7
6 marzo 2018
4
Getting started
The qb SoftHand research UR Kit allows you to connect the qb SoftHand research to
you UR robot arm.
The kit consists of:
•
N.1 qb Softhand research 24V (variant pinch or power kinematics);
•
N.1 ISO 9409-1-50-4-M6 flange adapter;
•
N.1 qb dummy;
•
N.1 main cable of 5m;
•
N.1 power cable;
•
N.1 USB cable of 0.5m;
•
N.1 USB pendrive;
•
N.4 M6x10 screws;
•
N.5 M4x12 screws.
4.1
SoftHand research mounting
Use only the screws provided within the package. Longer screws could damage the
robot or the hand.
External tools needed are:
•
2.5mm Allen wrench;
•
5mm Allen wrench;
•
Torx t15 screwdriver.
Referring to the scheme of Figure 4.1, to assemble the hand on the robot arm, please
follow the instructions:
i.
Fasten ISO 9409-1-50-4-M6 flange adapter (2) to the robot tool flange (1)
using n.4 M6x10 screws (3) (use the 5mm Allen wrench);
ii.
Insert ISO 9409-1-50-4-M6 flange adapter (2) into the hand wrist interface (5)
on the back of the hand;
