Build a Pan-and-Tilt Head for your TurtleBot

You will need:

1x Printed/Lasercut Base Plate

1x F3 Bioloid Bracket

1x Dynamixel AX12A

4x Bioloid N1 (M2 Nut)

4x Bioloid S1 (M2-6 Screw)

4x Bioloid S2 (M2-8 Screw)

Put nuts (N1) in the bottom two holes of the servo on either side.

NOTE ABOUT NUTS:

• There is a special technique to getting the nuts into the servos and to stay:

  • First, push the nut in by hand.
  • Next, take a screwdriver and force it closer into the servo.
  • This will make the nut line up with the hole as shown in the last frame below, allowing you to screw into the nut.
  • We will be using this technique throughout the assembly process: to put it briefly, any time th

Aligning the servo horn

• The image on the left with the two red circles illustrates a case where the servo horn is not aligned with the mark on the servo body.
• Rotate the servo horn with your fingers to bring the two marks into alignment.
• The image on the right with the single green circle shows when the servo horn is aligned correctly.

Insert the servo in the base in the only orientation it will fit.

Turn the base around and put S2 screws into the corresponding 4 holes in the base plate, as shown on the right.

Attach an F3 bracket to the servo horn with 4 S1 screws as shown.

Now you can turn the bracket along with the servo horn.

Parts Needed:

• 4x Bioloid S4 screws
• 4x Bioloid N1 (M2 Nut)
• 1x F4 Bioloid Bracket; 1 x F10 Bioloid Bracket
• 2 x 4-40 bolts 2"; 4 x 4-40 bolts 1/2"; 2 x spacers 1 5/16"
• 1 x Laser Cut Kinect mounting plate

Carefully create a shallow countersink for each of the 4 inner screw holes on the Kinect mounting plate using a 5/32 drill bit on VERY SLOW speed or a Dremel tool.

Be sure to make the countersink just deep enough so that the heads of the S4 bolts are flush with the plate's surface. The picture on the right shows the desired result.

Slide the 4 S4 screws through the mounting plate, the F10 bracket and the top of the F4 bracket.

Secure using 4 N1 nuts. It is also recommended to use some blue thread locker on these connections since they will be difficult to access later if they loosen.

Pry off the protective grill on the bottom of the Kinect using a flat head screw driver.

Remove the 2 inner security screws (then ones nearest the swivel base) using the T10 Torx wrench (included in the Turtlebot kit).

Use one of the security screws removed in the previous step to thread the 4 holes on the underside of the Kinect's base.

Using a Phillips screw driver and the 4 1/2" 4-40 bolts, attach the mounting bracket and F4 bracket assembly to the base of the Kinect in the orientation shown in the photo.

Tighten the 1/2" bolts until snug but DO NOT OVERTIGHTEN as this could strip the plastic threading.

Insert the 2" 4-40 bolts through the remaining 2 holes in the mounting plate, pass them through the spacers, and screw them into the holes where the security screws used to be.

Tighten the 2 bolts until snug but DO NOT OVERTIGHTEN or you may strip the threads inside the security holes inside the Kinect.

Install 4 N1 nuts on the bottom of the tilt servo.

Align the servo horn the same way you did for the pan servo.

Connect the tilt servo to the F4 bracket.

Connect the base of the tilt servo to the F10 bracket on the pan servo.