Vstone Robovie-X User manual

ASSEMBLY MANUAL
ver.1.11b
Vstone

0. INTRODUCTION
READ FIRST
Thank you for purchasing our bipedal robot assembly kit “Robovie-X.” The Manual
describes assembly of the robot and handling of its accessories. Read it thoroughly to
assemble the Product with care.
- The Product is an assembly kit. It may not be able to exhibit its intended performance
depending on how you assemble it. If you cannot assemble it properly, utilize our
support services. For details, see Page 71 “9. INQUIRIES ABOUT TROUBLES,
MISSING PARTS, DAMAGE, ETC.”
- Assembly and operation of the Product assumes use of a personal computer
(hereinafter, to be referred to as the PC). The Manual and other accompanying manuals
have been prepared, assuming that you are familiar with basic operation of the PC.
Note that we cannot answer any questions or inquiries about operation of the PC or
Windows.
*The specifications are subject to change without prior notice due to
improvement or enhanced performance.
11

PRECAUTIONS PRIOR TO ASSEMBLY
• Note that the Product is an assembly kit and does not always assure robot operations after its assembly.
• When you use, assembly or store the Product and its parts, make sure that there are not infants around
you. The Product comes with small parts. Care should be taken so that they will not swallow them by
mistake.
•The Product is not a toy. When it is operated by a child, his/her parent must be present to watch.
•Do not wet the Product or its part, or use/store them at high humidity or in an environment where due
condensation may occur.
• Use the tools with utmost care paid to safety.
•Do not disassemble or remodel servo motors and PC boards because they are precision electronic parts.
Neglect of this may cause a trouble or a resultant electric shock or fire.
• Care should be taken not to allow conductive foreign substances into contact with the PC boards.
- As the terminals of the PC boards are exposed, they can be easily short-circuited by conductive foreign
substances (metals, water, etc.). Short-circuit could result in a PC board failure or ignition of the battery or
wiring.
• When you adjust or operate the Product after its assembly, it may move in an unexpected way in the
nature of the assembly it. It may tumble or drop to injure you or get damaged. Secure sufficient work
space and operate. Handle the Product with utmost care because it may catch your finger while operating.
•Connect the connectors securely, paying attention to their polarity. Neglect of this could cause a trouble
or fire.
• Do not allow the cables to be caught when assembling. Catching of the cable could cause snapping or
short-circuit.
• When disconnecting a cable, hold its plug and connector.
If it is disconnected by holding its cord, an electric shock or fire may be caused by snapping or short-
circuit.
•For handling of the battery and battery charger, be sure to observe the instructions described in the
Instruction Manual, Robovie-X Assembly Manual and Robovie-X Software Reference.
22

1. CONTENTS
0. INTRODUCTION
1. CONTENTS
2. UTENSILS REQUIRED
3. ACCESSORIES
3-1. Major Parts
3-2. List of Parts Used
4. CHARGER AND BATTERY
4-1. Precautions for Handling
4-2. Charging Method
5. PRELIMINARY KNOWLEDGE PRIOR TO ASSEMBLY
5-1. Servo Motor Origin
5-2. Screws and Precautions for Screwing
6. SETTING OF SERVO MOTOR ORIGIN
7. ASSEMBLY
7-1. Assembling the Right Arm
7-2. Assembling the Left Arm
7-3. Assembling the Right Leg
7-4. Assembling the Left Leg
7-5. Assembling the Body
7-6. Mounting the Arms and Legs to the Body
7-7. Checking the Movable Ranges
7-8. Wiring and Mounting the Head Armor
7-9. Mounting the Body Armor
7-10. Pasting the Sole Tape
8. INSTALLATION OF BATTERY
9. INQUIRIES ABOUT TROUBLES, MISSING PARTS, DAMAGE, ETC.
APPENDIX: EXTENSION OF FUNCTIONS
1
3
4
5
5
6
11
11
12
13
13
14
15
18
21
23
25
31
37
44
54
58
64
69
70
71
72
33

2. UTENSILS REQUIRED
The following utensils are required for assembly and operation of the Product.
Prepare them in advance.
•PC (Personal Computer)
CPU: Pentium 3 or later (1 GHz or more recommended)
RAM: 128 MB
OS: Windows 2000/XP/Vista
Screen size: XGA or above
Interface: USB
Should be equipped with a CD-ROM drive.
•Tools
- Cutting pliers (used in “7-5. Assembling the Body, Step 15” on Page 43)
- Scissors (used in “7-10. Pasting the Sole Tape” on Page 69)
- Screwdrivers
No. 1 Phillips screwdriver (handle diameter = 1 cm or more)
No. 0 and No. 1 Phillips precision screwdrivers
Precision Screwdrivers
＃1
＃0
Other Useful Utensils
Regular screwdrivers, tweezers, towel, Scotch
tape, screw container
44

