Robodyssey Roach User manual

Robodyssey Roach
Assembly Instructions
Version 1.03 - Modied 7/31/2002
Robodyssey Systems, LLC. Phone/Fax: [phone]
20 Quimby Avenue Web: www.robodyssey.com
Trenton, New Jersey 08610 Email: [e-mail]

Copyright 2002 Robodyssey Systems, LLC. All rights reserved.
Basic Express and BasicX are trademarks of NetMedia, Inc.
Basic Stamp is a trademark of Parallax, Inc.

1 Introduction
The Robodyssey Roach is a robust and versatile hexapod robotics platform developed for educa-
tors, hobbyists, and professionals. Originally developed for the classroom, the all-aluminum construci-
ton provides a lightweight yet durable robot that will last for years to come.
Just a sampling of the Roach’s features include:
Futaba S3004 Ball Bearing Servos
A tough robot requires a set of tough servos, and these high-
quality Futaba servos certainly t the bill. The servos operate
on power packs from 6V to 9V, and provide plenty of power to
get the Roach moving.
Anodized Laser Cut Aluminum Chassis
The Roach body is made from anodized aluminum, which pro-
vides the best combination of durability, weight, and appear-
ance. No rusting, corroding, or broken parts to deal with.
Numerous Tapped Mounts
Need to mount some extra sensors? The Roach body has
numerous tapped mounting positions for your components.
You can even drill and tap additional mounting holes directly
onto the Roach body. The legs and servos are also attached to
threaded positions, providing secure mounts that won’t come
loose.
Oilite Bronze Bushings on All Legs
Each leg is mounted to the body using oiled brass bushings,
providing a secure attachment that won’t lock up.

2 Roach Kit Contents
1 Roach Body 7 Small Alan Wrench
2 Primary Legs (4) 8 Large Alan Wrench
3 Center Legs (2) 9 Small Parts Bag (Bushings & Spacers)
4 Servos (3) 10 Small Parts Bag (Screws, Washers, Nuts)
5 Roach Head 11 Small Parts Bag (Ball Pins, Sockets, Connectors)
6 Battery Case 12 Linkages (2)
Not Pictured Item(s): Velcro Battery Strap
Small Parts Bag # 9
13 Center Leg Spacers (2)
14 Primary Leg Bushings & Spacers (4)
15 Servo Arms (3)
16 Center Leg Bushings (2) - Smaller than primary leg bushings.
Not Pictured Item(s): Metal Spacer Washers

Small Parts Bag # 10
17 Short Leg Screws (4)
18 Long Leg Screws (2)
19 Long Mounting Screws (2)
20 Servo Mounting Screws (12)
21 Short Mounting Screws (8)
Small Parts Bag # 11
22 Linkage Sockets (12)
23 Ball Pins (12)
24 Standoffs (2)
25 Small Washers (3-6)
26 Small Nuts (12)
The following components may have come with your kit, depending on your ordered conguration:
NetMedia BasicX
Sharp GP2D12 IR Sensors
Advanced Motherboard for Basic Stamp and BasicX
1 Serial Connector
2 Power Switch
3 Unregulated I/O and Power Pins
4 Microcontroller Operation LED
5 Correct Battery Polarity LED
6 Zero Insertion Force Socket
7 Battery Connector Pins
8 Regulated 5V 1/O and Power Pins
9 Reset Switch

3 Assembly Instructions
Assembly of the Roach kit will take you approximately 75 minutes. Be sure to lookup the
proper part for each assembly step, indicated by the number next to the part name which corresponds to
the pictures in “Roach Kit Contents.”
Some basic tools and supplies are required for assembly, including:
- Wire Cutters
- 3/16” Wrench
- Needle Nosed Pliers (optional)
- Small amount of Super Glue (optional)
Leg Preparation
Attach Ball Pins (23) using the Small Nuts (26) to the
holes in the Center Legs (3). Note that one leg has two
ball pins, while the other only has one. Assemble as
shown in Figures 1 & 2. Take care not to over-tighten the
ball pins.
Figure 1
Figure 2
Now attach six Ball Pins (23) using the Small Nuts (26)
to the holes in the Primary Legs (2). Note that one pair of
legs has two ball pins each, while the other pair only has
one ball pin per leg in the innermost hole. Assemble as
shown in Figure 3.
Figure 3

Center Leg Assembly
Use the Center Leg Bushings (16), Center Leg Spacers
(13) and two of the Short Leg Screws (17) and attach to
the center legs as shown in Figure 4. Note the orientation
of the bottom ball pin. The spacer will go on the SAME
SIDE as the ball pin in the lowest hole of each center leg.
This is the side that will attach to the body.
Figure 4
Figure 5 Figure 6
Figure 7
Start by attaching the leg that has only one ball pin. Ori-
ent the leg as shown in Figures 5 & 6, such that the ball
pin and white spacer are going to attach to the back of the
Roach body. The back of the Roach body is the end with
the rectangular openings cutout for servos.
Then, use the Long Alan Wrench (8) to screw the leg into
place as shown in Figure 7.
Perform the same procedure on the other side of the
body, using the center leg that has two ball pins attached.
Again, make sure the white spacer and the ball pin in the
bottom hole are oriented toward the side of the body with
the rectangular opeing.
Once both legs are attached, double check to make sure
the bottom most pin on each leg is oriented toward the
back of the body (the end with the rectangular openings).
Figure 8

Servo Installation
Use a small Phillips screwdriver to remove the center
screw on all three servos, as well as the circular servo
arm.
Attach the servo to the body as shown in Figures 10 & 11
with four Servo Screws (20). Be sure to secure all four
screws. Pay attention to the orientation of the servos.
Figure 9
Figure 10 Figure 11
Figure 12
Attach a second servo to the other side of Roach in the
same fashion, as seen in Figure 12.
Figure 13
After attaching the two servos, your Roach should like
Figure 13.

For the center servo, you need to remove the small notch-
es shown in Figure 14 from the plastic servo case. This
is easily accomplished with a small hobby knife.
Cut out the two notches, one on each side, of the center
servo with the technique shown in Figures 15 &16.
Your nal result should look like Figure 17.
Figure 14
Figure 15 Figure 16
Figure 17

Figure 18 Figure 19
Figure 20
Figure 21
Place the center servo into position as shown in Figures
18 & 19. Now that the notches are removed from the
plastic case, the servo should t ush against the body.
Use the Small Allen Wrench (7) and two of the Servo
Mounting Screws (20) to attach one side of the servo to
the body, as shown in Figure 20. It is recommended that
you don’t tighten thse too much until all four screws are
in.
The servo is designed to attach snugly onto the body, so
you may need to squeeze the body a little bit as shown in
Figure 21 to properly align the other two holes.
Once they are aligned and the screws are set, tighten all
four screws to secure the servo in position.
Primary Leg Installation
Figure 22
To attach the rear legs (the legs that have two ball pins),
you will need to attach the Primary Leg Bushings and
Spacers (12) to the leg as shown in Figure 22. If the t
is too tight for the bushing, you may need to scrape some
of the anodizing from the inside of the hole on the leg.
Perform this step for both legs.