CMUcam2+ Aluminum Turret

Assembly Instructions

Copyright 2004-2006 Summerour Robotics Corp (www.roboticsconnection.com) 770-134-1577

Please use the list below to ensure that all of the parts are included in your
CMUcam2+ Turret kit.

Kit Parts: (Quantity shown in parenthesis)

-

Turret Pivot (1)

Sensor Shell (1)
Cam Plate (1)
Rear Plate (1)
Servos (2)
4-40 x 3/8 Pan Head Phillips screws (4)
4-40 x 3/8 Flat Head Phillips screws (8)
4-40 x _ Flat Head Phillips screws (2)
4-40 Nuts (12)
4-40 Nylon Lock Nuts (2)
#2 x 5/16 Flat head Phillips screws (2)
Plastic Linkage Clevis (2)
Threaded linkage rod (1)
#4 Flat Washer (2)
Plastic Tubing (1)
Alcohol Swab (1)
SRF10 Rubber Grommets (6) - Not shown

Copyright 2004-2006 Summerour Robotics Corporation (www roboticsconnection com) 770-314-1577

1.) Attach one of the round servo horns (found attached to servo in servo box) to
the bottom of the turret pivot using the two included #2 x 5/16 Flat Head
Phillips screws as shown below. Use the holes in the servo horn shown in
figure 2.

Figure 1

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Figure 2
2.) Using four of the 4-40 x 3/8 Flat Head Phillips screws and 4-40 Nuts, attach
the rear turret plate as shown below. Figure 4 shows how it should look
when the rear plate is securely attached.

Figure 3

Figure 4

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3.) Cut four lengths from the included plastic tubing measuring 1/8 (2-3mm) in
length. This will be used to mount the CMUcam2+.

Figure 5
Place the four plastic spacers on top of the cam plate as shown below:

Copyright 2004-2006 Summerour Robotics Corporation (www roboticsconnection com) 770-314-1577

Figure 6
4.) Attach your CMUcam2+ to the cam plate using four 4-40 x 3/8 Pan Head
Phillips screws and 4-40 nuts.

Figure 7
5.) Now is a good time to attach your sensors to the sensor shell. If you are
going to use the Devantech SRF10 sensors, insert the 6 rubber grommets
into the six _ holes in the sensor shell.
If you are going to attach some SRF04s, SRF05s, SRF08s, or TPA81, make
sure you cut similar plastic spacers from the plastic tubing before attaching.
The plastic spacers will keep the components off of the metal surface, and
prevent shorting.
4-40 x _ Pan Head Phillips screws and 4-40 nuts should be sufficient to
mount all of the possible sensors to the sensor shell and turret pivot. You can
find this hardware at your local hardware store (especially ACE Hardware).

Copyright 2004-2006 Summerour Robotics Corporation (www roboticsconnection com) 770-314-1577

6.) Attach the cam plate to the sensor shell using four 4-40x3/8 Flat Head
Phillips screws and 4-40 nuts as shown in the pictures below.

Figure 8

Figure 9

Copyright 2004-2006 Summerour Robotics Corporation (www roboticsconnection com) 770-314-1577

7.) Using the alcohol swap included, clean the surface of one of the included
servos as shown below. The servos have a thin film of grease from
manufacturing, and if it isnt cleaned off properly, the servo will not stick to
the double sided tape on the rear turret plate. You only need to clean the
side shown below.

Figure 10
8.) Attach the servo tilt horn to the servo you just cleaned in the position
shown below.

Figure 11

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9.) Remove the green film from the double sided tap on the rear turret plate, and
attach the tilt servo as shown below. NOTE!!! Reference Figure 13 to
determine the proper mounting location for the servo. Once it sticks, theres
not taking it off w/o having to replace the servo tape (and this is a pain).

Figure 12

Figure 13

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10.) Screw one of the plastic tilt clevises to one end of the threaded rod as
shown below, then, screw the other clevis on, until the two meet in the
middle.

Figure 14

Figure 15

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11.) Attach one end of the tilt linkage to the tilt servo as shown below:

Figure 16
12.) Place one of the 4-40 x _ Flat Head Phillips screws through the tilt hole in
the turret pivot as shown below. Place one of the #4 Flat Washers on the screw.
This washer will be sandwiched between the turret pivot, and the sensor shell.

Figure 17
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13.) Attach the sensor shell/cam plate assembly to the turret pivot as shown
below using both of the 4-40 x _ Flat Head Phillips screws and the two 4-40
Nylock nuts.

Figure 18
14.) Attach the tilt linkage to the cam plate as shown below:

Figure 19

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15.) Below is a picture of the assembled turret, without any sensors attached.

Copyright 2004-2006 Summerour Robotics Corporation (www roboticsconnection com) 770-314-1577

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Routing Wiring:
The following pages include some pictures depicting the proper way to route
sensor wires through the turret to allow full motion w/ any hindrance.

Copyright 2004-2006 Summerour Robotics Corporation (www roboticsconnection com) 770-314-1577

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Copyright 2004-2006 Summerour Robotics Corporation (www roboticsconnection com) 770-314-1577

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Copyright 2004-2006 Summerour Robotics Corporation (www roboticsconnection com) 770-314-1577

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Copyright 2004-2006 Summerour Robotics Corporation (www roboticsconnection com) 770-314-1577

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Copyright 2004-2006 Summerour Robotics Corporation (www roboticsconnection com) 770-314-1577

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