3. ACCESSORIES
3-1. Major Parts
The following outlines the specifications of the main parts included in the Product.
Servo motor VS-S092J
Dimensions : 38 x 19 x 38.5mm
Torque:9.2kg cm
Speed:0.11S/60°
Weight:42g
Max. operating range:180°
Max. voltage: 4 V to 9 V (7.4 V measured)
Control method:PWM
Small CPU board for the robot VS-RC003HV
Dimensions:52x48(44)x13mm
Weight:21g
Servo motor output:30ch
Audio output:2W
Corresponding voltage 5 V to 16 V
Interface with PC:USB (HID)
Corresponding controller: Game pad, ProBo
Extension port:IXBUS x1
Battery
Nickel metal hydride battery
1,400 mAh, 5 cells (6.0 V)
(Option)
Gyro sensor/acceleration sensor extension board
VS-IX001
Dimensions: 25 x 30mm
Mounted sensors: 2-axis gyro sensor
3-axis acceleration sensor
55

VS-X Bracket B
( a 3302 )
VS-X Bracket A
( a 2101 )
3-2. List of Parts Used
VS-X Servo Holder A
( a 2202-a 2201 )
(a 2201)
(a 2202)
Check if all the component parts are included.
VS-X Bracket C
( a 2301R- a2301L )
RL
Standard Hand Bracket A
( a 3301R- a 3301L )
LR
Standard Sole Set A
( a 2501 )
VS-X Servo Holder C
( a 2302 )
VS-X Servo Holder B
( a 2502 )
* Note that the brackets A and B are very similar to each other.
66

VS-X Standard Body Set
Initial Position Adjusting Part
( a 4102 )
( a 1101 ) ( a 1102 )
( a 1103 )
( a 1103 )x 2
( a 1104 )
( a 1105 )( a 1106 )( a 1107 )
One Each
77

Front Body Armor Rear Body Armor
Rear Head ArmorFront Head Armor
Rear of HeadFront of Head
One Each
ｘ1
One Each
Decal
88

USB Cable Power Cable
Servo Motor VS-S092J
Short Cable 15cm
Servo Horn
Battery Charger
Speaker
Game Pad
Conversion Connector
LED Board
VS-LED1
Long Cable 40cm
(Optional Part)
Major Parts
Gyro Sensor/Acceleration Sensor Extension Board
VS-IX001
CPU Board
VS-RC003HV
Sole Tape
This part allows the robot to automatically balance itself to prevent tumbling.
99

Urea Resin Urea Resin Nut
Friction Rubber
Binding Band Binding Band Washer
Screws
Screw A
M2-3 Flat Pan Head
Bush DURACON Washer
M2-3
Screw G
M2-4 Bind Tapping
M2-4
Spacer A
M2-3 (Hexagonal Spacer)
M2- 3
Spacer B
M2-5 (Hexagonal Spacer)
M2-5
Screw E
M2-5 Flat Head Tapping
M2-5
M3- 8
M3-5
Screw F
M2-4 Flat Head Tapping
M2- 4
Screw C
M3-5 Flat Pan Head Cap
Screw H
M3-8 Flat Head Tapping
: Denotes the required quantity.
Parenthesized is the number of spare parts.
T T
T
B
S
The Product includes the total of both.
*Four of them are for the optional part.
Tapping screw
Bind tapping screw
Spacer
T
S
B
1010

