=========================
Assembly Instructions
=========================

Overview
========
This section describes the step-by-step mechanical assembly of the quadruped’s leg modules.  
Each step includes annotated diagrams and warnings where necessary.  
Ensure that all servo horns have been centered **before** beginning assembly.

.. warning::
   ⚠️ Always verify that each servo is mechanically centered before mounting.  
   Misaligned horns will cause uneven torque and offset errors during calibration.

1.0 Assemble the Trochanter
===========================
The trochanter unit connects the main frame to the proximal leg servos.  
Make sure that the servo horns are attached only after electronic centering.

.. figure:: ../images/assembly/trochanter.png
   :alt: Assembly diagram of the trochanter
   :align: center
   :width: 80%

   *Figure 1 – Assembly of the trochanter segment.*

Parts required:

- 2 × Servo (standard 180°)
- 1 × Trochanter frame bracket
- 2 × Servo horns
- 4 × M2 × 10 mm screws

Assembly steps:

1. Mount both servos into the trochanter frame.  
2. Fasten using **4 × M2×10 mm screws** as shown in the figure.  
3. Attach the servo horns once the servos are centered electronically.

.. note::
   The trochanter acts as a pivot segment and should rotate freely after assembly.  
   Do not overtighten the servo screws — this may deform the plastic housing.

2.0 Mounting the Coxa
=====================
The coxa connects the trochanter to the femur segment.  
Align the servo output shaft perpendicular to the trochanter bracket.

.. figure:: ../images/assembly/hinge.png
   :alt: Coxa mounting diagram
   :align: center
   :width: 75%

   *Figure 2 – Mounting the coxa segment.*

Steps:

1. Insert the servo horn into the coxa bracket.  
2. Secure with M2 screws and washers.  
3. Verify that the coxa rotates smoothly through its full range.

3.0 Attaching the Femur
=======================
Once the coxa is in place, attach the femur linkage.

.. figure:: ../images/assembly/scapula.png
   :alt: Femur linkage assembly
   :align: center
   :width: 75%

   *Figure 3 – Assembling the femur and coxa linkage.*

.. warning::
   Ensure that the joint axes remain parallel to avoid torsional stress during motion.

Final Inspection
================
Once all joints are assembled:

- Check that all servos can move without obstruction.  
- Manually rotate each joint to confirm mechanical freedom.  
- Tighten all screws gently but firmly.  
- Prepare for electrical testing and gait calibration.

.. figure:: ../images/assembly/thoracic.png
   :alt: Fully assembled leg module
   :align: center
   :width: 70%

   *Figure 4 – Completed leg assembly ready for calibration.*

4.0 Attaching the Femur
=======================
Once the coxa is in place, attach the femur linkage.

.. figure:: ../images/assembly/lipo.png
   :alt: Fully assembled lipo module
   :align: center
   :width: 70%

   *Figure 5 – Completed leg assembly ready for calibration.*


5.0 Attaching the Femur
=======================
Once the coxa is in place, attach the femur linkage.

.. figure:: ../images/assembly/lumbar.png
   :alt: Fully assembled lipo module
   :align: center
   :width: 70%

   *Figure 5 – Completed leg assembly ready for calibration.*   




6.0 Attaching the Femur
=======================


Once the coxa is in place, attach the femur linkage.

.. figure:: ../images/assembly/lumbar_lipo.png
   :alt: Fully assembled lipo module
   :align: center
   :width: 70%

   *Figure 5 – Completed leg assembly ready for calibration.*   




7.0 Attaching the Femur
=======================


Once the coxa is in place, attach the femur linkage.

.. figure:: ../images/assembly/lumbar_lipo_thoracic.png
   :alt: Fully assembled lipo module
   :align: center
   :width: 70%

   *Figure 5 – Completed leg assembly ready for calibration.*   




8.0 Attaching the Femur
=======================


Once the coxa is in place, attach the femur linkage.

.. figure:: ../images/assembly/LM2595.png
   :alt: Fully assembled lipo module
   :align: center
   :width: 70%

   *Figure 5 – Completed leg assembly ready for calibration.*   




9.0 Attaching the Femur
=======================
You have now completed the mechanical assembly of one leg module.  
Repeat the process for the remaining legs before proceeding to the electronics integration and motion testing sections.