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

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4.3 Circuit board and battery wiring
Necessary items
1. back part
2. switch board
3. battery
4. control board
5. micro:bit
6. power cable
Necessary items

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Procedure
1. Connect the power cable to the switch board
2. Insert the switch board into the back plastic part with the switch
and connector going through the appropriate holes as shown in the
picture.

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3. Connect the battery to the switch board following the below
reference picture.
4. Connect the control board and switch using the power cable. The
connectors are different so please ensure the correct connector
slides smoothly into the pins.
※ It is necessary to remove the power cable at the time of "Control
board wiring" mentioned later. In this case, since it is hard to
remove the cable from the connector, for children and people with
weak force, use the supplied connector tool. This is a tool to make
it easy to remove by holding this tool between the power cable and
the connector.

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connector tool use example
5. Plug in the micro:bit to the control board.

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6. complete set of board assembly is seen below

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4.4 Servo motor set-up
Necessary items
1. Servo motors ×4 (numbers 0,1,4, and 5)
2. Servo bracket
Necessary items

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Procedure
1. Orient the servo bracket such that the long back is horizontal and
towards the back when inserting the servo motors. The side of the
bracket with this long bar in the middle is the "back" of the part
and concordantly the back of the robot. Insert servo motor #0 into
the servo bracket as shown. This will be the robot's left arm. Be
careful not to have the cable of servo motor #0 pinched between the
motor casing and plastic parts when assembling. Have the servo motor
cable come out the "front" side of the bracket.
2. Insert servo motor #4 following the same procedure as #0 on the
opposite side of the bracket.

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3. Again, be careful not to have the cable of servo motor #1 pinched
between the motor casing and plastic parts when assembling.
4. Insert servo motor #5 following the same procedure as #1 in the
last available position in the bracket. Ensure all servo motor
cables are coming out the "front" face of the bracket.

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4.5 Assembling the Thighs
Necessary items
1. The previously assembled servo bracket with servo motors.
2. The previously assembled control board\
battery\
switch board
3. Thigh plastic parts ×2
4. Servo horn ×2
5. Screws ×2
Necessary items

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Procedure
1. Ensure the switch board switch is in the off position. Connect servo
motors #1 and #5 to the control board pins as shown. The servo
motor pins numbering is given in the Appendix 5.2 picture. When
connect the motors into the pins, ensure that the black (ground)
cable is towards the outside of the control board. Turn the switch
on the switch board on.
2. The servo motors should rotate automatically to their initial
position.