2. UTENSILS REQUIRED

3. ACCESSORIES 3-1. Major Parts 3-2. List of Parts Used

4. CHARGER AND BATTERY 4-1. Precautions for Handling 4-2. Charging Method

5. PRELIMINARY KNOWLEDGE PRIOR TO ASSEMBLY 5-1. Servo Motor Origin 5-2. Screws and Precautions for Screwing

6. SETTING OF SERVO MOTOR ORIGIN

7. ASSEMBLY 7-1. Assembling the Right Arm 7-2. Assembling the Left Arm 7-3. Assembling the Right Leg

1 3 4 5 5

6 11 11 12 13 13 14 15 18 21 23 25

7-4. Assembling the Left Leg 7-5. Assembling the Body 7-6. Mounting the Arms and Legs to the Body 7-7. Checking the Movable Ranges 7-8. Wiring and Mounting the Head Armor 7-9. Mounting the Body Armor 7-10. Pasting the Sole Tape

8. INSTALLATION OF BATTERY

9. INQUIRIES ABOUT TROUBLES, MISSING PARTS, DAMAGE, ETC. APPENDIX: EXTENSION OF FUNCTIONS

31 37 44 54 58 64 69 70 71 72

2. UTENSILS REQUIRED

The following utensils are required for assembly and operation of the Product. Prepare them in advance.

•PC (Personal Computer)

CPU: Pentium 3 or later (1 GHz or more recommended) RAM: 128 MB OS: Windows 2000/XP/Vista Screen size: XGA or above Interface: USB Should be equipped with a CD-ROM drive.

•Tools

- Cutting pliers (used in “7-5. Assembling the Body, Step 15” on Page 43)

- Scissors (used in “7-10. Pasting the Sole Tape” on Page 69)

- Screwdrivers No. 1 Phillips screwdriver (handle diameter = 1 cm or more) No. 0 and No. 1 Phillips precision screwdrivers

＃1

＃0

Precision Screwdrivers

Other Useful Utensils

Regular screwdrivers, tweezers, towel, Scotch tape, screw container

3. ACCESSORIES

3-1. Major Parts

The following outlines the specifications of the main parts included in the Product.

Servo motor VS-S092J

Dimensions : 38 x 19 x 38.5mm Torque:9.2kg cm Speed:0.11S/60° Weight:42g Max. operating range:180° Max. voltage: 4 V to 9 V (7.4 V measured) Control method:PWM

Small CPU board for the robot VS-RC003HV

Dimensions:52x48(44)x13mm Weight:21g Servo motor output:30ch Audio output:2W Corresponding voltage 5 V to 16 V Interface with PC:USB (HID) Corresponding controller: Game pad, ProBo Extension port:IXBUS x1

Battery

Nickel metal hydride battery 1,400 mAh, 5 cells (6.0 V)

(Option)

Gyro sensor/acceleration sensor extension board

VS-IX001

Dimensions: 25 x 30mm Mounted sensors: 2-axis gyro sensor

3-axis acceleration sensor

3-2. List of Parts Used

Check if all the component parts are included.

VS-X Bracket A

( a 2101 )

* Note that the brackets A and B are very similar to each other.

VS-X Bracket C

( a 2301R- a2301L )

VS-X Bracket B

( a 3302 )

Standard Sole Set A

( a 2501 )

(a 2202)

VS-X Servo Holder A

( a 2202-a 2201 )

(a 2201)

Standard Hand Bracket A

( a 3301R- a 3301L )

VS-X Servo Holder B

( a 2502 )

VS-X Servo Holder C

( a 2302 )

( a 1101 ) ( a 1102 )

( a 1103 )

VS-X Standard Body Set

( a 1104 )

( a 1105 )( a 1106 )( a 1107 )

One Each

(a 1103)x 2

Initial Position Adjusting Part

( a 4102 )

One Each

Rear of HeadFront of Head

Rear Head ArmorFront Head Armor

One Each

Front Body Armor Rear Body Armor

ｘ1

Decal

Major Parts

CPU Board

VS-RC003HV

Battery Charger

Long Cable 40cm

USB Cable Power Cable

Short Cable 15cm

Servo Motor VS-S092J

Game Pad Conversion Connector

(Optional Part)

This part allows the robot to automatically balance itself to prevent tumbling.

Speaker

Servo Horn

LED Board

VS-LED1

Gyro Sensor/Acceleration Sensor Extension Board

VS-IX001

Sole Tape

Screws

1010

M2-

Screw A M2-3 Flat Pan Head

M3-

Screw C M3-5 Flat Pan Head Cap

M2-

Screw F M2-4 Flat Head Tapping

M3-

Screw H M3-8 Flat Head Tapping

T T

M2-

Screw E M2-5 Flat Head Tapping

Tapping screw

Bind tapping screw

Spacer

M2-

Screw G M2-4 Bind Tapping

M2-

Spacer A M2-3 (Hexagonal Spacer)

Friction Rubber

M2-

Spacer B M2-5 (Hexagonal Spacer)

Bush DURACON Washer

Urea Resin

Urea Resin Nut

Binding Band

: Denotes the required quantity. Parenthesized is the number of spare parts.