4. CHARGER AND BATTERY
4-1. Precautions for Handling
Mishandling of the charger and battery may cause a liquid leak, ignition, trouble or injury.
Prior to using them, read the following precautions carefully.
- Store them beyond child’s reach.
- Check the polarity of the battery to connect it.
- Never short-circuit the battery.
(If the battery is stored together with a metal or a conductive substance, it may be damaged by the
conductive substance due to certain disturbance, resulting in short-circuit. When carrying them together,
put the battery in a separate case.)
- Do not wet or put the battery in water or sea water.
- Do not use or store the battery in a high-temperature, high-humidity place.
- Do not leave the battery for a long time, connected to the robot.
After using, be sure to turn off the switch of the robot.
- If the battery is not used, remove it from the robot and store it in a place with normal temperature (0 to
30ºC) and low humidity.
- Charge the battery at its temperature of 0 to 40ºC. It is dangerous if the temperature exceeds 40ºC. Cool
the battery with a cooling device.
- If you notice abnormal heat generation, foul smell or smoke while charging, stop charging
immediately.
- If you notice abnormal heat generation, foul smell or smoke while using the battery, turn off the
switch immediately and remove the battery from the robot.
- If you notice a liquid leak from the battery or its discoloration, deformation, foul smell or other
abnormality, do not use it.
- If the battery cannot be fully charged after the specified charging time, stop charging.
- After charging is completed, disconnect the battery immediately from the charger.
- Do not throw the battery into fire, heat it or deform it.
- Do not disassemble or remodel the battery.
- Do not peel off or damage the coating tube of the battery.
- Do no remodel a connector, etc.
- Use the charger only for the purpose of charging.
- Never use the charger as a DC power source.
- If the battery liquid gets into the eye, rinse it fully with clean tap water immediately and consult a medical
doctor.
- If the battery liquid adheres to the skin or clothing, rinse them fully with clean tap water immediately.
- The battery is basically accompanied by danger. As it could lead to a fire, do not leave it while it
is charged.
- Do not connect the fully charged battery to the charger.
- The nickel metal hydride battery may be out of service as a battery, once the voltage of each cell
is 1 V or less (5 V or less for this battery because it has 5 cells).
If it is charged in this condition, it may be damaged.
The battery voltage may drop to 5 V or less momentarily while it is operating, but it is no problem, just a
voltage drop due to the running current.
1111

充電方法
4-2. Charging Method
The battery is used at the time of assembly. Start charging prior to assembly.
(Charging is completed in a couple of hours.)
<Recheck>
- Use only the accompanying charger for the Robovie-X battery.
- Do not charge the battery near any combustible or inflammable substances.
- Do not leave the battery while it is being charged.
- Do not connect the fully charged battery to the charger.
- If you notice foul smell or abnormal heat generation,
unplug the power source immediately and disconnect the battery.
When this is done, be careful not to get burnt.
-2. Connect the AC plug of the rechargeable battery to a
plug socket and connect the battery, paying attention to
the polarity.
-3. A red lamp is lit up, starting charging.
-1. Plug a Robovie-X exclusive conversion connector to the charger.
Lamp
•Utensils required: Charger, conversion connector, battery
Features of Battery (Nickel Metal
Hydride Rechargeable Battery)
●Natural discharge
(self-discharge)
A battery discharge naturally as
time passes, even if it is not used. If
it is not used for a long time, it may
completely discharge, running out of
service. If not used for a long time,
store it fully charged. Measure its
voltage from time to time to ensure
that its voltage is not 5 V or less.
(Check every couple of months.)
The voltage can be measured with
included software “RobovieMaker2.”
●Memory effect
When using the robot, the battery
may run out in a short time, even if
it is fully charged. If the nickel metal
hydride battery is frequently
recharged (top-up charging) before
its recharged capacity is used up, it
may show an out-of-battery
phenomenon, even if it still has a
remaining capacity. This is called a
memory effect.
In order to prevent this effect, it is
recommended to charge the battery
after using up its capacity.
The memory effect can be
controlled by refresh charging
(charging after discharging) after
using several times. If you feel that
the battery capacity is lower, use it
up to the last (until the battery
voltage will be 5 V to 6 V).
-4. Once the battery is fully charged, a green lamp will be lit up,
automatically switching to trickle charging*.
At this point, disconnect the battery from the charger.
-5. Once charging is completed, be sure to disconnect the battery
connector and the AC plug from the plug socket.
Trickle charging*
A charging method to always run a minute electric current, separated
from the load, in order to compensate for natural discharge of the
battery.
1212

