HEBI Robotics 6-DoF Arm Kit, Assembly Instructions Manual

Page 1: ...6 DoF Arm Kit Assembly Instructions ...

Page 2: ...tor 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 5...

Page 3: ...2 00 kg Max Peak Payload 7 50 kg 650mm 650mm Movement Working Range Speed Axis 1 Base Default X8 9 Continuous limited by wiring 180 s Axis 2 Shoulder Default X8 16 0 to 70 limited by gas spring 90 s Axis 3 Elbow Default X8 9 155 to 155 avoid end effector collisions 180 s Axis 4 Wrist 1 Default X5 1 Continuous avoid end effector collisions 540 s Axis 5 Wrist 2 Default X5 1 Continuous limited by wir...

Page 4: ...structions 4 fasteners included not shown 1 x A 2040 01R 1 x A 2043 01 2 x A 2042 01R 2 x A 2038 02 2 x A 2090 01 2 x A 2039 02 2 x A 2091 01 2 x PP 2200 02 300mm 1 x A 2083 01 1 x A 2088 90 30 Gas Spring 30lbs 2 x X8 9 3 x X5 1 Default Configuration 1 x X8 16 ...

Page 5: ...uctions 5 4 x A 2046 12 Power Cable 12 Length 3 x A 2046 18 Power Cable 18 Length 2 x A 2046 24 Power Cable 24 Length 3 x PP 2059 01 Ethernet Cable 12 Length 3 x PP 2061 01 Ethernet Cable 36 Length 3 x A 2128 01 Power Distribution Board 1 x A 2048 02 Power Jumper ...

Page 6: ...Table of Contents Assembly Image Pages Tubes 6 Base 7 8 Final 9 15 X Series 6 DoF Arm Assembly Instructions 6 ...

Page 7: ...2 x X Series 6 DoF Arm Assembly Instructions 7 1 x PP 2200 02 300mm 1 x A 2038 02 1 x A 2039 02 M5x16mm M5x16mm ...

Page 8: ...ons 8 Axis 1 Base Default X8 9 Step 1 of 2 Step 2 of 2 1 x A 2040 01R M6x12mm M5x12mm M5x10mm FHCS 1 x X8 9 Align with actuator output hub tick mark face parallel with tick mark and mounting hole pointed on same side Flat face towards outside ...

Page 9: ...X Series 6 DoF Arm Assembly Instructions 9 Axis 2 Shoulder Default X8 16 1 x 1 x M5x14mm 1 x X8 16 ...

Page 10: ...tions 10 1 x 1 x 1 x 28 x 5 8 63 5mm 2 5in 1 x A 2088 90 30 Gas Spring 30lbs M5x10mm 1 x A 2083 01 Align with actuator output hub tick mark Tube aligns with tick mark Gas springs require washer for flush mounting included in A 2088 90 30 ...

Page 11: ...X Series 6 DoF Arm Assembly Instructions 11 1 x 1 x 1 x M5x10mm M5x8mm Axis 3 Elbow Default X8 9 Align with actuator output hub tick mark Tube aligns with tick mark 1 x X8 9 ...

Page 12: ...X Series 6 DoF Arm Assembly Instructions 12 1 x 2 x X5 1 1 x A 2042 01R M5x12mm M5x10mm Axis 4 Wrist 1 Default X5 1 M5x8mm Axis 5 Wrist 2 Default X5 1 Align with actuator output hub tick mark ...

Page 13: ...X Series 6 DoF Arm Assembly Instructions 13 1 x 1 x X5 1 1 x A 2042 01R M5x12mm M5x10mm Axis 6 Wrist 3 Default X5 1 Align with actuator output hub tick mark ...

Page 14: ... Please pass connectors thru bore hole 1 at a time For more information visit docs hebi us X Series 6 DoF Arm Assembly Instructions 14 Spiral sleeving Wires that come from the previous joint should be inserted directly to actuator ports Wires that connect to the next joint should be threaded through the actuator s bore hole Power distribution boards are included to help daisy chain power connectio...

Page 15: ...F Arm Assembly Instructions 15 Wiring Diagram 24 18 12 12 18 18 network 24 12 36 36 12 36 12 12 12 Base Shoulder Elbow Wrist 1 Wrist 2 Wrist 3 Power Cable Ethernet Cable Power Distribution Power Supply Power Jumper ...

Page 16: ...X Series 6 DoF Arm Assembly Instructions 16 1 x 2 x A 2090 01 2 x A 2091 01 Install cables before adding caps M2x8mm M2x8mm M2x8mm M2x8mm ...

Page 17: ...X Series 6 DoF Arm Assembly Instructions 17 All axes at zero degrees ...

Page 18: ... with hex shaft driver bits for screwing bolting tasks Screwdriver bits not included HEBI I O Board A 2116 01 Integrate with 3rd 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 Additional Accessories ...

Page 19: ...X Series 6 DoF Arm Assembly Instructions 19 HEBI Robotics 2018 ...