The Product includes the total of both. *Four of them are for the optional part.

Binding Band Washer

4. CHARGER AND BATTERY

1111

4-1. Precautions for Handling

Mishandling of the charger and battery may cause a liquid leak, ignition, trouble or injury. Prior to using them, read the following precautions carefully.

- Store them beyond child’s reach.

- Check the polarity of the battery to connect it.

- Never short-circuit the battery. (If the battery is stored together with a metal or a conductive substance, it may be damaged by the conductive substance due to certain disturbance, resulting in short-circuit. When carrying them together, put the battery in a separate case.)

- Do not wet or put the battery in water or sea water.

- Do not use or store the battery in a high-temperature, high-humidity place.

- Do not leave the battery for a long time, connected to the robot.

After using, be sure to turn off the switch of the robot.

- If the battery is not used, remove it from the robot and store it in a place with normal temperature (0 to 30ºC) and low humidity.

- Charge the battery at its temperature of 0 to 40ºC. It is dangerous if the temperature exceeds 40ºC. Cool the battery with a cooling device.

- If you notice abnormal heat generation, foul smell or smoke while chargi ng, stop cha rging

immediately.

- If you notice abnormal heat generation, foul smell or sm oke while using the battery, turn off the switch immediately and remove the battery from the robot.

- If you notice a liquid leak from the battery or its discoloration, deformation, foul smell or other abnormality, do not use it.

- If the battery cannot be fully charged after the specified charging time, stop charging.

- After charging is completed, disconnect the battery immediately from the charger.

- Do not throw the battery into fire, heat it or deform it.

- Do not disassemble or remodel the battery.

- Do not peel off or damage the coating tube of the battery.

- Do no remodel a connector, etc.

- Use the charger only for the purpose of charging.

- Never use the charger as a DC power source.

- If the battery liquid gets into the eye, rinse it fully with clean tap water immediately and consult a medical doctor.

- If the battery liquid adheres to the skin or clothing, rinse them fully with clean tap water immediately.

- The battery is basically accompanied by danger. As it could lead to a fire, do not leave it while it is charged.

- Do not connect the fully charged battery to the charger.

- The nickel metal hydride battery may be out of service as a battery, once the voltage of each cell is 1 V or less (5 V or less for this battery because it has 5 cells).

If it is charged in this condition, it may be damaged. The battery voltage may drop to 5 V or less momentarily while it is operating, but it is no problem, just a voltage drop due to the running current.

4-2. Charging Method

1212

充電方法

The battery is used at the time of assembly. Start charging prior to assembly. (Charging is completed in a couple of hours.)

- Use only the accompanying charger for the Robovie-X battery.

- Do not charge the battery near any combustible or inflammable substances.

- Do not leave the battery while it is being charged.

- Do not connect the fully charged battery to the charger.

- If you notice foul smell or abnormal heat generation, unplug the power source immediately and disconnect the battery. When this is done, be careful not to get burnt.

•Utensils required: Charger, conversion connector, battery

-1. Plug a Robovie-X exclusive conversion connector to the charger.

Features of Battery (Nickel Metal

Hydride Rechargeable Battery)

-2. Connect the AC plug of the rechargeable battery to a plug socket and connect the battery, paying attention to the polarity.

-3. A red lamp is lit up, starting charging.

Lamp

-4. Once the battery is fully charged, a green lamp will be lit up, automatically switching to trickle charging*. At this point, disconnect the battery from the charger.

-5. Once charging is completed, be sure to disconnect the battery connector and the AC plug from the plug socket.

● Natural discharge (self-discharge)

A battery discharge naturally as time passes, even if it is not used. If it is not used for a long time, it may completely discharge, running out of service. If not used for a long time, store it fully charged. Measure its voltage from time to time to ensure that its voltage is not 5 V or less. (Check every couple of months.) The voltage can be measured with included software “RobovieMaker2.”

● Memory effect

When using the robot, the battery may run out in a short time, even if it is fully charged. If the nickel metal hydride battery is frequently recharged (top-up charging) before its recharged capacity is used up, it may show an out-of-battery phenomenon, even if it still has a remaining capacity. This is called a memory effect. In order to prevent this effect, it is recommended to charge the battery after using up its capacity. The memory effect can be controlled by refresh charging (charging after discharging) after using several times. If you feel that the battery capacity is lower, use it up to the last (until the battery voltage will be 5 V to 6 V).

Trickle charging* A charging method to always run a minute electric current, separated from the load, in order to compensate for natural discharge of the battery.

5. PRELIMINARY KNOWLEDGE

1313

PRIOR TO ASSEMBLY

5-1. Servo Motor Origin

A servo motor has an important rule and concept concerning its mounting. If it is mounted in a wrong way, the robot will not move correctly. When assembling the servo motor, read this page thoroughly. The servo motor is controlled by the CPU and can be programmed by the user to freely run. The servo motor VS-S092J used for the Product has frame mounting holes in the top and back covers, into which a frame is mounted. Then, mount a servo horn to an output shaft (power supplied shaft), followed by the frame there, to use it as the robot’s joint. A movable range of the robot’s joint depends on this mounting of the servo horn.

