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The front servo motors are attached to the aluminum body using plastic 6-32 machine screws and nuts. The reason I am using plastic screws is that they are a little flexible, allowing the drilled holes to be slightly off center from the mounting holes on the servo motor. The legs are attached to the servo motor s plastic horn. For this I used 0-80 machine screws and nuts. When mounting the servo motor horn on the servo motor, make sure that each leg can swing forward and backward an equal amount from a perpendicular position.

The linkage between the front and back legs is made from 4-40 threaded rod (see Fig. 11.10). In the prototype robot the linkage is 53/4" center to center. The linkage fits inside the holes in the

53/4" (146 mm)

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Brands: in China, 26 evolution of, 64 68, 100 103 expensive, 135 141 of GM, 118 119 hospital, 24 and line extension, 19 20 new vs. established, 147 remembering advertising for, 15 16 of Sears, 202 203 specialist, 101 103 subbrands, 136 sustaining, 61 62 Brock, James, 77 78 Budweiser, 100 101 Buick, 120 Burger King, 187 BusinessWeek, 59 60 C. F. Martin & Co., 140 141 Cacioppo, John, 148 Cadillac, 65, 120, 146 California Management Review, 72 Campbell s, 35, 37 Carrier air conditioners, 76 Castrol, 103 Categories, repositioning, 48 CBS, 27 C&C Group, 67 68 Cell phones, 71 CEOs: ego problems of, 97 98 involvement of, 180 188 leadership by, 164 166 and long-term planning, 113 objective information for, 169 172 as personification of business, 175 177

front and back legs. The linkage may be secured using a few 4-40 hex nuts. The back legs must be attached to the body of the robot before you make the linkage. The pivot for the back legs is made from a 3 /8" binding post and screw. The leg is attached as shown in the close-up in Fig. 11.10. The plastic washers underneath the body are necessary. They fill up the space between the aluminum body and the bottom of the screw. This keeps the leg close to the aluminum body without sagging. I chose plastic washers for less friction. Do not use so many washers that force is created binding the leg to the body. The joint should pivot freely. Look at Figs. 11.11 and 11.12 for pictures of our hexapod walker robot thus far.

Attaching the center servo motor to the body requires two L-shaped brackets (see Fig. 11.13). Drill the holes in the aluminum stock, and then bend at a 90 degree angle to form the L brackets. Attach the two L brackets to the center servo motor using the plastic

stock options for, 96 97 time allocation by, 172 173 Chandler Leasing, 89 Change, 51 and bigness, 80 81 (See also Bigness) in CEO attitudes (see CEOs, involvement of) inside the organization, 173 175 in name, 48 organizing for, 187 188 and problem of inside thinking, 73 74 repositioning to cope with, 2 4 resistance to, 148 149 technology as driver of, 54 62 (See also Evolution) Charity.org, 63 Charles Schwab, 129 130 Charmin, 19, 101 102 Chase & Sanborn, 42 Chase Manhattan Bank, 175 Check cashing industry, 66 Chevrolet, 31, 119 China, 26, 48 49 Choice industry, 28, 30 31 Christensen, Clayton, 2 4, 54 Chrysler, 175 Circuit City, 133 134 Clausewitz, Karl von, 7, 167, 177 Cleveland Clinic, 24 Cloud hosting, 140 Coach, 136 137 Coca-Cola, 17, 146 Coevolution, 114 Colgate-Palmolive, 64 Combative ads, 35 Commodities, repositioning, 47 48

screws and nuts (see Fig. 11.14). Next mount the center servo motor assembly under the robot body. Align the four holes in the body with the top holes in the L brackets. Secure with plastic screws and nuts. Figures 11.15 and 11.16 show the under side and top side of the hexapod robot.

11/4" (32 mm)

Servomotor holes: 11/64

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