HEBI Robotics Edward, Assembly Instructions Manual

Page 1: ...Edward Mobile Manipulator on Omni Directional Base Assembly Instructions ...

Page 2: ...ator 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 ...

Page 3: ...Robot Workspace X Series Edward Assembly Instructions 3 Wingspan 1 5m Wheel Base 0 5m Max Reach 0 65m Max Height 1 0m Can reach objects on ground or on a shelf Fits through most doorways with arms in ...

Page 4: ... 01 T Slot Corner Plate 1 x PP 2189 01 T Slot 2x2 Corner Bracket 1 x PP 2143 01 Rubber Bumper 1 x PP 2144 01 Spring Mount Bracket 2 x A 2067 01 Disk Grippers 3 x A 2076 01 Wheel Adapter 3 x PP 2185 01 6 Omni Wheel 2 x PM 2200 01 150mm 6 x PM 2200 02 300mm 1 x PP 2141 06 2 x 1 T Slot 6 Length 1 x A 2040 01R 1 x A 2040 01L 1 x A 2088 200 20 Gas Spring 20lbs 1 x A 2083 01 1 x A 2118 01 1 x A 2127 01 ...

Page 5: ...ngth 7 x A 2046 18 Power Cable 18 Length 3 x A 2046 24 Power Cable 24 Length 5 x PP 2059 01 Ethernet Cable 12 Length 6 x PP 2060 01 Ethernet Cable 24 Length 2 x PP 2061 01 Ethernet Cable 36 Length 6 x A 2128 01 Power Distribution Board 3 x PP 2058 01 Ethernet Coupler up to 4 x PP 2084 01 LiGo Battery ...

Page 6: ...o fit ethernet and power connectors Please pass connectors thru bore hole one at a time For more information visit docs hebi us X Series Edward Assembly Instructions 6 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...

Page 7: ...Table of Contents Assembly Quantity Image Pages Chassis 1x 8 12 Spine 1x 13 22 Arms 1x Left 1x Right 23 31 Final 1x 32 37 X Series Edward Assembly Instructions 7 ...

Page 8: ...X Series Edward Assembly Instructions 8 Chassis ...

Page 9: ...uctions 9 20 T slot nut 20 x BHCS 3 x X8 3 3 x A 2043 01 M5x10mm FHCS Wheel 1 X8 3 x y 1 2 3 Wheel 2 X8 3 Wheel 3 X8 3 Rubber bumpers will need to be removed in order to slide in T slot nuts 1 x A 2127 01 Hexagonal Wireless Chassis ...

Page 10: ...X Series Edward Assembly Instructions 10 M4x55mm M5x8mm 3 x A 2076 01 Wheel Adapter 3 x PP 2185 01 6 Omni Wheel ...

Page 11: ...Chassis Wiring X Series Edward Assembly Instructions 11 Power Cable Ethernet Cable Battery Legend Wheel 2 Wheel 3 Wheel 1 Cabling will be provided with assembled chassis ...

Page 12: ...Chassis Bulkhead Layout X Series Edward Assembly Instructions 12 ...

Page 13: ...Spine X Series Edward Assembly Instructions 13 ...

Page 14: ...X Series Edward Assembly Instructions 14 20 80 20 T Nut 20 x BHCS M5x10mm FHCS Ankle X8 16 1 x X8 16 1 x A 2043 01 ...

Page 15: ...X Series Edward Assembly Instructions 15 M5x16mm M5x16mm 1 x A 2039 02 1 x A 2038 02 1 x PM 2200 02 300mm ...

Page 16: ...300mm X Series Edward Assembly Instructions 16 M5x10mm Align with actuator output hub tick mark Tube aligns with tick mark ...

Page 17: ...X Series Edward Assembly Instructions 17 1 x PM 2200 02 300mm M5x16mm M5x16mm 1 x A 2038 02 1 x A 2118 01 ...

Page 18: ...X Series Edward Assembly Instructions 18 M5x10mm M5x8mm 1 x X8 16 Knee X8 16 Align with actuator output hub tick mark Tube aligns with tick mark ...

