X-Series Hexapod Assembly Instructions

Transcription

1 X-Series Hexapod Assembly Instructions

2 General Warnings and Cautions Danger (May cause serious injury or death) Keep water, flammables, solvents and other liquids clear from actuator. Never place fingers, arms, toes and other body parts near actuator during operation. Cut power if actuator emits strange odors or smoke. Keep actuator out of reach of children. Warning (May cause injury or damage to actuator) Before operating, read all applicable instructions and notices found here: 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: 5mm tap depth - X8: 7mm tap depth Use provided hardware with accessories and hand tighten as needed. Do not attempt to disassemble actuator, this will void the warranty and can cause permanent damage. For more information please visit: docs.hebi.us X-Series Hexapod Assembly Instructions 2

3 Bill of Materials - Mechanical Default Configuration 12 x X5-4 6 x X x A x A x A x A A R A L A A A R A L 2 x 1.25 OD CF Tube 76mm [3in] 4 x 1.25 OD CF Tube 127mm [5in] 12 x 1.25 OD CF Tube 254mm [10in] 6 x PP x A (Gas Spring 15lbs.) 6 x A A Slip Ring Assembly *if necessary* fasteners included, not shown X-Series Hexapod Assembly Instructions 3

4 Bill of Materials - Electrical 14 x PE Power Distribution Board 6 x PP Ethernet Coupler 6 x PE Power Capacitor A Power Jumper 20 x A Power Cable, 12 Length 12 x A Power Cable, 18 Length 6 x A Power Cable, 24 Length 12 x PP Ethernet Cable, 12 Length 6 x PP Ethernet Cable, 24 Length 6 x PP Ethernet Cable, 36 Length X-Series Hexapod Assembly Instructions 4

5 Table of Contents Assembly Image Pages Chassis [4-7] Left Legs [8-14] Right Legs [15-21] Final (includes wiring) [22-25] X-Series Hexapod Assembly Instructions 5

6 Chassis X-Series Hexapod Assembly Instructions 6

7 M2x8mm 4 x 1.25 OD CF Tube 127mm [5in] A A M5x16mm X-Series Hexapod Assembly Instructions 7

8 M2x8mm 2 x 1.25 OD CF Tube 76mm [3in] A A M5x16mm X-Series Hexapod Assembly Instructions 8

9 M5x16mm M5x16mm M5x16mm 4 x 2 x A A X-Series Hexapod Assembly Instructions 9

10 Left Legs X-Series Hexapod Assembly Instructions 10

11 M5x12mm Step 2 of 2 X5-4 A L Align with actuator output hub tick mark (face parallel with tick mark and mounting hole pointed on same side) M6x12mm Step 1 of 2 Base Default: X5-4 X-Series Hexapod Assembly Instructions 11

12 Shoulder Default: X5-9 X5-9 A L M5x8mm M2x8mm X-Series Hexapod Assembly Instructions 12

13 M2x8mm A A M5x16mm M5x16mm M2x8mm 1.25 OD CF Tube 254mm [10in] A A X-Series Hexapod Assembly Instructions 13

14 50mm ¼-28 x 5/8 Align with actuator output hub tick mark (Tube aligns with tick mark) A (Gas Spring 15lbs.) A M5x10mm M2x8mm X-Series Hexapod Assembly Instructions 14

15 M2x8mm A A M5x16mm 1.25 OD CF Tube 254mm [10in] PP X-Series Hexapod Assembly Instructions 15

16 Align with actuator output hub tick mark (Tube aligns with tick mark) M2x8mm M5x8mm Knee Default: X5-4 M5x10mm X5-4 M2x8mm X-Series Hexapod Assembly Instructions 16

17 Right Legs X-Series Hexapod Assembly Instructions 17

18 M5x12mm Step 2 of 2 X5-4 A R Align with actuator output hub tick mark (face parallel with tick mark and mounting hole pointed on same side) Base Default: X5-4 M6x12mm Step 1 of 2 X-Series Hexapod Assembly Instructions 18

19 Shoulder Default: X5-9 X5-9 A R M5x8mm M2x8mm X-Series Hexapod Assembly Instructions 19

20 M2x8mm A A M5x16mm M5x16mm M2x8mm 1.25 OD CF Tube 254mm [10in] A A X-Series Hexapod Assembly Instructions 20

21 50mm Align with actuator output hub tick mark (Tube aligns with tick mark) ¼-28 x 5/8 A (Gas Spring 15lbs.) A M5x10mm M2x8mm X-Series Hexapod Assembly Instructions 21

22 M2x8mm A A M5x16mm 1.25 OD CF Tube 254mm [10in] PP X-Series Hexapod Assembly Instructions 22

23 Align with actuator output hub tick mark (Tube aligns with tick mark) M5x8mm M2x8mm Knee Default: X5-4 M5x10mm X5-4 M2x8mm X-Series Hexapod Assembly Instructions 23

24 Wiring Notes It is best to wire each limb before moving onto the Final Assembly. See the next page for a full robot wiring diagram. Keeping wires organized will help prevent tangling and add a nice aesthetic. Spiral sleeving is a good accessory for organizing loose wires HEBI X-Series actuators have a thru bore specifically designed to fit ethernet and power connectors. Please pass connectors thru bore hole 1 at a time. For more information visit: docs.hebi.us [Spiral sleeving] Wires that come from the previous joint should be inserted directly to actuator ports. Power distribution boards are included to help daisy-chain power connections. These fit well within the tubes between actuators. Wires that connect to the next joint should be threaded through the actuator s bore hole. X-Series Hexapod Assembly Instructions 24

25 Wiring Diagram X-Series Hexapod Assembly Instructions 25

26 Final Assembly X-Series Hexapod Assembly Instructions 26

27 A Slip Ring Assembly M5x35mm X-Series Hexapod Assembly Instructions 27

28 Forward Left Leg Right Leg Left Leg M5x8mm Left Leg Right Leg M2x8mm Right Leg X-Series Hexapod Assembly Instructions 28

29 HEBI Robotics 2018 X-Series Hexapod Assembly Instructions 29