Parallax 30055 User manual

© Parallax, Inc. 2004 - Crawler Kit for Boe-Bot Robot Manual 1
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Rocklin, California 95765, USA
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Technical: [email protected]
Web Site: www.parallax.com
Educational: www.stampsinclass.com
Crawler Kit for the Boe-Bot™ Robot (#30055)
The Crawler Kit
This kit allows your Parallax Boe-Bot™ Robot to walk on six legs.
Assembly takes approximately 60 minutes to complete. Before getting
started, take an inventory of the parts in your kit. Use Fig #1 to identify
each part to the parts list. Once you have inventoried your kit, proceed
to Step #1. Parallax Boe-Bot robot (#28132) is sold separately
Recommended Tools
•Small needle nosed pliers
•Phillips #1 point screwdriver
•A sharp-tipped hobby knife,
such as an X-Acto ® knife -OR-
A hand drill with 7/64″(2.8 mm) bit
WARNING!
DO NOT use electric screwdrivers
with this kit. Please assemble using
hand tools only to avoid damaging
your Crawler.
Parts List
Item Qty Description
A (2) Crawler Sides
B (2) Servo horns
C (4) Legs
D (6) Rubber feet
E (14) Nylon washers
F (2) 3 mm (1/8″) Nylon Spacer
G (4) Push Arms
H (2) 19 mm (¾″) Nylon Standoffs
I (4) 25 mm (1″) Nylon Standoff
J (2) M3x18 Phillips Pan Head Screw
K (10) M3x12 Phillips Pan Head Screw
L (6) M3x10 Phillips Pan Head Screw
M (6) M3 Hex Nut
N (6) M3 nylon insert locknuts
O (2) Middle Leg
P (6) M3x6 Phillips Pan Head Screw
Q (12) Plastic Screw Covers
Fig #1 J K L P
B
A C
DE F G
H I J K
L M N
P Q
O

© Parallax, Inc. 2004 - Crawler Kit for Boe-Bot Robot Manual
2
Step #1 Assembling the Crawler Sides
Item Qty Description
(A) (2) Crawler Sides
(E) (2) Nylon Washers
(H) (2) 19 mm (3/4″) Nylon Standoffs
(I) (4) 25 mm (1″) Nylon Standoffs
(K) (4) M3x12 Phillips Pan Head Screws
(L) (2) M3x10 Phillips Pan Head Screws
Use Fig #2 as a guide to install the Nylon standoffs (H &
I) using the screws (K) to the Crawler sides (A). The
shorter standoffs (H) go to the center, and the longer
standoffs (I) are mounted to the left and right. Tighten
screws firmly.
Each side panel should be a mirror image of the other.
Before moving on position the pieces exactly as they
appear in Fig #3 and double check your work and
proceed to Step #2.
Fig #2 Fig #3
Step #2 Installing the Legs
Item Qty Description
(C) (4) Legs
(K) (4) M3x12 Phillips Pan Head Screws
(Q) (4) Plastic Screw Covers
Use Fig #4 as a guide to install Legs.
Insert screws (K) through screw covers (Q) and middle
hole of Legs (C). Screw into standoffs (I). Tighten until
leg can just rotate freely but is not sloppy.
Before continuing, position the pieces exactly as they
appear in Fig #5. Double check your work and then
proceed to Step #3.
Fig #4 Fig #5
I E
I
I
I
H
H
K
K K
L
L
A
A
E
K
Q
I
Q
Q
Q
C
C
K
I
I I
K
C C
K
K

© Parallax, Inc. 2004 - Crawler Kit for Boe-Bot Robot Manual 3
Step #3 Drilling the Servo Horns
Item Qty Description
(B) (2) Servo Horns
Use Fig #6 as a guide. The Servo Horns (B) need to have
one of the outside holes enlarged. If you do not have a
7/64” drill bit you can enlarge the hole with a hobby knife.
When using a knife, carve from each side to keep the hole
even. Make the hole a little smaller than the screw so that
threads will be made when the screw goes in. Compare
your work to Fig #7 then proceed to Step #4.
Fig #6 Fig #7
Step #4 Assembling Middle Legs
Item Qty Description
(B) (2) Servo Horns
(E) (4) Nylon Washers
(F) (2) 3 mm (1/8″) Nylon Spacer
(G) (4) Push Arms
(J) (2) M3x18 Phillips Pan Head Screws
(N) (2) Nylon Insert Locknuts
(Q) (2) Plastic Screw Covers
Use Fig #8 as a guide to each assembly of the Middle Legs.
Insert screw (J) through screw cover (Q). Next insert screw
through hole of Push Arm (G). Add a washer (E), another Push
Arm (G), then another Nylon Washer (E). Insert the screw
through the hole of the Middle Leg (O), then add the Nylon
Spacer (F). Screw into the large hole on Servo Horn (B). The
Screw will make its own threads going into the Servo horn.
Tighten until all parts can still rotate freely but are not sloppy.
Next screw Locknut (N) onto Screw (J) until snug against the
Servo Horn (See Fig #9). Before continuing, position the pieces
exactly as they appear in Fig #9. Double check your work then
proceed to Step #5.
Fig #8 Fig #9
Q
B
J B
Q
J
G
E
G
O
E
N
G
G
E
E
O
F
F
N
B B
Drill
7/64″
(2.8 mm)
Ream
Hole
Larger

