HEBI Robotics 6-DoF, Assembly Instructions Manual

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Page 2: ... 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...

Page 3: ... Payload Half Reach 3 5 kg 750mm 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 wiring 540 s Ax...

Page 4: ...que Max Finger Force at 50mm X5 1 0 1 Nm 2 N X5 4 0 5 Nm 10 N X5 9 1 1 Nm 23 N X8 3 0 4 Nm 8 N X8 9 1 1 Nm 23 N X8 16 2 0 Nm 40 N Values assume a symmetric two finger grasp Default Module 79 5mm 82mm 105 35mm 8mm 23mm 4 X M3 THRU 4 X M3 THRU 10mm 10mm 10mm 5mm 113mm 12mm ...

Page 5: ... x X8 9 3 x X5 1 1 x X8 16 1 x X5 9 1 x PM 2293 01 Spool Housing 1 x PM 2292 01 Spool 1 x PM 2290 01 Cable Clamp 1 x PP 2240 01 Cable Housing 1 x PM 2222 01 Cable Housing Adapter part of A 2055 01 1 x PP 2241 01 Cable Housing End Cap 1 x PP 2239 01 1 x A 2055 01 2 x PM 2200 02 300mm 1 x A 2088 90 30 Gas Spring 30lbs 1 x A 2188 01 1 x A 2089 02 ...

Page 6: ...A 2046 12 Power Cable 12 Length 4 x A 2046 18 Power Cable 18 Length 2 x A 2046 24 Power Cable 24 Length 4 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 7: ...X Series 6 DoF Arm Assembly Instructions 7 ...

Page 8: ...2 x X Series 6 DoF Arm Assembly Instructions 8 1 x PM 2200 02 300mm 1 x A 2038 03 1 x A 2039 03 M5x16mm M5x16mm ...

Page 9: ...ons 9 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 10: ...X Series 6 DoF Arm Assembly Instructions 10 Axis 2 Shoulder Default X8 16 1 x 1 x M5x14mm 1 x X8 16 ...

Page 11: ...Instructions 11 1 x 1 x 1 x 1 x A 2088 90 30 Gas Spring 30lbs M5x10mm 1 x A 2188 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 M5x16mm ...

Page 12: ...X Series 6 DoF Arm Assembly Instructions 12 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 13: ...M5x12mm M5x10mm Axis 4 Wrist 1 Default X5 1 M5x8mm Axis 5 Wrist 2 Default X5 1 X Series 6 DoF Arm Assembly Instructions 13 1 x 2 x X5 1 1 x A 2042 01R Align with actuator output hub tick mark ...

Page 14: ...X Series 6 DoF Arm Assembly Instructions 14 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 15: ...X Series 6 DoF Arm Assembly Instructions 15 ...

Page 16: ...X Series 6 DoF Arm Assembly Instructions 16 ...

Page 17: ...X Series 6 DoF Arm Assembly Instructions 17 1 x X5 9 Spool Default X5 9 ...

Page 18: ...Wire Actuated Gripper Assembly Instructions 18 1 x PM 2293 01 Spool Housing 1 x PM 2292 01 Spool M5x12mm M3x35mm Clocking for the Spool does not matter ...

Page 19: ...ed Gripper Assembly Instructions 19 1 x PM 2293 01 Spool Housing 1 x PM 2292 01 Spool M5x12mm M3x50mm Clocking for the Spool does not matter PM 2467 01 12 x PM 2467 01 M3 5 9mm OD Flat Washer Use for X8 Spool ONLY ...

Page 20: ...X Series 6 DoF Arm Assembly Instructions 20 1 x PM 2190 03 A 2089 02 Housing Mid Tube Adapter M5x8mm ...

Page 21: ...X Series 6 DoF Arm Assembly Instructions 21 2 x PM 2148 01 Tube Clamp ...

Page 22: ...X Series 6 DoF Arm Assembly Instructions 22 M5x8mm Align with actuator output hub tick mark Fingers perpendicular to the tick mark The Last Module on the Arm ...

Page 23: ...e pass connectors thru bore hole 1 at a time For more information visit docs hebi us X Series 6 DoF Arm Assembly Instructions 23 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 connections The...

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

Page 25: ...ies 6 DoF Arm Assembly Instructions 25 18 12 12 18 18 24 12 36 36 12 12 12 12 Base Shoulder Elbow Wrist 1 Wrist 2 Wrist 3 network 36 24 Power Cable Ethernet Cable Power Distribution Power Supply Power Jumper ...

Page 26: ...le is long enough Cut the cable housing first and then cut the cable X Series 6 DoF Arm Assembly Instructions 26 Cable Housing minimum bend radius 25mm 100mm About 100mm of Cable should stick out from the Cable Housing Make sure that the Cable Housing is long enough to be fully inserted into the Housing End Cap and the Housing Adapter Cross Section View of the Cable ...

Page 27: ...X Series 6 DoF Arm Assembly Instructions 27 1 x PP 2239 01 Cable 1 x PP 2240 01 Cable Housing 1 x PM 2222 01 Cable Housing Adapter ...

Page 28: ...28 X Series 6 DoF Arm Assembly Instructions ...

Page 29: ...X Series 6 DoF Arm Assembly Instructions 29 ...

Page 30: ...X Series 6 DoF Arm Assembly Instructions 30 1 x PM 2290 01 Cable Clamp M3x8mm ...

Page 31: ...X Series 6 DoF Arm Assembly Instructions 31 1 x 2 x A 2090 02 2 x A 2091 02 Install cables before adding caps M2x8mm M2x8mm M2x8mm M2x8mm 1 x A 2143 02 M2x8mm ...

Page 32: ... Strategy of the Spool Module to STRATEGY_4 1 Click on your Spool Module 2 Go to Gains tab 3 Use the Control Strategy drop down menu to select a Suitable Strategy for your Application 4 Click Send IV Command the Effort to 5 Nm 1 Go to Monitoring tab 2 Click the Target Button for the Effort 3 Type 5 and Click OK The Spool will wind the Cable and close the Fingers ...

Page 33: ...lick the Target Button for Position 3 Type 0 and Click OK The Spool will unwind the Cable and open the Fingers To close the gripper turn the spool clockwise To open the gripper command the spool to zero position V While Commanding the Effort set the current position to 0 7 1 Go to Dashboard tab 2 Toggle Params as shown 3 Type 0 7 for Position 4 Click Apply ...

Page 34: ...pe 0 9 for Min Position 3 Type 0 for Max Position 4 Toggle Persist Sends as shown 5 Click Send If the Safety Limits are not set the spool can turn to a position greater than zero and break the cable To close the gripper turn the spool clockwise negative effort To open the gripper turn the spool counter clockwise positive effort ...

Page 35: ...nnector Magnet embedded end effector A 2081 01 Interfaces 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 X Series 6 DoF Arm Assembly Instructions 35 ...

Page 36: ...X Series 6 DoF Arm Assembly Instructions 36 HEBI Robotics 2018 ...