The servo motor has its movable range. The VS-S092J used for the

Product moves within a range of about 180º, that is from -90º to +90º.*

The central position of 0º is called the “origin.” If you look at the servo

motor, you can see a concave mark on the output shaft. This is called a “neutral mark.” When the servo motor is at the origin, the neutral mark is basically located almost directly above. (see the left figure).

However, each servo motor has a slight angle discrepancy. Even if the angle of the origin is sent from the CPU board to the servo motor, it may be slightly dislocated from the origin. Assuming that the origin position based on a signal from the CPU board is correct, this robot uses software to adjust an error produced in the actual servo motor. (An error adjusting method is described later.)

In the following description, “origin” is used as the “origin set b y the

CPU board.” In addition to this, an error also results from wrong mounting

of the servo horn. There are 8 holes in the servo horn. The parts such as the frame are assembled into them to transmit the power to the robot. A servo horn mounting angle to the origin is important in order to set a movable range of the joint more accurately.

As a test, push in the servo horn so that a hole in the servo horn will be located at the origin of the servo motor (directly above). It should be slightly dislocated from the origin position. It is because the servo horn is not properly aligned with the serration which conveys rotation of the servo motor to the servo horn. There are intentionally 23 serration teeth on the circumference. If the number is increased or decreased by 3 teeth, the hole position in the servo horn differs delicately. Try each hole in the servo horn one after another until it is located at the most accurate angle to the origin (directly above). There should be a hole

which allows the servo horn to be located almost directly above. At the time of assembly, be su re to carry out this work. If the origin is not accurately set, the robot cannot move successfully in

motions, such as getting up, which require an accurate movable range. (This assembly work almost

requires a hole in the servo horn to be located directly above. If it is required to be mounted at a different position, however, we will instruct you to that effe ct.) When mounting the servo horn to the output shaft, do not allow the servo motor’s output shaft to be rotated.

*An operating angle differs depending on the type of the servo motor.

5-2. Screws and Precautions for Screwing

1414

• Types and Notation of Screws

M2 indicates that a thread diameter is 2 mm, and M3 indicates 3 mm. A number following “-“ indicates the length (mm) of threads. Flat pan head and flat head indicate the shape of screw head. Tapping screws refer to the screws

with rough thread pitches and are mainly used for fixing the resin (servo horn, s ervo motor cover, servo motor output sh aft). Non-tapping

screws are used for the areas where ordinary threads have been cut (metal parts).

Note that if the tapping screws and ordinary ones are confused with each other, the parts will be damaged. As the tapping screws are used for fixing the resin, the tapped holes are damaged by tightening them hard or putting them into the holes at a slant. Put the screws into the objective

material perpendicularly and stop tightening them when all the threads have entered into the tapped holes. Even when using ordinary screws to fix the objective material made of soft metal such as aluminum, the tapped holes are damaged by tightening them too much.

• Screws and Screwdrivers

Be sure to use appropriate screwdrivers to turn the screws. They may be turned with a different size of screwdriver, but the threads could be damaged.

No. 0 Phillips precision screwdriver: M2 screws (other than M2-4 bind tapping screws) No. 1 Phillips precision screwdriver: M2-4 bind tapping screws, M3-5 screws No. 1 Phillips screwdriver: M3-8 tapping screws

•Precautions for Using the Servo Horn to Fix the Parts

The frame of Robovie-X has been flexibly designed so that it can be changed into different forms.

For this reason, two frames may be combined together for use. In this case, the servo horn is mainly

used to assemble.

When this is done, be sure to hold the horn from below and screw in the vertical direc tio n. The

parts are almost mutually fixed by tightening one screw. Remember to tighten the remaining screws,

holding the horn from below.

Do not tighten the screws too hard because the servo horn is made of resin. Threads are damaged

by tightening too hard.

Use of Screw Locking Agent

Once you start moving the robot, its screws may be loosened. A “screw locking agent” is often used to prevent loosening of the screws, but its anaerobic and vinyl acetate properties tend to melt the resin. Use it only for the areas where metals parts are mutually screwed.

Do not use it for locking the screws of the output shaft and the servo horn.

When using an anaerobic screw locking agent, “medium strength” is recommended.

Locktite

6. SETTING OF SERVO MOTOR

1515

ORIGIN

• Utensils Required

CPU, USB cable, recharged battery, power connector, accessory CD

Note:

- Work with the CPU on an insulator. (A pink-colored cushioning material, in which the CPU was contained, is an insulator.)

- When disconnecting a connector connected to the CPU, hold the connector itself, not a cable.

Procedure

1. Setting up the PC

Seeing “2. INSTALLATION OF SOFTWARE” on Page 3 and “3. CONNECTION OF CPU BOARD TO PC” on Page 5 of the “Robovie-X Software Reference,” install Robovie-Maker2 and make it recognize the CPU.

