Page 158 - Amphibionics : Build Your Own Biologically Inspired Robot

Amphibionics 05 3/24/03 8:44 AM Page 137
Chapter 5 / Serpentronic: Build Your Own Robotic Snake
Assembling the Snake’s
Mechanical Structure
Now that all of the individual pieces that make up the snake’s
mechanical body have been constructed, it is time to put them all
together.
Start by connecting the servo horn linkages made up of part C and
a servo horn to each of the servos of each of the six body sections,
as shown in Figure 5.28. Place the servo horn linkage onto the
servo shaft without attaching the mounting screw. Turn the servo
by hand all the way clockwise, and check to see if it is on a 90-
degree angle from the center position. If it is not, then pull the
servo horn linkage off and reattach it to the servo shaft at 90
degrees from the middle position. Turn the servo horn linkage all
the way counterclockwise, and verify that it is also positioned on
a 90-degree angle from the center position. Attach in place with
the servo horn mounting screw that came with the servo. Follow
this procedure for each of the six body sections.

FIGURE 5.28
Servo horn linkage
attached to the servo.

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