PLEN Project PLEN:bit User manual

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PLEN:bit Assembly Manual
PLEN Project Company
2019/9/25

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Table of Contents
1. Cautions on Assembly. . 3
2. Table of Contents
1. Common Parts. . . . . . . . . . . . 4
2. special kit. . . . . . . . . . . . . . . . 5
3. About the angle of Servo horn. . 6
4. Assembly
1. Preparation. . . . . . . . . . . . . . . . . 8
2. Switch board assembly. . . . . . . . 9
3. Circuit board and battery wiring. . 11
4. Servo motor set-up. . . . . . . . . . . 16
5. Assembling the Thighs. . . . . . . . 19
6. Attaching leg parts. . . . . . . . . . . . 23
7. Shoulder parts assembly. . . . . . . 27
8. Arm parts assembly. . . . . . . . . . . 31
9. Servo xer attachment. . . . . . . . . . 35
10. Control board wiring. . . . . . . . . . 38
11. Head part assembly. . . . . . . . . . . 41
12. Chest assembly. . . . . . . . . . . . . . .46
5. Motion check
1. Let's walk the PLEN:bit!. . . . . . . . . 51
2. How to adjust ServoMotor position
6. How to charge battery. . 52
7. How to BLE ver. head board
8. Appendix
1. PLEN:bit servo numbering. . . . . . 53
2. Control board terminal labelling

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1. Cautions on Assembly
There will be some steps where force is necessary. Please take the
proper measures and precautions to not hurt yourself or damage the
parts and follow the instructions as described.
You will need a phillips screwdriver (+ head) for assembly.
Please use the provided pictures as a reference during assembly.
Please be aware that the colours and/or appearance of some parts in
the provided pictures and those provided may be slightly different.
The required program for the micro:bit has already been included. If
another program is found to have been written in the micro:bit
please follow the link below to install the appropriate program for
use.
PLEN-Basic https://makecode.microbit.org/_4e7MEqgEHaw5
PLEN:bit Extensions https://makecode.microbit.org/_0960M8DsVKgc
When assembling the servo motors, the initial rotational position of
the gear on the motors is important. The assembly instructions
includes initial positioning for the motors. Please ensure all
motors are properly set.
When setting the servo motors, make sure you wait at least 2 seconds
after turning the power switch on until the servo motors
automatically set to their initial position. If the servo motors do
not move after 2 full secods, please if check they are connected
properly.
PLEN-Basic

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2. Contents list
Contents list
2.1 Common Parts
1. micro:bit
2. Battery
3. Control Board
4. Switch Board set (switch board PCB, , screw x2)
5. Servo Motors x8
6. Head Board Cable
7. Power Cable
8. USB Cable
9. Head Parts(top, bottom)
10. Chest Parts
11. Servo Bracket
12. Servo Fixer
13. Back Parts
14. Switch Board Holder
15. Shoulder Parts
16. Arm Parts×2
17. Thighs Parts×2
18. Legs Parts×2
19. Black Screw
20. Silver Screw×6
21. Servo Horn×6
22. Distance Sensor

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23. Sound Sensor
24. Label Sticker
25. head board
26. Connector tool
2.2 special kit
1. BLE ver. head board
2. IR sensor
3. PIR sensor

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3. About the Servo motor
3.1 Connector orientation
1. There is a direction in the connector of the servo motor. Make sure that the white cable is on
the inside.
Connector orientation
3.2 About the angle of Servo horn
1. Body balance is important for biped robots. but, since servomotors
have individual differences in rotation angle, it is necessary to
absorb the individual differences by the servo horn attached to
this. Therefore, the angle of the servo horn needs to be precisely
adjusted. If this adjustment is not successful, you will not be able
to walk or fall easily. Here we will explain how to make this
adjustment.
2. The servo horn has a slight offset between the inner serration and
the front cross. Therefore, when rotating the cross of the servo
horn by 90 degrees, there is a point where the cross is just
horizontal. Find this and fix the servo horn.
3. As a method other than servo horn adjustment, a method to adjust by
program is also prepared. (Coming soon) The shoulder parts are
integrated with the servo horn and can not be rotated by 90 degrees,
so they need to be adjusted in the program.

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servo horn fix image

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4. Assembly
4.1 Preparation
Necessary items
1. Servo Motors x8
2. Label stickers or Circular Stickers
3. Pen
Necessary items
Procedure
Fix the servo number stickers to each Servo motor cable.Write the numbers 0-7 on eight stickers
and place them Attach the sticker in a half-folded form to the servo motor cable.
Sticker placement

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4.2 Switch board assembly
Necessary items
1. switch board set (switch board PCB, switch board holder, screw x2)
Necessary items

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Procedure
1. Align the circuit board and plastic part
2. Screw in the circuit board using the two screws at the corners