2. Connect servo motor to the C P U.

Connect to the connector encircled in red so that a gray cable will be located inside.

3. Connect the battery to the CPU.

1616

Attach the power connector to the CPU. (A clicking sound is heard.)

Confirm that the switch has be en turned off (to the battery side).

Connect the battery to the power connector.

4. Use the USB cable to connect the CPU to the PC.

To the Battery

Turn off (to the

battery side)

To the USB Port of PC

USB Cable

Power Connector

5. Start Robovie-Maker 2.

Tool Bar

The tool bar is available for the operational steps implemented in the rest of the procedure.

6. Press the communication button [ ] on the tool bar.

1717

Confirm that the following window appears.

7. Turn on the Power switch (to the CPU side).

Confirm that an indication of a voltage gauge exceeds a yellow line.

8. Press the servo motor ON/OFF button [ ] to turn on the servo motor.

The servo motor is activated. Confirm that the neutral marks of all the servo motors are located almost directly above the servo motors. (There are individual errors.) See “5-1. Servo Motor Origin” on Page 13.

9. Seeing Step 2, repl ace the servo motor to do this operation for all the servo motors.

Note: Pay attention to the polarity. The gray cable should be located inside. Erroneous wiring may damage the CPU and the servo motor.

10. Press the servo motor ON/OFF button [ ] to turn off the servo motors.

Press the communication button [ ] to end communication.

11. Terminate Robovie-Maker2.

12. Turn off the switch and disconnect the battery.

When disconnecting the battery and the power connector, hold down an upper claw and hold a connector to pull out.

13. Disconnect the CPU from the PC.

Disconnect the servo motors from the CPU

Now, you are ready to assemble.

7. ASSEMBLY

1818

•Precautions

- Use appropriate screwdrivers.

- Care should be taken not to confuse the types of screws.

The M2-4 and M2-5 tapping screws are very similar. Note that if the M2-5 tapping screws are used on the servo horn side of t he output shaft, the robot may go out of order.

- There are two kinds of servo motors with different lengths of cables. Use those with longer cables, unless otherwise specified.

- When fitting the servo horn into the servo motor, do so several times so

that it will be located at an accurate angle to the origin. Otherwise, the

robot’s joint may not move to the desired position, failing to successfully replay motions.

Assembly procedure

Assemble the robot in the following order: (1) Assembling the right arm (2) Assembling the left arm (3) Assembling the right leg (4) Assembling the left leg (5) Assembling the body (6) Mounting the arms and legs to the body (7) Checking the movable ranges (8) Mounting the head armor / Wiring (9) Mounting the body armor (10) Pasting the Sole Tape

Servo Motor Mounting Positions

1919

Name of Axes

Vertical Axis: Yawing Axis

Horizontal Axis: Pitch Axis

Longitudinal Axis: Roll Axis

CN5

CN3

S6: Right Shoulder Pitch Axis

S5: Right Shoulder Roll Axis

S4: Right Elbow Roll Axis

S3:

S2:

S1: Right Eye LED

CN1

S6:

S5: Right Thigh Roll Axis

S4: Right Thigh Pitch Axis

S3: Head Yawing Axis

S S

CN4

S6: Left Shoulder Pitch Axis

S5: Left Shoulder Roll Axis

S4: Left Elbow Roll Axis

S3:

S2:

S1: Left Eye LED

CN2

S6:

S5: Left Thigh Roll Axis

S4: Left Thigh Pitch Axis

S3: Right Below Knee Pitch Axis

S2: Right Ankle Pitch Axis

S1: Right Ankle Roll Axis

: Use a short cable

S3: Left Below Knee Pitch Axis

S2: Left Ankle Pitch Axis

S1: Left Ankle Roll Axis

2020

7-1 Assembling the Right Arm

2121

Prepare the required parts.

(a 2202)

(a 2201)

VS-X Servo Holder A

( a 2202- a 2201 )

Long Cable 40 cm

Servo Motor VS-S092J

*Confusion of M2-4 and M2-5 screws may damage the robot.

M2-

Screw F,

M2-4 Flat Head Tapping

Screw E, M2-5 Flat Head Tapping

VS-X Bracket B

(a 3302)

*This is not a VS-X bracket A.

Short Cable 15 cm

Screw C, M3-5 Flat Pan Head Cap

M3-

Standard Hand Bracket A

(a 3301R)

Servo Horn

M3-

Screw H, M3-8 Flat Head Tapping

Friction Rubber

Bush

(1) Right Arm

01. Assembling the Right Wrist

2222

M2-

02. Assembling the Upper Right Arm

< Hand Side >

M2-

Reverse

M2-

:Screwing spot

< Shoulder Side >

Short Cables

03. Mounting the Right Elbow Roll Axis

M3-

M2-

M3-

Short Cables

Friction Rubber Bush

Origin

*Use the tapped holes as a reference.

< Frame Mounting Position against the Origin >

90o or More

Until Contacting

Checking the Movable Range

7-2 Assembling the Left Arm

2323

Prepare the required parts.

