R-Series Hexapod - HEBI Robotics
Transcript of R-Series Hexapod - HEBI Robotics
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General Warnings and Cautions
Danger (May cause serious injury or death)
• Keep water, flammables, solvents and other liquids clear from unsealed actuator.
• Keep fingers away from moving parts during operation.
• Cut power immediately if actuator emits strange odors or smoke.
• Keep actuator out of reach of children.
Warning (May cause injury or damage to actuator)
• Do not expose the actuator to permanent and strong magnetic fields.
• Do not force screws into the bottom of the actuator. R8 = 8mm Tap Depth
• Use provided hardware with accessories and hand tighten as needed.
• Attempts to disassemble actuator will void the warranty and may cause permanent damage.
*Sealing (R-Series Actuators are IP67 when properly used)*
• Please refer to all online documentation for proper sealing techniques of the actuator.
For more information please visit: docs.hebi.us
R-Series Hexapod Assembly Instructions 2
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Bill of Materials - Mechanical
R-Series Hexapod Assembly Instructions 3
fasteners included, not shown
Default Configuration
1 xA-2260-01
Sealed Wireless Chassis Assembly
16 xPP-2200-02300mm Tube
2 xPP-2200-200200mm Tube
6 xA-2188-02
6 xA-2263-57-30
(Gas Spring – 30lbs.)
6 xPP-2335-01
12xA-2219-01
6 xA-2222-01
12 xA-2218-01
1 xA-2096-02
12 xA-2090-02
12 xA-2231-01
6 xA-2232-01
12 xR8-9
Straight Connector
6 xR8-16
Right Angle Connector
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Bill of Materials - Electrical
R-Series Hexapod Assembly Instructions 4
PP-2349-BLK18AWG Power Wire, Black
PP-2349-RED18AWG Power Wire, Red
PP-2358-BLU22AWG M-Stop Cable, Blue
PP-2358-YEL22AWG M-Stop Cable, Yellow
PP-2401-DUPPOF Duplex Cable
ll items are included in R-Series Connection Toolbox
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Table of ContentsAssembly Image Pages
Chassis [6-8]
Left Legs(includes wiring)
[9-24]
Right Legs(includes wiring)
[25-38]
Final(includes wiring)
[39-43]
R-Series Hexapod Assembly Instructions 5
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R-Series Hexapod Assembly Instructions 6
Chassis
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1 x
R-Series Hexapod Assembly Instructions 7
1 xA-2260-01
Sealed Wireless Chassis Assembly
2 xPP-2200-200200mm Tube
4 xPP-2200-02300mm Tube
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1 x
R-Series Hexapod Assembly Instructions 8
1 xA-2096-02
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Left LegsR-Series Hexapod Assembly Instructions 9
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3 x
R-Series Hexapod Assembly Instructions 10
1 xA-2222-01
Flat face towards inside
M6x10mm
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3 x
R-Series Hexapod Assembly Instructions 11
1 xA-2222-01
Align with actuatoroutput hub tick mark
(inside face parallel with tick mark)
1 xR8-9
Straight Connector
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R-Series Hexapod Assembly Instructions 12
3 x
Connectors of both modulespoint the same way
1 xR8-16
Right Angle Connector
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R-Series Hexapod Assembly Instructions 13
3 x
1 xPP-2200-02
[300mm]1 x
A-2218-011 x
A-2219-01
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R-Series Hexapod Assembly Instructions 14
3 x3 x
3 xAlign with actuator
output hub tick mark
(Tube aligns with tick mark)
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R-Series Hexapod Assembly Instructions 15
3 x
1 xA-2188-02
1 xA-2263-57-30
(Gas Spring – 30lbs.)
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R-Series Hexapod Assembly Instructions 16
3 x3 x
3 x
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R-Series Hexapod Assembly Instructions 17
3 x
1 xPP-2335-01
1 xPP-2200-02
[300mm]1 x
A-2218-01
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R-Series Hexapod Assembly Instructions 18
3 x
1 xR8-9
Straight Connector
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R-Series Hexapod Assembly Instructions 19
3 x3 x
3 x
Align with actuatoroutput hub tick mark
(Tube aligns with tick mark)
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R-Series Hexapod Assembly Instructions 20
3 x
1 xA-2219-01
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Wiring Notes• Keeping wires organized will help prevent tangling and add a nice aesthetic.