5. PRELIMINARY KNOWLEDGE
PRIOR TO ASSEMBLY
5-1. Servo Motor Origin
A servo motor has an important rule and concept
concerning its mounting. If it is mounted in a wrong way,
the robot will not move correctly. When assembling the
servo motor, read this page thoroughly.
The servo motor is controlled by the CPU and can be
programmed by the user to freely run. The servo motor
VS-S092J used for the Product has frame mounting holes
in the top and back covers, into which a frame is mounted.
Then, mount a servo horn to an output shaft (power
supplied shaft), followed by the frame there, to use it as
the robot’s joint. A movable range of the robot’s joint
depends on this mounting of the servo horn.
The servo motor has its movable range. The VS-S092J used for the
Product moves within a range of about 180º, that is from -90º to +90º.*
The central position of 0º is called the “origin.” If you look at the servo
motor, you can see a concave mark on the output shaft. This is called a
“neutral mark.” When the servo motor is at the origin, the neutral mark is
basically located almost directly above. (see the left figure).
However, each servo motor has a slight angle discrepancy. Even if the
angle of the origin is sent from the CPU board to the servo motor, it may be
slightly dislocated from the origin. Assuming that the origin position based
on a signal from the CPU board is correct, this robot uses software to adjust
an error produced in the actual servo motor. (An error adjusting method is
described later.)
In the following description, “origin” is used as the “origin set by the
CPU board.” In addition to this, an error also results from wrong mounting
of the servo horn. There are 8 holes in the servo horn. The parts such as the
frame are assembled into them to transmit the power to the robot. A servo
horn mounting angle to the origin is important in order to set a movable
range of the joint more accurately.
As a test, push in the servo horn so that a hole in the servo horn will be located at the origin of the servo
motor (directly above). It should be slightly dislocated from the origin position. It is because the servo horn
is not properly aligned with the serration which conveys rotation of the servo motor to the servo horn.
There are intentionally 23 serration teeth on the circumference. If the number is increased or decreased
by 3 teeth, the hole position in the servo horn differs delicately. Try each hole in the servo horn one after
another until it is located at the most accurate angle to the origin (directly above). There should be a hole
which allows the servo horn to be located almost directly above. At the time of assembly, be sure
to carry out this work. If the origin is not accurately set, the robot cannot move successfully in
motions, such as getting up, which require an accurate movable range. (This assembly work almost
requires a hole in the servo horn to be located directly above. If it is required to be mounted at a different
position, however, we will instruct you to that effect.)
When mounting the servo horn to the output shaft, do not allow the servo motor’s output shaft to be
rotated. *An operating angle differs depending on the type of the servo motor.
1313

5-2. Screws and Precautions for Screwing
• Types and Notation of Screws
M2 indicates that a thread diameter is 2 mm, and M3
indicates 3 mm.
A number following “-“ indicates the length (mm) of
threads.
Flat pan head and flat head indicate the shape of
screw head. Tapping screws refer to the screws
with rough thread pitches and are mainly used
for fixing the resin (servo horn, servo motor
cover, servo motor output shaft). Non-tapping
screws are used for the areas where ordinary
threads have been cut (metal parts).
• Screws and Screwdrivers
Be sure to use appropriate screwdrivers to turn the screws. They may be turned with a different size
of screwdriver, but the threads could be damaged.
No. 0 Phillips precision screwdriver: M2 screws (other than M2-4 bind tapping screws)
No. 1 Phillips precision screwdriver: M2-4 bind tapping screws, M3-5 screws
No. 1 Phillips screwdriver: M3-8 tapping screws
Note that if the tapping screws and ordinary ones are confused with each other, the parts will
be damaged.
As the tapping screws are used for fixing the resin, the tapped holes are damaged by
tightening them hard or putting them into the holes at a slant. Put the screws into the objective
material perpendicularly and stop tightening them when all the threads have entered into the tapped
holes.
Even when using ordinary screws to fix the objective material made of soft metal such as aluminum,
the tapped holes are damaged by tightening them too much.
Once you start moving the robot, its
screws may be loosened. A “screw
locking agent” is often used to prevent
loosening of the screws, but its
anaerobic and vinyl acetate properties
tend to melt the resin. Use it only for the
areas where metals parts are mutually
screwed.
Do not use it for locking the screws of
the output shaft and the servo horn.
When using an anaerobic screw locking
agent, “medium strength” is
recommended.
Locktite
Use of Screw Locking Agent
•Precautions for Using the Servo Horn to Fix the Parts
The frame of Robovie-X has been flexibly designed so that it can be changed into different forms.
For this reason, two frames may be combined together for use. In this case, the servo horn is mainly
used to assemble.
When this is done, be sure to hold the horn from below and screw in the vertical direction. The
parts are almost mutually fixed by tightening one screw. Remember to tighten the remaining screws,
holding the horn from below.
Do not tighten the screws too hard because the servo horn is made of resin. Threads are damaged
by tightening too hard.
1414