(a 2202)

VS-X Servo Holder A

（a 2202- a 2201）

Long Cable 40 cm

ｘ1

(a 2201)

*This is not a VS-X bracket A.

Short Cable 15 cm

Servo Motor VS-S092J

VS-X Bracket B

（a 3302）

ｘ1

ｘ１ｘ1

ｘ1

Standard Hand Bracket A

(a 3301L)

ｘ2

Servo Horn

*Confusion of M2-4 and M2-5 screws may damage the robot.

M2-

Screw F, M2-4 Flat Head Tapping

M3-

Screw H, M3-8 Flat Head Tapping

ｘ3

ｘ1

M2-

Screw E, M2-5 Flat Head Tapping

ｘ16

ｘ1 ｘ1

M3-

Screw C, M3-5 Flat Pan Head Cap

ｘ1

Friction Rubber

Bush

(2) Left Arm

01. Assembling the Left Wrist

2424

02. Assembling the Upper Left Arm

M2-

M2-

Reverse

Short Cables

03. Mounting the Left Elbow Roll Axis

Screwing spot

Origin

Bush Friction Rubber

M3-

90o or More

M2-

M3-

Short Cables

45°

*Use the tapped holes as a reference.

Until Contacting

Checking the Movable Range

7-3 Assembling the Right Leg

2525

Prepare the required parts.

VS-X Bracket A

（a 2101）

*This is not a VS-X bracket B.

（a 2202)

VS-X Servo Holder A

（a 2202- a 2201）

ｘ4

（a 2201)

ｘ1

VS-X BracketC

（a 2301R）

VS-X Servo Holder B

（a 2502）

ｘ1

Standard Sole Set A

(a 2501)

VS-X Servo Holder C

（a 2302）

Long Cable 40 cm

Servo Motor VS-S092J

*Confusion of M2-4 and M2-5 screws may damage the robot.

M2-

Screw A, M2-3 Flat Pan Head

M3-5

Screw C, M3-5 Flat Pan Head Cap

M2-

Screw F, M2-4 Flat Head Tapping

M3-

Screw H, M3-8 Flat Head Tapping

Short Cable 15 cm

Servo Horn

M2-

Screw E, M2-5 Flat Head Tapping

Friction Rubber

Bush

(3)Right Leg

01. Assembling the Right Sole

2626

M2-

02. Mounting the Servo to the Right Sole

Reverse

M2-5 M2-5

T T

<Front>

<Rear>

03. Assembling the Orthogonal Parts

M2-

Pay attention to the assembling direction.

： Screwing spot

04. Mounting the Right Ankle Roll Axis

2727

M3-

M2-

M3-

Friction Rubber Bush

Origin

05. Assembling the Right Below Knee Parts - 1

右脛部の作成１

M2-

Until Contacting

Checking the Movable Range

：Screwing spot

2828

2929

10. Assembling the Orthogonal Parts

3030

M2-

Pay attention to the assembling direction.

11. Assembling the Right Thigh Pitch Axis

：Screwing spot

M2-

Bush Friction Rubber

Middle Point of Two Holes

Origin

M3-

Until Contacting

90o or More

< Frame Mounting Position against the Origin >

Checking the Movable Range

7-4 Assembling the Left Leg

3131

Prepare the required parts.

VS-X Bracket A

(a 2101)

*This is not a VS-X bracket B.

(a 2202)

VS-X Servo Holder A

( a 2202- a 2201)

Long Cable 40 cm

Servo Motor VS-S092J

(a 2201)

VS-X Bracket C

(a 2301L)

VS-X Servo Holder B

(a 2502)

Short Cable 15 cm

Standard Sole Set A

(a 2501)

VS-X Servo Holder C

(a 2302)

Servo Horn

*Confusion of M2-4 and M2-5 screws may damage the robot.

M2-

Screw A, M2-3 Flat Pan Head

M3-5

Screw C, M3-5 Flat Pan Head Cap

Friction Rubber

M2-

T T

Screw F, M2-4 Flat Head Tapping

M3-

Screw H, M3-8 Flat Head Tapping

Bush

M2-

Screw E, M2-5 Flat Head Tapping

(4) Left Leg

01. Assembling the Left Sole

3232

M2-

02. Mounting the Servo to the Left Sole

<Top View>

Reverse

M2-

T T

M2-

< Front > < Rear >

03. Assembling the Orthogonal Parts

M2-

Pay attention to the assembling direction.

：Screwing spot

04. Mounting the Left Ankle Roll Axis

3333

M3-

Bush Friction Rubber

M2-

M3-

Origin

< Frame Mounting Position against the Origin >

05. Assembling the Left Below Knee Parts - 1

M2-

Until Contacting

Checking the Movable Range

：Screwing spot

3434

3535

3636

7-5 Assembling the Body

3737

Prepare the required parts.

