QR-linked operating instructions

Operate the rig with a clear step-by-step workflow.

Use this guide before demonstrations or testing. Start with assembly, complete the safety checklist, select the correct running mode, then use troubleshooting if vibration, noise or misalignment occurs.

Start procedure →Go to running instructions
RIG STATUS SCREENREADY

Operating workflow

Select a stage below to jump straight to the relevant operating section.

Mode optionsWalking / Running
Before motionSafety checks
Step-by-step route
1Assembly InstructionsCam • Crank • Thigh 2Safety ChecksPre-run inspection 3Running InstructionsWalking • Running 4Expected MotionCompare cam, crank and thigh against reference graphs 5TroubleshootingVibration • Noise • Alignment 6Supporting DocumentsRisk assessment PDF
Section 1

Assembly instructions

Open each subassembly, follow the procedure, then tick the checks before moving on.

Assembly Procedure

  1. Secure the gearbox to the NEMA 23 stepper motor shaft using the shaft key and mounting brackets.
  2. Select the required cam profile, Walking or Running, and secure it to the gearbox output shaft.
  3. Install the shaft end cap and retaining screw to prevent axial movement.
  4. Mount the complete motor, gearbox and cam assembly into the cam box and secure it to the base plate.
  5. Install the two linear bearings into the mounting positions located on either side of the upper guide hole.
  6. Insert the follower rod through the linear bearings and attach the clevis yoke and roller bearing assembly.

Assembly Checks

Cam completion0%

Assembly Procedure

  1. Mount the NEMA 34 stepper motor onto the motor mounting bracket.
  2. Insert the shaft key and secure the crank disc onto the motor shaft using the grub screw.
  3. Select the appropriate threaded crank pin location for Walking or Running mode and install the crank pin.
  4. Attach the connecting rod to the crank pin.
  5. Connect the opposite end of the connecting rod to the cam box assembly and secure all fasteners.

Assembly Checks

Crank completion0%

Assembly Procedure

  1. Secure the NEMA 23 stepper motor to the L-bracket using the 3D printed motor mounting bracket.
  2. Install the bevel gear onto the motor shaft and secure it using the grub screw.
  3. Install the mating bevel gear onto the driven shaft and secure it.
  4. Insert the shaft keys and install the drive discs onto the shaft before securing them with the end caps.
  5. Select the appropriate linkage attachment position for Walking or Running mode and connect the linkage bars to the discs using the pins provided.
  6. Install the bearing housings into both sides of the pelvis assembly and insert the horizontal support shaft through the bearings, ensuring it rotates freely.
  7. Insert the left and right thigh shafts vertically through the support shaft and secure them in position.
  8. Connect the opposite ends of the linkage bars to the thigh shafts.
  9. Install the thigh components onto the thigh shafts and secure them using the retaining rods.

Assembly Checks

Thigh completion0%
Section 2

Safety checks

Tick each item before starting the rig.

Checklist completion0%
Section 3

Running Instructions

Prepare, verify, then run.

Use this section as the operating sequence for the rig. Configure the selected mode, confirm the starting positions, then choose either Walking or Running operation.

Before Starting

1
Configure mode Install the correct cam profile, then set the crank and thigh linkage pins for Walking or Running.
2
Verify starting positions Check the crank, thigh and cam positions against the reference board.
3
Secure the rig Close all doors and covers, fit visors and guards, then complete the safety checks.

Reference Positions

Mechanism
Left
Right
Crank
↑Top
↓Bottom
Thigh
↓Bottom
↑Top
Cam
Major
Minor
White Button

Walking Mode

1
Press the white button.
2
The system automatically ramps to walking speed.
3
Monitor the rig during operation.
4
Press the white button again to ramp down and stop.
Red Button

Running Mode

1
Press the red button.
2
The system automatically ramps to running speed.
3
Monitor the rig during operation.
4
Press the red button again to ramp down and stop.
Section 4

Expected motion

Use these reference graphs to confirm that the rig motion is behaving as expected during walking and running operation.

Select mode

Select mechanism

Click the displayed graph to enlarge it. Use the mode and mechanism buttons to compare the expected cam, crank and thigh motion.

Walking Cam Motion

Expected walking cam displacement profile. Check for smooth periodic motion and consistent left-right behaviour.

Expected walking cam motion graph
Section 5

Troubleshooting

Stop immediately. Check that the rig is level, fasteners are secure, and the pelvis/thigh assemblies are not binding. Restart at walking speed only.
Stop the rig and inspect contact points, bearings, cam follower contact and crank joints. Do not continue if grinding or knocking remains.
Check alignment of the crank and thigh linkages, confirm both sides are mounted symmetrically, and run a slow cycle to identify phase differences.
Power off, return the rig to a neutral position, inspect mounts and guides, then retighten before another slow test cycle.
Section 6

Supporting Documents

Download the formal risk assessment before operating, demonstrating or maintaining the rig.

PDF

DMT Rig Risk Assessment

Hazards, harms, control measures and emergency procedures for subassembly and supergroup testing.

Open PDF →
DMT Rig Operating Guide • Final QR-ready single-page website