Data Sheet

IRONBOY USER MANUAL Ver.1.03_Eng
12
2.3. Joint Structure and Names
IRH-100 consists of joint structure and names as below. On the main board, each servo channel needs to be
correspondent to each different servo. So, each servo must be connected to correct position of servo channels on
the main board.
(1) Name of Joints
 JLn : "n"th joint of LEFT part of body
 JRn : "n"th joint of RIGHT part of body
(2) Joints Number
Joint #(n) Joint Position
1
Pelvis Left/Right Rotation
2
Pelvis Forward/Backward Rotation
3
Knee Joints
4
Ankle Forward/Backward Rotation
5
Ankle Left/Right Rotation
6
Shoulder Forward/Backward Rotation
7
Shoulder Left/Right Rotation
9
Elbow Joints