Front Body Frame

Body Shoulder Frame

(a 1101)

Rear Body Frame

(a 1102)

Body Side Frame

*(a 1103)

(a 1107) (a 1106)

Battery Storage Door

Upper Body Frame

VS-X Standard Body Set

(a 1104)

(a 1105)

Power Connector Holder

One Each

*(a 1103)ｘ2

Long Cable 40cm

Servo Motor VS-S092J

Short Cable 15cm

Servo Horn

（To Be Continued）

CPU Board

3838

VS-RC003HV

Power Cable

(Optional Part)

Speaker

Game Pad Conversion Connector

Gyro Sensor/Acceleration Sensor Extension Board

VS-IX001

M2-

Spacer A, M2-3 (Hexagonal Spacer)

*Confusion of M2-4 and M2-5 screws may damage the robot.

M2-

Screw A, M2-3 Flat Pan Head

S S

M2-

Spacer B, M2-5 (Hexagonal Spacer)

M2-

Screw F, M2-4 Flat Head Tapping

T T

M2-

Screw E, M2-5 Flat Head Tapping

Urea Resin Screw

Nut for Urea Resin Screw

M3-5

Screw C, M3-5 Flat Pan Head Cap

Bush

M3-

Screw H, M3-8 Flat Head Tapping

*Four of them are for the optional part.

T B

M2-

Screw G, M2-4 Bind Tapping

(Continued from Previous page )

(5) Body

3939

04. Mounting the Power Connector Holder

4040

M2-

＜Pay attention to the mounting direction.＞

05. Mounting the Game Pad Conversion Connector

M2-

10-Core Connector Mounting Position

M2-

06. Assembling the Shoulder

M2-

07. Assembling the Shoulder

M2-

Assemble 2 units.

Pass a cable between the servos.

08. Mounting the Speaker

4141

Mounting the Gyro Sensor (Optional)

M2-

09. Mounting the Body Side Frame

M2-

CTS

2 3 4

Set all the switch segments to the numerical side (OFF).

( Optional Part )

The robot automatically balances itself to prevent tumbling.

M2-

10. Mounting the Spacer to the CPU

M2-

Gyro Sensor/Acceleration Sensor Extension Board

VS-IX001

M2-

Pay attention to the mounting position. Use outside holes.

11. Connecting the Power Cable

4242

Gyro Sensor Cable (Optional)

Power Switch

Speaker Cable

Pass it under the power cable (head side).

Power Connector (Battery Side)

Power Connector

Game pad Conversion Connector Cable

12. Mounting the Switch

(The cordless side is outside)

M2-

Routing the 10-Core Cable

13. Mounting the CPU

Gyro Sensor Cable

(Optional)

M2-

Game Pad Conversion Connector Cable

Speaker Cable

(Pass the cable)

14. Mounting the Rear Frame

4343

M2-

Lead out shoulder pitch axis cables from the top and thigh roll axis cables from the bottom.

15. Mounting the Battery Storage Door

M3-

Bush

Ensure that the power cable is not caught between the CPU and the servo motor.

< Top View >

Secure firmly with cutting pliers so that it will not come off.

Urea Resin Screw

Nut for Urea Resin Screw

The grooved side is upward.

M3-

Bush

The shoulder is opened and closed

depending on tightness of the urea resin screw.

7-6. Mounting the Arms and Legs to the Body (1)

4444

Mounting the Right Arm

Prepare the required parts.

VS-X Bracket A

( a 2101 )

*This is not a VS-X bracket B.

Servo Horn

*Confusion of M2-4 and M2-5 screws may damage the robot.

M3-

M2-

Screw F, M2-4 Flat Head Tapping

Friction Rubber

Screw C, M3-5 Flat Pan Head Cap

Bush

Screw H, M3-8 Flat Head Tapping

M3-

DURACON Washer

(6) Mounting the Right Arm

01. Mounting the Right Arm - 1

4545

M2-

M3-

DURACON Washer

< Rear >

< Mounting Position against the Origin >

Origin

< Front >

90o or More 90o or More

Checking the Movable Range

4646

4747

01. Mounting the Left Arm - 1

4848

DURACON Washer

M3-

M2-

< Front >

< Mounting Position against the Origin >

Origin

< Rear >

90o or More 90o or More

Checking the Movable Range

4949

7-6. Mounting the Arms and Legs to the Body (3)

5050

Mounting the Right Leg

Prepare the required parts.

Servo Horn

*Confusion of M2-4 and M2-5 screws may damage the robot.

M2-

Screw F, M2-4 Flat Head Tapping

Friction Rubber

M3-

Screw C, M3-5 Flat Pan Head Cap

Bush

M3-

Screw H, M3-8 Flat Head Tapping

(6) Mounting the Right Leg

01. Mounting the Right Leg

5151

M2-

M3-

Origin

Friction Rubber Bush

Until Contacting

90o or More

< Mounting Position against the Origin >

Checking the Movable Range

5252

01. Mounting the Left Leg

5353

M3-

M2-4

M3-

Bush Friction Rubber

Origin

< Mounting Position against the Origin >

Until Contacting

90o or More

Checking the Movable Range

7-7. Checking the Movable Ranges (1)

5454

Head and Right Arm

Rear

90o or More

Rear

90o or More

Front

S6: Right Shoulder Pitch Axis

S5: Right Shoulder Roll Axis

S4: Right Elbow Roll Axis

90o or More

: Use a short cable

S3: Head Yawing Axis

S S

Until Contacting

90o or More

S S

90o or More

(Warp the elbow outside)

5555

5656

5757

7-8. Wiring and Mounting the Head Armor (1)

5858

Wiring

Prepare the required parts.