© Parallax, Inc. 2004 - Crawler Kit for Boe-Bot Robot Manual
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Step #5 Installing Middle Legs
Item Qty Description
(K) (2) 3Mx12 Phillips Pan Head Screw
(Q) (2) Plastic Screw Covers
Use Fig #10 as a guide to install the middle leg assembly
just built.
Insert Screws (K) through Screw Covers (Q). Insert the
Screw through the long slide hole of the Leg assembly.
Screw into standoff (H). Tighten until each leg can slide
freely but is not sloppy. Before moving on, position the
pieces exactly as they appear in Fig #11 with the top
Push Arm to the right. Double check your work then
proceed to Step #6.
Fig #10 Fig #11
Step #6 Connecting Push arms to Legs
Item Qty Description
(E) (8) Nylon washers
(L) (4) M3x10 Phillips Pan Head Screw
(N) (4) Nylon Lock Nuts
(Q) (4) Plastic screw covers
Use Fig #12 as a guide to connect push Arms (G) to Legs
(C). Be sure Push Arms are aligned as shown in Fig #11.
Insert screws (L) through screw covers (Q). Next insert
screw through hole of Leg (C), then through a Nylon Washer
(E), and through the push arm (G). Next insert the screw
through another Nylon Washer and tighten with a Locknut
(N) from back of the Push Arm. Tighten until legs can just
move freely but are not sloppy. Before moving on, position
the pieces exactly as they appear in Fig #13 and Fig #14.
Double check your work then proceed to Step #7.
Fig #12 Fig #13 Fig #14
Q
K
K
Q
H
H
Q K
E Q
E E E L
L N N
CC
C C
GG
G G
These Two
Push Arms
Must Be on
To
p

© Parallax, Inc. 2004 - Crawler Kit for Boe-Bot Robot Manual 5
Step #7 Installing the Rubber Feet
Item Qty Description
(D) (6) Rubber Feet
Use Fig #15 as a guide to install the rubber feet.
Be careful not to bend the legs. Slide the rubber feet (D)
onto each Leg as shown in Fig #16. Double check your
work then proceed to Step #8.
Fig #15 Fig #16
Step #8 Preparing your Boe-Bot
Item Qty Description
(1) Your Boe-Bot
Use Fig #17 as a guide. To complete the Crawler Kit upgrade, some
simple changes must be made to your Boe-Bot. First, remove the
wheels and ball caster. Then, remove your Board of Education®
project platform to prevent the chance of damaging it during the
installation, and save the screws for the final step. Next compare your
servo installation to Fig #17. If your servos are installed inside the
Boe-Bot chassis, they must be removed and reinstalled as shown.
Make sure the servo head is toward the middle of the chassis then
proceed to Step #9
Fig #17
D D
D D
D
D

© Parallax, Inc. 2004 - Crawler Kit for Boe-Bot Robot Manual
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Step #9 Install Crawler Sides
Item Qty Description
(P) (6) M3x6 Philips Pan Head Screws
(M) (6) M3 Hex Nuts
(2) Servo Horn Screws (from your servos)
Use Fig #18 as a guide.
Line up the Crawler Side Panels to your Boe-Bot
and slip the Servo horn on the servo. Secure the
Crawler Panels with Screws (P) and Nuts (M).
Screw in the Servo Horn screw back into the
Servo Horn. Compare your work to Fig #19-21.
Close the screw covers then proceed to Step 10.
Fig #18
Fig #19
Fig #20 Fig #21
P M
P
M M
P
Servo screw

© Parallax, Inc. 2004 - Crawler Kit for Boe-Bot Robot Manual 7
Step #10 Install the Board of Education
Item Qty Description
(1) Board of Education platform
(1) Assembled Walker Kit
(4) Screws, from your robot
Use Fig #22 as a guide. Line up the holes in your Board of
Education®project platform with the standoffs on the
chassis and secure with screws. Next connect the servos
to the servo ports.
Congratulations, assembly is complete!
Fig #22
Troubleshooting your Crawler
The Crawler has been designed to be straightforward and very reliable. The information below will provide helpful
assistance to troubleshoot the Crawler. This section covers the most common problems you might encounter.
Legs bind when walking
Check all joints and loosen as needed. Joints should always move freely without being to loose.
Legs hit when walking
Improper assembly of unit or legs bent. Legs should never hit each other while moving.
The Crawler can run any PBASIC program written for the Boe-Bot™ robot. However, since the ground speed of a rolling
wheel and the ground speed of the crawler legs may be different, some programs that send a wheeled Boe-Bot a certain
distance or execute a turn of certain number of degrees may need to be adjusted. Any navigation routine for a specific
maneuver can be easily adapted by changing the FOR…NEXT loop EndValue arguments.