• Spiral sleeving is a good accessory for organizing loose wires
• Visit the following link to see detailed instruction on connecting wires to R-Series Modules.
http://docs.hebi.us/#r-series-quickstart
For more information visit: docs.hebi.us
R-Series Hexapod Assembly Instructions 21
[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.
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R-Series Hexapod Assembly Instructions 22
Wiring Example
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R-Series Hexapod Assembly Instructions 23
Wiring Diagram
Fiber
Power
BaseStraight Connector
ShoulderRight Angle Connector
ElbowStraight Connector
Back toChassis
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R-Series Hexapod Assembly Instructions 24
3 x
Install cables beforeadding caps
2 xA-2090-02
1 xA-2231-01
1 xA-2232-01
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Right LegsR-Series Hexapod Assembly Instructions 25
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3 x
R-Series Hexapod Assembly Instructions 26
1 xA-2222-01
Flat face towards inside
M6x10mm
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3 x
R-Series Hexapod Assembly Instructions 27
1 xA-2222-01
1 xR8-9
Straight ConnectorAlign with actuator
output hub tick mark(inside face parallel with tick mark)
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R-Series Hexapod Assembly Instructions 28
3 x
1 xR8-16
Right Angle Connector
Connectors of both modulespoint the same way
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R-Series Hexapod Assembly Instructions 29
3 x
1 xPP-2200-02
[300mm]1 x
A-2218-011 x
A-2219-01
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R-Series Hexapod Assembly Instructions 30
3 x3 x
3 x
Align with actuatoroutput hub tick mark
(Tube aligns with tick mark)
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R-Series Hexapod Assembly Instructions 31
3 x
1 xA-2188-02
1 xA-2263-57-30
(Gas Spring – 30lbs.)
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R-Series Hexapod Assembly Instructions 32
3 x3 x
3 x
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R-Series Hexapod Assembly Instructions 33
3 x
1 xPP-2335-01
1 xPP-2200-02
[300mm]1 x
A-2218-01
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R-Series Hexapod Assembly Instructions 34
3 x
1 xR8-9
Straight Connector
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R-Series Hexapod Assembly Instructions 35
3 x3 x
3 xAlign with actuator
output hub tick mark
(Tube aligns with tick mark)
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R-Series Hexapod Assembly Instructions 36
3 x
1 xA-2219-01
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R-Series Hexapod Assembly Instructions 37
Wiring Diagram
Fiber
Power
BaseStraight Connector
ShoulderRight Angle Connector
ElbowStraight Connector
Back toChassis
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R-Series Hexapod Assembly Instructions 38
3 x
Install cables beforeadding caps
2 xA-2090-02
1 xA-2231-01
1 xA-2232-01
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R-Series Hexapod Assembly Instructions 39
Final Assembly
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R-Series Hexapod Assembly Instructions 40
3 x3 x
Loosen M5 X 16mm Screwsto create clearance for the tube
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R-Series Hexapod Assembly Instructions 41
Leg LayoutView from Top of Robot
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R-Series Hexapod Assembly Instructions 42
Wiring DiagramView from Top of Robot
Router
Ethernet Cable
POF EthernetMedia Converter
Power and M-Stop
Fiber Cable
Fiber Coupler
FromLeg1 Elbow
FromLeg3 Elbow
FromLeg5 Elbow
FromLeg6 ElbowFrom
Leg4 Elbow
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R-Series Hexapod Assembly Instructions 43
Install cables beforeadding caps
6 xA-2231-01
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R-Series Hexapod Assembly Instructions 44
Leg DimensionsView from Top of Robot
Forward
325mm
262.5mm
362.5mm
325mm
315mm
315mm
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R-Series Hexapod Assembly Instructions 45© HEBI Robotics 2019