M2-

Screw A, M2-3 Flat Pan Head

Binding Band

Binding Band Washer

It is recommended to mark the connectors so that you can easily tell where they should be used.。

5959

01. Wiring the Arms

Binding Bands Binding Bands

Washers

From above the wiring

M2-

Binding Bands

From below the wiring

M2-

< How to Secure with the Binding Bands >

Prior to securing the wiring with the binding bands, remove the relevant screws already attached in the previous assembly process.

02: Wiring the Legs

6060

M2-

Binding Band Washers

M2-

Binding Band Washers

From behind the wiring

Wire the left leg in the same manner.

7-8. Wiring and Mounting the Head Armor (2)

6161

Mounting the Head Armor

Prepare the required parts.

One Each

Rear of HeadFront of Head

LED Board

M2-

Head Rear Armor Head Front Armor

VS-LED1

Screw E, M2-5 Flat Head Tapping

(8) Head

01. Mounting the Head Armor

6262

Mount it so that the cables will face inside.

M2-

Wiring to the CPU

6363

Wire all the servo motors and LEDs. The following shows a connection diagram. Seeing the figure below, connect the servo motor cables to the CPU. *Prior to connecting, check a connecting position fully.

CPU ( VR-RC003HV ) Connection Diagram

Note that erroneous wiring may damage the CPU or the servo motor.

Rotary Switch

USB

S6: Left Shoulder Pitch Axis S5: Left Shoulder Roll Axis

CN4

S4: Left Elbow Roll Axis S3: S2: S1: Left Eye LED

S6:

S5: Left Thigh Roll Axis S4: Left Thigh Pitch Axis

S3: Left Below Knee Pitch Axis

CN2

S2: Left Ankle Pitch Axis S1: Left Ankle Roll Axis

Condenser

*S1, S2, and so on from the power source side (right)

CN1 to CN5: Servo motors, VS-LED 1 CN6: Controller CN11: Speaker CN7: IXBUS (for an extension board)

CN6CN7

CN11

VS-RC003D

CN5

Head Yawing Axis

CN3

CN1

Power Connector

S6: Right Shoulder Pitch Axis S5: Right Shoulder Roll Axis S4: Right Elbow Roll Axis S3: S2: S1: Right Eye LED

S6: S5: Right Thigh Roll Axis S4: Right Thigh Pitch Axis

S3: Right Below Knee Pitch Axis

S2: Right Ankle Pitch Axis S1: Right Ankle Roll Axis

S6: Right Shoulder Pitch Axis

S5: Right Shoulder Roll Axis

S4: Right Elbow Roll Axis

S3:

S2:

S1: Right Eye LED

S6:

S5: Right Thigh Roll Axis

S4: Right Thigh Pitch Axis

S3: Right Below Knee Pitch Axis

S2: Right Ankle Pitch Axis

S1: Right Ankle Roll Axis

S3: Head Yawing Axis

S S

: Use a short cable

S6: Left Shoulder Pitch Axis

S5: Left Shoulder Roll Axis

S4: Left Elbow Roll Axis

S3:

S2:

S1: Left Eye LED

S6:

S5: Left Thigh Roll Axis

S4: Left Thigh Pitch Axis

S3: Left Below Knee Pitch Axis

S2: Left Ankle Pitch Axis

S1: Left Ankle Roll Axis

7-9. Mounting the Body Armor

6464

Prepare the required parts.

Body Front Armor

M2-

Screw G, M2-4 Bind Tapping

One Each

Body Rear Armor

(9) Armor (Chest)

01. Mounting the Armor Panel (Rear)

6565

M2-4

Bundle the cables in the rear and mount the armor.

When this is done, ensure that they are not caught. If they are bundled too short, they will not only hinder robot movements, but damage the servo motors or cause snapping or short-circuit.

<Wiring Example> When the gyro sensor* is mounted; When the gyro sensor is mounted, bundle its wiring in the center as well. (* Optional)

<Wiring Example> Bundle the cables in the center of the body so that they will not be caught between the armor and the aluminum parts.

02. Mounting the Armor Panel (Front)

6666

M2-4

Mount a receiver for a radio game pad, if required, prior to mounting the armor.

Wiring Check

6767

If the cables are bundled too short in the rear, they will not only hinder robot movements, but damage the servo motors or cause snapping or short-circuit.

If they are slackened too much, the robot will be caught by them, damaging the servo motors or causing snapping or short-circuit.

Move each of the robot joints to recheck whether or not the cables are too tight. The following checks the noteworthy areas.

03. Wiring Check (Neck)

Oscillate the neck to the right and left to check whether or not the cables are too tight.

