ON Development IVS uStepper, Assembly Instructions Manual

Page 1: ...uStepper Robot Arm Assembly instructions By ON Development IVS Microcontroller stepper driver and encoder in an ultra compact design 2016 ON Development IVS All Rights Reserved ...

Page 2: ... during assembly The design is still a Work in Progress Files instructions and other stuff might change Attribution The nut cover design used with the uStepper Robotic Arm is made by Gyrobot published under a CC BY SA licen se on December 24 2012 www thingiverse com thing 39113 When the glue symbol is shown glue could improve the assembly quality in the appropri ate step This is in general true fo...

Page 3: ...erial PLA plastic and Alumi num tubes No of axes 3 Maximum lift close to base fur thest from base 700 g 350 g Gear ratios Main gear 4 09 1 Second gear 4 09 1 Stepper motor torque 0 42 Nm Micro servo torque 0 15 Nm 5 V With 24V supply maximum current limit setting and motor in brake mode This rating is an absolute maximum and continuous operation in this area should not be carried out ...

Page 4: ...Specifications Range of Motion ...

Page 5: ... M3 7 pcs M3 SL 8 pcs M4 SL 2 pcs M8 SL Washers 2 pcs M8 OD 15 8 mm 2 pcs M4 OD 8 8 mm Rods The length of the rods can be varied to fit your needs 1 pc 15 mm x 200 mm 1 pc 15 mm x 150 mm 2 pcs 6 mm x 169 mm 1 pc 6 mm x 164 mm Actuators 3 pcs uStepper premium 1 pc Micro Servo Tools Adjustable wrench Hex Keys Philips screwdriver Optional Super glue Hard stops 1 pc M3 x 20mm 1 pc M3 x 10mm 1 pc M3 nu...

Page 6: ...ase gear 3 1 pc Secondary gear 4 1 pc Main gear 5 1 pc Main gear bracket 6 1 pc Secondary gear arm 7 1 pc Main joint bracket left 8 1 pc Main joint bracket right 9 1 pc Triangle 10 3 pcs Rod end left 11 3 pcs Rod end right 12 6 pcs Link end ...

Page 7: ...ft side plate 15 1 pc Right side plate 16 1 pc End triangle right 17 1 pc End triangle left 18 1 pc Gripper main brack 19 1 pc End bracket 20 1 pc Gripper gear 21 1 pc Gripper servo gear 22 1 pc Gripper left 23 1 pc Gripper right 24 4 pcs Gripper link ...

Page 8: ... Of Materials 25 1 pc M8 nut cover 26 4 pcs M4 nut cover short 27 1 pc M4 nut cover long 28 6 pcs M3 nut cover 29 1 pc M4 spacer long 30 1 pc M4 spacer short 31 2 pcs M8 spacer long 32 1 pc M8 spacer short ...

Page 9: ...s the left side plate 14 into the bottom plate 13 without using excessive force Secure it using 2 M3x10 bolts Fig 2 Assemble base 1 and base gear 2 using 5 M3x25 mm bolts and 5 M3 nuts Fig 4 Fit a 608Z bearing in the bot tom plate 13 a 624Z bearing and two M3 nuts in the side left plate 14 Fig 6 The bottom plate 13 and left side plate 14 assembly should look like this ...

Page 10: ...ssembly should now look like this Fig 11 Mount the motor and motor gear 2 Secure the motor to the bot tom plate 13 using 4 M3x10 mm bolts Fig 8 Tighten the bolt ensuring a smooth rotation of the bottom base assembly Fig 10 Insert an M3 nut and an M3x8 mm bolt into the base motor gear 2 Fig 12 Tighten the M3x8 mm bolt in the motor gear 2 Do not over tighten Be careful not to overtighten the motor g...

Page 11: ...4 with a 608Z bearing and slide it on the M8x70 mm bolt Insert the motor adjust the motor gear 4 and secure the motor using 4 M3x10 mm bolts Fig 14 Insert an M3 nut and M3x8 mm bolt in the main motor gear 4 Fig 16 Insert the M8x70 mm bolt in the left side plate 14 and add the short M8 spacer 32 Fig 18 Insert nut and M3x8 mm bolt in the secondary motor gear 3 Be careful not to overtighten the motor...

Page 12: ...ssembly should look by now With the gear and M8 bolt removed Fig 20 Mount the motor loosely with 4 M3x10 mm and slide in the M8x70 mm bolt removed from the side plate Fig 17 add a washer Fig 22 Slide the gear 3 onto the M8 bolt pressing up against the washer and align the motor gear Tighten the motor and motor gear bolts Fig 24 Now gently press the right side plate 15 into place and tighten the 2 ...

