SpierceTech mePed v2 User manual

www.meped.io
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mePed v2 Assembly Manual v1.0
mePed v2 Assembly Manual
The mePed is an open source quadruped robot designed by Scott Pierce o Spierce Technologies, LLC.
This design is released under the Creative Commons, By Attribution, Share Alike License.
Please keep open source projects going or everyone!
Hardware source iles can be ound at: www.meped.io
Additional in ormation, wiring schematics, and sample programs can be ound at the o icial website o the mePed: www.meped.io
Copyright © 2016 Spierce Technologies, LLC

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mePed v2 Assembly Manual v1.0
WARNING:
CHOKING HAZARD - Small parts.
Not or children under 3 years.
Wood Parts:
Be ore laser cutting the mePed, the wood was covered with a protective masking tape to prevent the wood rom becoming
smoke damaged. You will need to peel the masking tape o each part be ore assembling the mePed. I there is a little bit o
smoke damage anywhere on the wood a ter peeling o the masking tape, a light sanding will quickly remove it.
Hardware:
Here is a list o asteners and other hardware included with your new mePed. The Servo Screws and
Servo Mount Screws re erenced in this assembly manual are included with the servos and do not need
to be purchased seperately.
32ea - M3 Nyloc Nut
28ea - M3 Hex Nut
40ea - M3 x 10mm Screw
16ea - M3 x 12mm Screw
4ea - M3 x 16mm Screw
4ea - Nylon Spacer
1ea - Allen Wrench
1ea - End Wrench
1ea - Body Top Plate
1ea - Body Bottom Plate
4ea - Leg Parallel Plate
4ea - Leg
4ea - Leg Servo Mount
8ea - Servo Retainer
4ea - Leg Bottom Pivot Plate
4ea - Leg Top Pivot Plate
4ea - Leg Servo Arm
4ea - Leg Parallel Joint
2ea - Battery Tray Spacer
Mini mePed Body
Mini mePed Leg 1
Mini mePed Leg 2
Mini mePed
Retaining Clip
Mini mePed Head

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mePed v2 Assembly Manual v1.0
PARTS LIST
PART NUMBERITEM
Body
1
Leg 1
2
Leg 23
Head4
Retainer Clip
5
Setting Servo Center Position
Be ore starting to assemble your new mePed Walking Robot, it is important to center all 8 servos that came with the kit.
The ollowing steps will help ensure all o the servos are rotated to their center or 90° position.
Attach a Servo Arm to the servo and then gently rotate the Servo Arm clockwise until the arm stops.
It is okay i the Servo Arm does not stop at the same angle shown in the illustration above. What is
important is that we ind the end stop o the Servo.
Remove the Servo Arm rom the Servo and reposition it to be perpendicular to the Servo body as
shown in this illustration.
Gently rotate the Servo Arm counter-clockwise until the Servo Arm is parallel with the Servo body as shown.
A ter the Servo Arm is parallel with the Servo Body, remove the Servo Arm and set it aside or later assembly.
This is the Servo's center osition and it is im ortant that all 8 Servos included in the kit are
centered before starting the mePed assembly.
Mini mePed
Along with the ull size mePed kit, we have included a Mini mePed igurine to keep you company and help you build the ull sized robot!
1. Insert Leg 1 into Body
2. Insert Leg 2 into Body
3. Insert Head into Body
4. Insert Retaining Clip through the notches in the Head
3
2
5
1
4

PARTS LIST
PART NUMBERITEM
Leg Top Pivot Plate
1
Leg Bottom Pivot Plate
2
Leg Servo Mount3
Servo Screw
4
Servo Single Arm5
Servo6
Leg Servo Arm7
Leg Parallel Linkage8
Leg Parallel Plate
10
M3 x 10mm Screw
11
M3 Plain Nut
12
M3 Nyloc Nut13
M3 x 12mm Screw
14
Servo Retainer15
Servo Mount Screw16
Leg, Rev A17
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mePed v2 Assembly Manual v1.0
13
13
8
11
11
7
5
16
14
14
15
6
3
13
13
11
13 10
11 11
2
12
12
16
1
5
Repeat Steps 1-9 our times.
Step 1: Insert a Servo Single Arm into a Leg Top Pivot Plate and thread a Servo Mount Screw into the
Servo Single Arm rom the back side o the Leg Top Pivot Plate.
Step 2: Insert a Servo Single Arm into a Leg Servo Arm and thread a Servo Mount Screw into the Servo
Single Arm rom the back side o the Leg Servo Arm.
Step 3: Attach one Leg Parallel Linkage to a Leg piece using an M3 x 10mm Screw and an M3 Nyloc Nut.
Step 4: Attach the Leg piece to a Leg Servo Arm using an M3 x 10mm Screw and an M3 Nyloc Nut.
IMPORTANT! Do not over tighten the screws in Steps 2 and 3. The Leg joints should move
reely to prevent excess riction which could cause the servos to ail.
Leg Assembly
Step 5: Insert a Servo into a Servo Retainer.
Step 6: Insert the top end o the Servo into the Leg Servo Mount.
Step 7: Attach the Servo Retainer to the Leg Servo Mount using two
M3 x 12mm Screws and two M3 Nyloc Nuts.
Step 8: Attach a Leg Parallel Plate to the other end o the Leg
Parallel Linkage using an M3 x 10mm Screw and an M3
Nyloc Nut.
IMPORTANT! Do not over tighten this screw. The leg
joints should move reely to prevent excess riction which
could cause the servos to ail.
Step 10: Attach the Leg Assembly rom the previous steps to a
Leg Bottom Pivot Plate using two M3 x 10mm Screws
and two M3 Plain Nuts.
Step 9: With the Servo rotated to center position and the leg positioned
so the Parallel Linkage is horizontal, attach the Leg Servo Arm
to the Servo using the Servo Arm Screw supplied with the Servo.
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PARTS LIST
PART NUMBERITEM
Body Top Plate
1
Servo Screw1
9 Gram Servo3
M3 x 10mm Screw2
M3 Plain Nut
3
M3 Nyloc Nut
4
M3 x 12mm Screw
7
Body Spacer8
Leg Servo Mount9
Servo Retainer10
Leg, Rev A20
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mePed v2 Assembly Manual v1.0
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7
10
7
7
10
3
7
7
10
37
7
10
3
4
3
4
4
1
44
4
4
3
8
8
3
8
3
8
3
2
2
2
2
2
4
Body Assembly
Step 11: Attach our Body Spacers to the Body Bottom Plate using our M3 x 10mm
Screws and our M3 Plain Nuts.
Step 12: Insert our Servos into the top side o the Body Top Plate.
Step 13: Slide a Servo Retainer onto the top o each Servo.
Step 14: Attach each Servo Retainer to the Body Top Plate using
M3 x 12mm Screws and M3 Nyloc Nuts.

