6-DoF Arm Kit Assembly Instructions

Transcription

1 6-DoF Arm Kit Assembly Instructions

2 General Warnings and Cautions Danger (May cause serious injury or death) Keep water, flammables, solvents and other liquids clear from actuator. Never place fingers, arms, toes and other body parts near actuator during operation. Cut power if actuator emits strange odors or smoke. Keep actuator out of reach of children. Warning (May cause injury or damage to actuator) Before operating, read all applicable instructions and notices found here: Comply with the operating temperature (-10 to 50 ) Turn off power source before connecting or disconnecting actuator power. Do not expose the actuator to permanent and strong magnetic fields. The actuator must not be exposed to dusty or wet environments. If actuator is under load, abruptly removing the power connection can cause permanent damage. Do not force screws into the bottom of the actuator. - X5: 5mm tap depth - X8: 7mm tap depth Use provided hardware with accessories and hand tighten as needed. Do not attempt to disassemble actuator, this will void the warranty and can cause permanent damage. For more information please visit: docs.hebi.us X-Series 6-DoF Arm Assembly Instructions 2

3 Technical Specifications Weight Reach Specifications Max Continuous Payload Max Peak Payload Value 4 kg 650 mm 2.00 kg *Calculated using Default Configuration with Gas Spring.* Using a different configuration of X-Series Actuators will provide different payload capacities. Side View 7.50 kg Movement Working Range Speed Axis 1 Base [Default: X8-9] Axis 2 Shoulder [Default: X8-16] Axis 3 Elbow [Default: X8-9] Axis 4 Wrist 1 [Default: X5-1] Axis 5 Wrist 2 [Default: X5-1] Axis 6 Wrist 3 [Default: X5-1] Continuous (limited by wiring) 0 to +70 (limited by gas spring) -155 to +155 (avoid end effector collisions) Continuous (avoid end effector collisions) Continuous (limited by wiring) Continuous (limited by wiring) 180 /s 90 /s 180 /s 540 /s 540 /s 540 /s Top View 650mm 650mm X-Series 6-DoF Arm Assembly Instructions 3

4 Bill of Materials - Mechanical Default Configuration X8-16 X8-9 3 x X5-1 A A A A A A R A R PP [300mm] A (Gas Spring 30lbs.) A fasteners included, not shown X-Series 6-DoF Arm Assembly Instructions 4

5 Bill of Materials - Electrical 3 x A Power Distribution Board A Power Jumper 4 x A Power Cable, 12 Length 3 x A Power Cable, 18 Length A Power Cable, 24 Length 3 x PP Ethernet Cable, 12 Length 3 x PP Ethernet Cable, 36 Length X-Series 6-DoF Arm Assembly Instructions 5

6 Table of Contents Assembly Image Pages Tubes [6] Base [7-8] Final [9-15] X-Series 6-DoF Arm Assembly Instructions 6

7 M5x16mm A A PP [300mm] M5x16mm X-Series 6-DoF Arm Assembly Instructions 7

8 Flat face towards outside M5x12mm Step 2 of 2 X8-9 A R M6x12mm Step 1 of 2 Axis 1: Base Default X8-9 Align with actuator output hub tick mark (face parallel with tick mark and mounting hole pointed on same side) M5x10mm FHCS X-Series 6-DoF Arm Assembly Instructions 8

9 X8-16 Axis 2: Shoulder Default X8-16 M5x14mm X-Series 6-DoF Arm Assembly Instructions 9

10 63.5mm [2.5in] ¼-28 x 5/8 Align with actuator output hub tick mark (Tube aligns with tick mark) M5x10mm A A (Gas Spring 30lbs.) Gas springs require washer for flush mounting (included in A ) X-Series 6-DoF Arm Assembly Instructions 10

11 M5x8mm Axis 3: Elbow Default X8-9 M5x10mm X8-9 Align with actuator output hub tick mark (Tube aligns with tick mark) X-Series 6-DoF Arm Assembly Instructions 11

12 X5-1 A R Align with actuator output hub tick mark M5x10mm Axis 4: Wrist 1 Default X5-1 M5x12mm M5x8mm Axis 5: Wrist 2 Default X5-1 X-Series 6-DoF Arm Assembly Instructions 12

13 X5-1 A R Align with actuator output hub tick mark M5x10mm M5x12mm Axis 6: Wrist 3 Default X5-1 X-Series 6-DoF Arm Assembly Instructions 13

14 Wiring Notes Keeping wires organized will help prevent tangling and add a nice aesthetic. Spiral sleeving is a good accessory for organizing loose wires HEBI X-Series actuators have a thru bore specifically designed to fit ethernet and power connectors. Please pass connectors thru bore hole 1 at a time. For more information visit: docs.hebi.us [Spiral sleeving] Wires that come from the previous joint should be inserted directly to actuator ports. Power distribution boards are included to help daisy-chain power connections. These fit well within the tubes between actuators. Wires that connect to the next joint should be threaded through the actuator s bore hole. X-Series 6-DoF Arm Assembly Instructions 14

15 Wiring Diagram Elbow Wrist 1 12 Shoulder Power Cable Ethernet Cable Power Distribution Base Power Jumper Power Supply 24 Wrist 2 Wrist 3 network X-Series 6-DoF Arm Assembly Instructions 15

16 M2x8mm M2x8mm A A Install cables before adding caps M2x8mm M2x8mm X-Series 6-DoF Arm Assembly Instructions 16

17 All axes at zero degrees X-Series 6-DoF Arm Assembly Instructions 17

18 Additional Accessories Power Supply, 24V 220W (A ) Comes with correct Molex Minifit Jr 2 connector Magnet embedded end effector (A ) Interfaces with hex shaft driver bits for screwing/bolting tasks Screwdriver bits not included HEBI I/O Board (A ) Integrate with 3 rd party end effectors or tools using HEBI APIs HEBI Gripper Cable driven gripper keeps weight away from end of arm *Modules sold separately* X-Series 6-DoF Arm Assembly Instructions 18

19 HEBI Robotics 2018 X-Series 6-DoF Arm Assembly Instructions 19