General advices and warnings
- You can assemble all the rivets you need before the construction. The orientation is important, you have to put the edges of the first part in the second part holes. You will thus be able to remove them easily if needed.
- There are two kinds of rivets. The grey ones and the others. Grey rivets are longer to be able to be inserted in the motor axis, at the opposite side of the horn (black revolving circle).
- Use the OLLO Tool for putting and removing rivets easily.
- Do not forget to put wires between motors while building the robot! Each motor, except the last, must have two wires; one connected to the previous motor and the other to the next (there is no importance on the connector choice).
- Always align the horn with the motor before assembling them! Otherwise your Poppy Ergo Jr will look all weird.
- Every motor horns (black revolving circle) are facing the left side of the robot. It is a convention but it will define the orientation of your motors.
Motor configuration (for all steps)
You can configure your motors before, during or after the the mechanical assembly but it is highly advised to configure each motor one by one in the construction order:
- configure motor m1
- assemble the base and motor m1
- configure motor m2
To configure motors, you have to connect them separately one by one to the Raspberry Pi. If you try to configure a new motor wired to a previously configured motor, this will not work.
Please consult the motor configuration section for more informations.
Step 1 - motor 1
First, configure one XL-320 motor as "m1".
Mount the motor on the 3D printed base.
To do so, prepare 8 small rivets. put the first part in the second part without putting them in the motor. Then, place the motor in the base, with the horn facing up and near the more open side. Use the Ollo to grab a rivet between the first and the second part, then put the rivet in one the assembly holes. Once the rivet is in place, lock it by pushing the part 1 of the rivet in part 2.
Step 2 - motor 2
Configure the second motor, its name is "m2", with the following command in a poppy terminal:
poppy-configure ergo-jr m2
Mount the long_U part. Be careful with the orientation of the U, the horn must be oriented in the left. Mount the motor "m2" on top of the construction.
Step 3 - motor 3
Configure a third motor: "m3".
Mount horn2horn and horn2side parts on motor "m2", and mount "m3" on top of the construction.
Step 4 - motor 4
Configure the fourth motor: "m4".
Mount the short_U on it.
Mount motor "m4" and the assembled short_U on top of the previous assembly. The nose of the motor should be on the other side of the base.
Step 5 - motor 5
Configure the fifth motor: "m5".
Mount horn2horn and horn2side parts on motor "m4", and mount "m5" on top of the construction.
Step 6 - the tool of your choice
Configure the sixth motor: "m6".
To finish your Ergo Jr, you need to add a tool at its end. So first choose the tool you want depending on what you want to do.
Tools they can be easily and quickly changed, so you can adapt it to the different activities.
Lampshade or pen holder
Mount horn2horn and horn2side parts on motor "m5", and mount "m6" on top of the construction.
You can mount the pen holder or the lampshade on the motor "m6".
In the same way you mount the lampshade, you can also mount the pen holder.
Mount the gripper-fixation between motors "m5" and "m6".
Mount gripper-fixed_part and gripper-rotative_part on motor "m6".
There is two way to mount the gripper, vertically
Step 7 - electronics
Mount the support_camera part on the base. Fix the Raspberry Pi camera on it and move the camera flex cable between motor "m1" and the base.
Camera flex wire
To fix the flex cable of the camera on the Raspberry Pi:
- open the camera connector by pulling on the tab to the top
- make sure that connectors on the flex cable are facing away of the Ethernet port
- push the flex on the port, and push the plastic tab down to close it
If it is not already done, you can plug every motors wires. Every motor has two connectors but there is no input or output: you just have to create a chain of motors. The first motor is linked to the pixl and the second motor; the last motor is linked only to the previous one, and every other motors are linked to the one above and ahead.
Connectors of the motor "m1" (in the base) are a bit hard to link, you can use the OLLO tool to help yourself.
Step 8 - fix you Ergo Jr to wood disk support
Mount your Ergo Jr to the wood disk-support.
Mount the Raspberry Pi to the disk support, and use 4 x M2.5x6mm screw to fix it.
Step 9 - test your Robot !
Congratulation, you achieve the robot assembly! Now, it is almost done, it is time to test it!
Go to your robot home page http://poppy.local.
Click on Reboot the robot button to be sure that the robot software was started with all motors wired in.
You can go to the monitor, click on Monitor and Control button.
If the robot software is correctly started, you should see the green connection logo, otherwise it will be red.
You can start a pre-defined behavior by clicking on the play logo.
If the connection logo is red, you can see what is wrong by looking on messages in What append? page.
Most of the time, it's because a wire is unplugged or because you forgot to configure a motor.
Grab your favorite drink and relax.