Page 19: ...M5x16mm X Series Edward Assembly Instructions 19 2 x PM 2200 01 150mm ...

Page 20: ... 20 x SHCS X Series Edward Assembly Instructions 20 1 x PP 2143 01 Rubber Bumper 1 x PP 2141 06 2 x 1 T Slot 6 Length Align such that T slot nuts are tangent to bottom of T slot extrusion ...

Page 21: ...tructions 21 2 x A 2088 200 20 Gas Spring 20lbs 1 x A 2083 01 Remove safety clips when installing spring on ball end studs 1 x PP 2144 01 Spring Mount Bracket 20 x BHCS Gas springs require washer for flush mounting 28 x SHCS 90mm ...

Page 22: ... Wiring X Series Edward Assembly Instructions 22 Power Cable Ethernet Cable Power Distribution Ethernet Coupler Legend Ankle Knee To Left Arm To Right Arm To Chassis From Left Arm 1 18 12 2 2 1 1 12 24 24 24 ...

Page 23: ...Arms 1x Left 1x Right X Series Edward Assembly Instructions 23 Left Right ...

Page 24: ...allel with tick mark and mounting hole pointed on same side 2 x X5 9 1x L 1x R X Series Edward Assembly Instructions 24 Step 1 of 2 Step 2 of 2 1 x A 2040 01R 1 x A 2040 01L Flat face towards inside M5x12mm M6x12mm M5x10mm FHCS Base X5 9 2 x A 2039 02 ...

Page 25: ...2 x X5 9 X Series Edward Assembly Instructions 25 1x L 1x R 1x L 1x R M5x14mm Shoulder X5 9 ...

Page 26: ...X Series Edward Assembly Instructions 26 2x 1 x PM 2200 02 300mm 1 x A 2039 02 1 x A 2038 02 M5x16mm M5x16mm ...

Page 27: ...X Series Edward Assembly Instructions 27 1 x PM 2200 02 300mm 2x M5x16mm M5x16mm 1 x A 2039 02 1 x A 2038 02 ...

Page 28: ...X Series Edward Assembly Instructions 28 2x 1x L 1x R 1x L 1x R M5x10mm Align with actuator output hub tick mark Tube aligns with tick mark ...

Page 29: ...X Series Edward Assembly Instructions 29 M5x10mm 2 x X5 4 M5x8mm 1x L 1x R 2x 1x L 1x R Align with actuator output hub tick mark Tube aligns with tick mark Elbow X5 4 ...

Page 30: ...X Series Edward Assembly Instructions 30 1x L 1x R M5x14mm M5x8mm Wrist X5 4 2 x A 2067 01 Disk Grippers 2 x X5 4 ...

Page 31: ...31 Right Base Power Cable Ethernet Cable Power Distribution Ethernet Coupler Legend From Spine Left Base To Right Arm via spine Right Base From Spine Right Wrist Right Elbow Left Base Left Elbow Left Wrist 18 18 18 12 18 18 18 12 12 12 1 1 2 2 3 2 2 3 ...

Page 32: ...X Series Edward Assembly Instructions 32 Final Assembly ...

Page 33: ... 20 x BHCS 20 80 20 T Nut X Series Edward Assembly Instructions 33 1 x PP 2146 01 T Slot Corner Plate 1 x PP 2189 01 T Slot 2x2 Corner Bracket 20mm from origin ...

Page 34: ...X Series Edward Assembly Instructions 34 1x L 1x R M5x16mm M5x16mm ...

Page 35: ...X Series Edward Assembly Instructions 35 ...

Page 36: ...diagrams X Series Edward Assembly Instructions Wheel 2 Wheel 3 Wheel 1 Power Cable Ethernet Cable Power Distribution Battery Ethernet Coupler Legend Right Base Right Base Right Wrist Right Elbow Ankle Knee Left Base Left Base Left Elbow Left Wrist ...

Page 37: ...X Series Edward Assembly Instructions 37 M2x8mm 7 x A 2091 01 6 x A 2090 01 M2x8mm Install all cables before attaching covers ...

Page 38: ...X Series Edward Assembly Instructions 38 HEBI Robotics 2018 ...