Page 13: ...bottom gear 2 Fig 27 The 624Z bearings are pushed in the rod ends 10 and 11 Fig 29 Insert the servo cable prior to insertion of the rod ends 10 and 11 into the tube Fig 26 The Robot Arm base is now complete Fig 28 The rod ends 10 and 11 are equipped with a path for the servo cable Fig 30 The rod ends 10 and 11 mounted with the servo ...

Page 14: ...SL nut on the right side and tighten the bolt Do not overtighten Fig 32 Slide the short 15 mm tube into the main gear 4 and secure it with the bracket 5 using 2 M3x20 mm bolts and 2 M3 nuts Fig 34 Slide the two long M8 spac ers 31 onto the bolt with the chamfer facing the bearings Slide the sec ondary gear and washer on the bolt Fig 36 Add 4 M3 nuts and 1 M4 SL nut to the main joint bracket 7 and ...

Page 15: ...step Fig 39 Tighten the M4 bolt till there is no slack but free movement of the parts Fig 41 Mount the link ends 12 to the linkage arms Fig 38 Add 3 624Z bearings to the triangle 9 add an M4x35 mm bolt and the short M4 spacer 30 Fig 40 The Robot Arm should look like this by now Fig 42 Mount one of the two 169 mm arms tube length as shown Requires 1 M4x20 mm and 1 M4x35 mm bolt and 2 M4 SL nuts ...

Page 16: ... Use 3 M4x20mm bolts and 3 M4 SL nuts Fig 45 Add the M8 nut cover 25 and the longer M4 nut cover 27 as shown Fig 47 For the gripper assembly the gripper main bracket 18 and the end bracket 19 are needed Fig 44 The arm should look like this now Fig 46 Add the 4 M4 nut covers 26 as shown Fig 48 Press them gently together and secure with an M3x10 mm bolt and an M3 nut ...

Page 17: ... and an M3 SL nut Make sure the parts move freely Fig 53 The gripper should look like this by now Fig 50 Use 4 M3x20 mm bolts and 4 M3 SL nuts to assemble the parts as shown above Make sure the parts move freely Fig 52 Use 2 M3x20 mm bolts and 2 M3 SL nuts for the assembly shown here Make sure the parts move freely Fig 54 Add M3 nut covers 28 to all nuts but the one holding the gear as shown here ...

Page 18: ...angles 16 and 17 to gether Insert the M4x35 mm bolt and add a M4 washer as shown Fig 56 Use the two longer screws from the servo accessories bag to mount the servo Fig 58 Add a 624Z bearing to the left end triangle 17 and an M4 SL nut to the right 16 Fig 60 Add a washer to the right side also and tighten the bolt while ensuring that there is free movement of the parts Note You should power on the ...

Page 19: ...nd 12 and add the long M4 spacer 29 as shown Fig 63 The assembly of the end ef fector should look like this Fig 62 Connect the link to the end triangle 17 as shown and tighten the bolt An M4 SL nut is used here Fig 64 Adjust the position of the tube as mentioned in fig 37 so that the gripper is level with the base ...

Page 20: ...Finished Robot Arm You have now assembled the uStepper Robot Arm and your result should be similar to what is shown on the following two pictures ...

Page 21: ...he bottom plate 13 as seen here close to the stepper motor on the right in the picture Fig 65 An M3x20 mm bolt and an M3 SL nut is inserted in the right side plate 15 The position of the bolt can be adjusted as required If mounting hard stops please make sure that your software takes this into account If this is not considered you might risk damaging the uStepper Robot Arm ...

Page 22: ...h the Robot Arm a Serial connection to the master is established If doing this using the USB port secure the USB cable so that it doesn t break the USB port of the uStepper Alternatively a Bluetooth module can be used for wireless communica tion A demo video of the Robot Arm can be found on www ustepper com or our YouTube channel If using USB cable for communication SECURE IT ...

Page 23: ...Connections for Demo code ...

Page 24: ... on how to solder up a shield for the master uStepper is shown This uStepper will carry the BT module drive the gripper servo and communicate with the two slaves The different connections are shown with individually colored wires for easier identification The wiring is the same as presented on the prior page with the addition of a BT module of course ...

Page 25: ...Optional Master Shield ...

Page 26: ... and mechanical any other 3rd party hardware connected to uStepper or physical damage to its surroundings Most stepper motor cases are made of aluminum and care must be taken when preparing the mountings for uStepper By using the uStepper products you acknowledge that ON Development IVS can not be held responsible for any injuries and or damage to any 3rd party hardware that may occur when using t...

Page 27: ...Contact ON Development IVS sales ustepper com 2016 ON Development IVS All Rights Reserved Detailed description design files and examples can be found on www uStepper com ...