PARTS LIST
PART NUMBERITEM
Servo Screw1
M3 x 10mm Screw2
M3 Plain Nut3
M3 Nyloc Nut
4
Leg, Rev A20
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mePed v2 Assembly Manual v1.0
2
2
4
4
4
4
2
2
3
3
2
2
1
Final Assembly
Step 15: Attach each Leg Assembly to the Body Bottom Plate Assembly using an M3 x 10mm
Screw and an M3 Nyloc Nut. Do not over tighten these screws. The leg joints should
move reely to prevent excess riction which could cause the servos to ail.
Step 16: Attach the Body Bottom Plate Assembly to the Body Top Plate Assembly using our
M3 x 10mm Screws and our M3 Plain Nuts.
Step 17: Rotate each Leg so they are oriented at a 45° angle as shown. Attach a Leg Top Pivot Plate
Assembly to each Pivot Servo and Leg Assembly using two M3 x 10mm Screws and two
M3 Plain Nuts.
Step 18: Secure the Servo Single Arm to the Servo using a Servo Screw.

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mePed v2 Assembly Manual v1.0
PARTS LIST
PART NUMBERITEM
M3 Plain Nut
3
Servo Mount Screw19
Battery Holder21
mePed Circuit Board22
Spacer, M3 x 8mm24
M3 x 16mm Screw25
Battery Tray Spacer26
3
22
24
25
26
21
19
25
25
25
24
24
24
33
3
19
26
Step 19: Attach the mePed Circuit Board to the Body Top Plate using our M3 x 16mm
Screws, our M3 x 8mm Spacers, and our M3 Plain Nuts.
Step 20: Attach the Battery Holder to the bottom o the Body Top Plate using
two Servo Screws and two Battery Holder Spacers. Feed the battery
cable through the back o the mePed body and plug it into the match
power socket on the mePed circuit board.

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mePed v2 Assembly Manual v1.0
PARTS LIST
PART NUMBERITEM
HC-SR04 Ultrasonic Range Finder
23
Arduino Nano
27
IR Sensor28
23
27
Step 21: Plug the HC-SR04 Ultrasonic Range Finder into the port labeled ULTRASONIC RF o the mePed Circuit Board.
Step 22: Plug the Arduino Nano micro controller into the port labeled Nano on the mePed Circuit Board. Be sure
the USB port on the Arduino Nano is acing away rom the Ultrasonic Range Finder as shown in the illustration.
Failure to orient the Arduino Nano correctly can permanently damage it.
Step 23: Insert the IR Sensor into the port labeled IR on the mePed Circuit Board. Be sure to orient the IR
Sensor as shown. The pin labeled "S" on the IR Sensor should plug into the socket lableled SIG on the mePed
Circuit Board.
28
S1
S2
S3
S4
S5
S6
S8
S7
Step 24: Plug the servos into the Servo Ports as ollows:
NOTE: The Orange wire o the servo goes to the
S terminal and the Brown wire goes to "-" terminal
on the mePed Circuit Board.
Front Le t Pivot Servo into S1
Front Le t Li t Servo into S2
Back Le t Pivot Servo into S3
Back Le t Li t Servo into S4
Back Right Pivot Servo into S5
Back Right Li t Servo into S6
Front Right Pivot Servo into S7
Front Right Li t Servo into S8
S9 is intentionally le t empty but can
accomodate an extra servo or added customization.
Servo Ports

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mePed v2 Assembly Manual v1.0
IR Remote
Up - Walk Forward
Down - Walk Backwards
Le t - Turn Le t
Right - Turn Right
OK -
1 - Walk Turn Walk
2 - Wave
3 - Increase Walking Speed
4 -
5 -
6 - Decrease Walking Speed
7 -
8 - Dance
9 -
0 - Move all servos to center position
* - Trim Le t
# - Trim Right
A ter your mePed robot is ully assembled and all the servo motor wires are plugged into their corresponding pins, insert our AA batteries
into the battery holder on the bottom side o the robot and use the power switch to turn the robot on.
Here is a list o the pre-programmed remote control unctions that are already on your mePed robot.
Buttons that do not have a movement associated with them are intentionally le t un-programmed so you can program your own custom
unctions.
You can download the starter program already loaded onto your mePed as well as ind other resources or your new robot at
www.meped.io/mepedv2.