Creative Machines Lab - Columbia University
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  • Home
  • About
  • People
  • Research
    • Hidden Variables
    • Visual Self Modeling
    • Label Representations
    • Robot Visual Behavior Modeling
    • Particle Robotics
    • Deep Self Modeling
    • Evolutionary Self Modeling
    • Self Replication
    • Laser Cooking
    • Digital Food
    • Soft Actuator
    • Layered Assembly
    • Cellular Machines
    • Inverted Laser Sintering
    • Eureqa
    • Golem
    • Data Smashing
    • Jamming Gripper
    • Soft Robot Evolution
    • Truss Reconfiguration
    • Fluidic Assembly
    • Ornithopters
    • Tensegrity
  • Papers
    • Selected Papers
    • All Papers
  • Videos
  • Talks
  • Open Source
    • Titan Library
    • Fab@Home
    • FreeLoader
    • VoxCad
    • Spyndra
    • PARA
    • Aracna Robot
    • Cuneiforms
    • Eva
    • AMF
  • Join Us
  • Internal
    • Wiki
    • Email list
  • Contact
Creative Machines Lab - Columbia University

Spyndra Assembly Instructions

​ASSEMBLE spyndra hardware

1. PLACE HEAT INSERTS & MAGNETS INTO CHASSIS

  • 4 large heat inserts into Chassis side using soldering iron
  • 4 large heat inserts into Tibia side 
  • 4 small heat inserts into Chassis body for Raspberry Pi
  • 2 small heat inserts for Battery Charger
  • Glue Chassis magnets to secure connection with Spyndra Top

2. ASSEMBLE FEMUR WITH CHASSIS (REPEAT FOR ALL 4 FEMURS)

  • ​Pressfit Motor into Tibia
  • Secure Motor with 2 Screws (from Motor package)
  • Servo Horn Calibration
    • Using Servo Horn, turn Motor to end of travel limit
    • Put on calibration jig
    • Place Servo Horn according to calibration jig
    • Secure Servo Horn
  • Secure Femur
  • Repeat for all 4 Femurs

3. ASSEMBLE TIBIA WITH FEMUR

  • Insert Low-Friction Sleeve Bearing into Femur
  • Servo Horn Calibration
    • Using Servo Horn, turn Motor to end of travel limit
    • Put on calibration jig
    • Place Servo Horn according to calibration jig
    • Secure Servo Horn
  • Secure Servo Arm
  • Slide secured Servo Arm into Femur
  • Secure Tibia with Shoulder Bolt
  • Repeat for all 4 Tibias and Femurs

Assemble Chassis with Electronics

4. Assemble Electronics Onto Chassis

  • Assemble PowerBoost 1000 Charger
    • Solder black wire into ground, make sure other end of wire is female
    • Solder red wire into +5V, make sure other end of wire is female
    • Screw charger into chassis
  • IMU
    • Insert heat sets in designated area under Raspberry Pi
    • Solder pins to SDA, SCL, 3 Volts, GND on IMU
    • Solder pins to 3V and GND on top right of RPi Hat
    • Screw in IMU
    • Wire IMU to RPi Hat at SDA, SCL 3 Volts and GND
  • Solder Raspberry Pi Hat
    • Solder GPIO adapter pins to RPi Hat to plug into Raspberry Pi
    • Solder motor header pins to RPi Hat for motors to plug in
    • Solder capacitor into center (check polarity)
    • Solder blue terminal block into ground and 5V 
    • Solder pins for SDA and SCL ports (top right corner)
  • Place tape on Raspberry Pi to prevent short-circuiting
  • LiPo Battery
    • Insert blue attachment to RPi Hat (left edge)
    • Secure a positive and ground lead with female adapters to blue attachment
    • Insert LiPo in bay under Chassis and connect to power leads
    • Adhere LiPo Voltage Alarm to side of LiPo bay and attach leads
    • LiPo will have to be removed and charged separately from Li-Ion when low
    • Make sure to keep LiPo within recommended voltages 
  • Connecting Electronics to Chassis
    • Screw in Battery Charger
    • Screw in Raspberry Pi
    • Attach RPi Hat to Raspberry Pi​
  • Li-ION battery plugs into PowerBoost 1000 and fits snugly on opposite side of RPi (from charger)
Picture

6. Plugging in Motors & Batteries

  • Plug each Motor into Arduino hat
  • Place Battery into Chassis
Picture