04. Wiring Check (Shoulder)

6868

Place the arms in this condition and check whether or not the cables hinder arm movements. Check the right and left arms.

Move the arm forward by 90o.

Move the arm backward by 90o.

7-10. Pasting the Sole Tape

6969

Prepare the required parts.

Sole Tape

Pasting the sole tape produces adequate friction with the ground, allowing the robot to move stably.

01. Pasting the Sole Tape

Paste the tape free from air bubbles or wrinkles and cut it with scissors along the soles.

8. INSTALLATION OF BATTERY

7070

Check: Check whether or not the power switch of the robot body

has been turned to OFF (outside).

• Loosen the urea resin screw to install the battery in the body.

• Install it so that the power cable will be routed on the battery inserting side

and the front side of the robot.

• If the internal wiring is messed up, the battery may not be properly installed.

• Tidy up the wiring to install the battery. Tighten the urea resin screw firmly so that the battery will not come out while the robot is operating. Be careful not to tighten it too hard.

To removing the battery, hold down a pawl on its connector and pull out the connector. Do not pull its cable.

If you notice a foul odor or excessive heat generation, turn off the switch immediately and remove the battery.

Now, you are ready to operate the robot.

Proceed to “Robovie-X Software Reference.”

9. INQUIRIES ABOUT TROUBLES,

7171

MISSING PARTS, DAMAGE, ETC.

•About Missing and Defective Parts For missing and defective parts, check the relevant part names with the List of Parts Used. We will replenish or replace them. (Contact us by e-mail, fax, telephone or letter.)

•When You Suspect a Trouble In case the robot cannot be properly assembled or operated, let us know a phenomenon in details by e-mail, telephone, fax or letter. We will investigate the case and contact you.

Vstone Co., Ltd.

E-mail: infodesk@vstone.co.jp Phone: 06-6467-6601 Fax: 06-6467-6602 Address: 4-4-11 Shimaya, Konohana-ku, Osaka, 554-0024

URL: http://www.vstone.co.jp/

Office hours: 9:00 to 12:00 and 13:00 to 18:00

on Monday thru. Friday (except holidays)

User Support Service

Shop Support Service (Irregular, Free of Charge)

Venue: Osaka (Nipponbashi), Tokyo (Akihabara) To be informed prior to implementation at http://www.vstone.co.jp/

Manufacturer’s robot specialty shop

“ROBO-PRO Shop” (Fukuoka, Kyushu)

2-3-2 Momochihama, Sawara-ku, Fukuoka, Fukuoka Pref., 814-0001 TVC Housoukaikan 2 Fl., Robo Square Phone: 092-821-4111 URL: http://www.vstone.co.jp/roboproshop/

Community Space for Robot Users “ROBO-PRO Station”

(To be held monthly in Osaka and Tokyo) A full-fledged robot fighting ring and a football field will be provided in addition to user support. Machining tools will be also available. For details, see our URL (http://vstone.co.jp/top/robo-prostation/

*The services above are subject to change or termination without prior notice.

APPENDIX: EXTENSION OF FUNCTIONS

7272

Mounting the Optional Part

An optional extension board can be mounted to the back of Robovie-X.

M2-

The extension board allows addition of LEDs or more advanced programming such as reading the information of a distance sensor, switch, etc. into Robovie-X to behave according to the circumstances.

*If the VS-IX001 (gyro/acceleration sensor extension board) is mounted to the back, the robot will not function properly. Seeing Page 41, mount it inside the body.

Extension Board "VS-IX" Series

Gyro/Acceleration Sensor Extension Board

This subminiature extension board has a 2-axis gyro sensor and a 3-axis acceleration sensor mounted onto it. Robot posture control by the gyro sensor, and the acceleration sensor are capable of detecting tumbling of the robot and

[Major Specifications]

Dimensions:25mmx30mm Sensors mounted: 2-axis gyro sensor, 3-axis acceleration sensor

(Tax included)

Digital I/O Extension Board

LED Extension Board

This extension board is capable of control 16 channels of LEDs. It can use of PWM to control the LEDs, and set their brightness in 256 stages.

[Major Specifications]

Dimensions:25mmx30mm LED control line: PWM system, 2 channels LED output: 16 channels

(Tax included)

Analog Input Extension Board

(Tax included)

This extension board is equipped with 16 channels of digital I/O ports. A switch can be connected to digital input to detect an obstacle and change the advancing direction, or a LED is connected to digital output to light it up.

[Major Specifications]

Dimensions:25mmx30mm Digital I/O: 16 channels (8 channels x 2, shared by the I/O ports)

This extension board is equipped with 8 channels of analog input ports. A PSD sensor, etc. can be connected to feed back motion and posture signals to the servo motors, etc. according to the sensor information.

[Major Specifications]

Dimensions:25mmx30mm Analog input: 8 channels

(Tax included)

Vstone Robovie-X Assembly Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

0. INTRODUCTION

1. CONTENTS

2. UTENSILS REQUIRED

3. ACCESSORIES

4. CHARGER AND BATTERY

7. ASSEMBLY

8. INSTALLATION OF BATTERY