====== Leg ======

===== Table of Contents =====
  - [[firmware]]
  - [[battery]]
  - [[arm]]
  - [[leg]] **Current section**
  - [[head]]
  - [[body]]
  - [[merge]]
  - [[cover]]
  - [[tune]]

Prev < [[arm]]\\
Next > [[head]]
----

===== Parts List =====
Parts list of the left leg is enumerated below.
If you would like to assemble the right leg, please use parts which have '_mirror' suffix or no suffix.

^Name                                                                                                                             ^  Q'ty  ^
|[[https://github.com/plenprojectcompany/PLEN2/blob/master/stl/servo_horn.stl|serve_horn.stl]]                                    |  4     |
|[[https://github.com/plenprojectcompany/PLEN2/blob/master/stl/servo_assem_type2.stl|servo_assem_type2.stl]]                      |  1     |
|[[https://github.com/plenprojectcompany/PLEN2/blob/master/stl/servo_assem_type2_mirror.stl|servo_assem_type2_mirror.stl]]        |  1     |
|[[https://github.com/plenprojectcompany/PLEN2/blob/master/stl/servo_bracket_knee_mirror.stl|servo_bracket_knee_mirror.stl]]      |  1     |
|[[https://github.com/plenprojectcompany/PLEN2/blob/master/stl/servo_bracket_shin_mirror.stl|servo_bracket_shin_mirror.stl]]      |  1     |
|[[https://github.com/plenprojectcompany/PLEN2/blob/master/stl/servo_bracket_ankle_1_mirror.stl|servo_bracket_ankle_1_mirror.stl]]|  1     |
|[[https://github.com/plenprojectcompany/PLEN2/blob/master/stl/servo_bracket_ankle_2_mirror.stl|servo_bracket_ankle_2_mirror.stl]]|  1     |
|[[https://github.com/plenprojectcompany/PLEN2/blob/master/stl/foot_mirror.stl|foot_mirror.stl]]                                  |  1     |
|Servo Motor (Length B)                                                                                                           |  2     |
|Servo Motor (Length C)                                                                                                           |  1     |
|Servo Motor (Length D)                                                                                                           |  2     |

{{ :tutorials:plen2:motors.png?direct }}


===== Print Detail =====
[[specifications/print_detail/legs]]


===== Assembling Process =====
==== Parts List ====
{{:tutorials:plen2:leg:00_parts_list.png?direct}}

==== Thigh ====
**Attention!**:
In assembling the left thigh, you should use **servo_assem_type2_mirror.stl**.
But in assembling the other thigh, you should use **servo_assem_type2.stl**.

{{:tutorials:plen2:leg:01_attach_upper_thigh.png?direct}}
{{:tutorials:plen2:leg:02_attach_lower_thigh.png?direct}}

==== Knee ====
{{:tutorials:plen2:leg:05_attach_knee.png?direct}}

==== Upper Foot ====
**Attention!**:
In assembling the left upper foot, you should use **servo_assem_type2.stl**.
But in assembling the other upper foot, you should use **servo_assem_type2_mirror.stl**.

{{:tutorials:plen2:leg:03_attach_upper_foot.png?direct}}
{{:tutorials:plen2:leg:04_attach_lower_foot.png?direct}}

==== Lower Foot ====
**Attention!**:
If you assemble plastic cast parts, this step has already been completed.

{{:tutorials:plen2:leg:13_attach_ankle_1.png?direct}}
{{:tutorials:plen2:leg:14_attach_ankle_2.png?direct}}

==== Merge Parts ====
**Attention!**:
Before to merge the parts, you should connect servos' cables and the control-board.
When it was completed, please turn on both switches and keep the status.

{{:tutorials:plen2:leg:06_connect_wires.png?direct}}

**Attention!**:
Please connect the white wire which is owned by a servo to inside of the control-board.

{{ :tutorials:plen2:leg:06_connect_wires.sub.png?direct }}
{{ :tutorials:plen2:turn_on.png?direct }}

**Attention!**:
Attach a servo-horn to the left thigh. At that time, please check it is placed approximately parallel to edge of the servo.

{{:tutorials:plen2:leg:07_attach_servo_horn.png?direct}}
{{:tutorials:plen2:leg:08_attach_thigh_and_knee.png?direct}}

**Attention!**:
Attach a servo-horn to the left knee. At that time, please check it is placed approximately parallel to edge of the servo.

{{:tutorials:plen2:leg:09_attach_servo_horn.png?direct}}
{{:tutorials:plen2:leg:10_attach_shin_and_knee.png?direct}}

**Attention!**:
Attach a servo-horn to the left upper foot. At that time, please check it is placed approximately parallel to edge of the servo.

{{:tutorials:plen2:leg:11_attach_servo_horn.png?direct}}

**Attention!**:
In merging the left shin and the left upper foot, servos' cables are passed through inside the left shin.

{{:tutorials:plen2:leg:12_attach_shin_and_foot.png?direct}}

**Attention!**:
Attach a servo-horn to the left upper foot. At that time, please check it is placed approximately parallel to edge of the servo.

{{:tutorials:plen2:leg:15_attach_servo_horn.png?direct}}
{{:tutorials:plen2:leg:16_attach_ankle_and_foot.png?direct}}

==== Finished Leg ====
{{:tutorials:plen2:leg:17_complete.jpg?direct}}

----
Prev < [[arm]]\\
Next > [[head]]