6. SETTING OF SERVO MOTOR
ORIGIN
• Utensils Required
CPU, USB cable, recharged battery, power connector, accessory CD
Note:
- Work with the CPU on an insulator.
(A pink-colored cushioning material, in which the CPU was contained, is an
insulator.)
- When disconnecting a connector connected to the CPU, hold the connector itself,
not a cable.
Procedure
1. Setting up the PC
Seeing “2. INSTALLATION OF SOFTWARE” on Page 3 and “3. CONNECTION OF
CPU BOARD TO PC”
on Page 5 of the “Robovie-X Software Reference,” install Robovie-Maker2 and make it
recognize the CPU.
2. Connect servo motor to the CPU.
Connect to the connector encircled in red so that a gray cable will be located inside.
1515

3. Connect the battery to the CPU.
Attach the power connector to the CPU. (A clicking sound is heard.)
Confirm that the switch has been turned off (to the battery side).
Connect the battery to the power connector.
4. Use the USB cable to connect the CPU to the PC.
USB Cable
Power Connector
To the Battery
Turn off (to the
battery side)
To the USB Port of PC
5. Start Robovie-Maker 2.
Tool Bar
The tool bar is available
for the operational steps
implemented in the rest of
the procedure.
1616

6. Press the communication button [ ] on the tool bar.
Confirm that the following window appears.
7. Turn on the Power switch (to the CPU side).
Confirm that an indication of a voltage gauge exceeds a yellow line.
8. Press the servo motor ON/OFF button [ ] to turn on the servo motor.
The servo motor is activated.
Confirm that the neutral marks of all the servo motors are located almost directly above the servo motors.
(There are individual errors.)
See “5-1. Servo Motor Origin” on Page 13.
9. Seeing Step 2, replace the servo motor to do this operation for all the servo motors.
Note: Pay attention to the polarity. The gray cable should be located inside.
Erroneous wiring may damage the CPU and the servo motor.
10. Press the servo motor ON/OFF button [ ] to turn off the servo motors.
Press the communication button [ ] to end communication.
11. Terminate Robovie-Maker2.
12. Turn off the switch and disconnect the battery.
When disconnecting the battery and the power connector, hold down an upper claw and hold a
connector to pull out.
13. Disconnect the CPU from the PC.
Disconnect the servo motors from the CPU
Now, you are ready to assemble.
1717

7. ASSEMBLY
•Precautions
- Use appropriate screwdrivers.
No. 0 Phillips precision screwdriver: M2 screws (other than M2-4 bind tapping screws)
No. 1 Phillips precision screwdriver: M2-4 bind tapping screws, M3-5 screws
No. 1 Phillips screwdriver: M3-8 tapping screws
- Care should be taken not to confuse the types of screws.
The M2-4 and M2-5 tapping screws are very similar. Note that if the M2-5
tapping screws are used on the servo horn side of the output shaft, the
robot may go out of order.
- There are two kinds of servo motors with different lengths of cables. Use those
with longer cables, unless otherwise specified.
-When fitting the servo horn into the servo motor, do so several times so
that it will be located at an accurate angle to the origin. Otherwise, the
robot’s joint may not move to the desired position, failing to successfully replay
motions.
Assembly procedure
Assemble the robot in the following order:
(1) Assembling the right arm
(2) Assembling the left arm
(3) Assembling the right leg
(4) Assembling the left leg
(5) Assembling the body
(6) Mounting the arms and legs to the body
(7) Checking the movable ranges
(8) Mounting the head armor / Wiring
(9) Mounting the body armor
(10) Pasting the Sole Tape
1818

S3: Head Yawing Axis
: Use a short cable
S
S6: Right Shoulder Pitch Axis
S5: Right Shoulder Roll Axis
S4: Right Elbow Roll Axis
S3:
S2:
S1: Right Eye LED
CN3
CN1
S6:
S5: Right Thigh Roll Axis
S4: Right Thigh Pitch Axis
S3: Right Below Knee Pitch Axis
S2: Right Ankle Pitch Axis
S1: Right Ankle Roll Axis
CN2
S6:
S5: Left Thigh Roll Axis
S4: Left Thigh Pitch Axis
S3: Left Below Knee Pitch Axis
S2: Left Ankle Pitch Axis
S1: Left Ankle Roll Axis
CN4
S6: Left Shoulder Pitch Axis
S5: Left Shoulder Roll Axis
S4: Left Elbow Roll Axis
S3:
S2:
S1: Left Eye LED
CN5
S
S
S S
S
S S
Servo Motor Mounting Positions
Horizontal Axis: Pitch Axis
Longitudinal Axis: Roll Axis
Vertical Axis: Yawing Axis
Name of Axes
1919