Next up is the feet. The KHR-1HV comes with the bathtub feet. When I first took these out of the box, they seemed huge. Strangely, as the robot comes together the feet don’t seem quite as big!

The first job is to add the aluminium brackets which will hold the servo at a 90 degree angle to the foot. The required parts are the Foot Angle B-R and B-L and the Foot angle A x 2.

Attaching this to the foot

Before too much longer both feet are complete. This is a fairly easy part to make, so no real drama here.  Just make sure that the servo’s are correctly oriented on the feet.

With the feet complete it’s time to move onto the hips. 

It’s time to go hunting through the aluminium parts for the Servo Bracket D-R and D-L, and also Hip holder L and R. (no I’m not making this up).

These two parts will form one side of each of the hips, giving the 1HV the ability to perform the splits, and generally move its legs sideways.  After assembling the rest of the hip, by attaching the aluminium parts to the servos, the two halves will be screwed together.

Yet again, the aluminium parts are very precisely machined here and are a tight fit around the servo casings. Care is required to ensure you don’t bend them or damage the servos.

With all that done, all of the subassemblies are now complete. So far we don’t have anything that really resembles a robot, but things are going to change fairly quickly from here.  The next few steps will build up the chest of the robot and start pulling together a lot of the components we have built up to now. 

I didn’t have a lot of time to work on the robot today, so this ends Day 2 of the build. That said, I still spent a good couple of hours working on the build.

[prev] [next]

[Home] [The Build] [Unboxing] [Start Build] [Shoulder and Knees] [Feet and Hips] [Creating the Chest] [Control Unit/Servo Setup] [Attaching Servo Arms] [Attaching Servo Horns] [Final Assembly] [Finishing touches] [Trimming the Servos] [Home Position & Startup] [Early Days] [Contact]

© 2009 Neil Hutchison