HEBI Robotics Rosie Manual de usuario
Rosie
6-DoF Arm w/ Gripper on Omni-Directional Base
Assembly Instructions
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:
http://docs.hebi.us/#quickstart-guide-x-series-actuator
•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 Rosie Assembly Instructions 2
Robot Workspace
X-Series Rosie Assembly Instructions 3
Top View
Wheel Base: 0.5m
Side View
Max Reach: 0.750m
Half Reach: 0.375m
Technical Specifications
X-Series Rosie Assembly Instructions 4
Spool
Module
Max Finger Torque
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
*Values assume a symmetric two-finger grasp
** Default Module
*** Only X5 Modules can be used for the spool
Specifications Value
Weight
16.5 kg
Max Continuous Payload
1.00 kg
Max Peak Payload
3.75 kg
Max Speed (with X8
-3s) 1.0 m/s
Movement Working Range Speed
Axis 1
–Base
[Default: X8
-9] Continuous
(limited by wiring) 180°/s
Axis 2
–Shoulder
[Default: X8
-9] 0°to +70°
(limited by gas spring) 180°/s
Axis 3
–Elbow
[Default: X5
-9]
-155°to +155°
(avoid end effector
collisions)
84°/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
Axis 6
–Wrist 3
[Default: X5
-1] Continuous
(limited by wiring) 540°/s
▪Gripper Specifications*
▪6-DoF Arm Specifications
Stroke Length: 82mm
4 X M3 THRU
79.5mm
Technical Specifications
X-Series Rosie Assembly Instructions 5
82mm
113mm
105.35mm
8mm 12mm
23mm
4 X M3 THRU 4 X M3 THRU
10mm
10mm
10mm
5mm
Bill of Materials - Mechanical*
X-Series Rosie Assembly Instructions 6
fasteners included, not shown
3 x
A-2076-01
Wheel Adapter
3 x
PP-2185-01
6” Omni Wheel
1 x
A-2127-01
Hexagonal Wireless Chassis
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
Default Configuration
3 x
X5-1
1 x
X5-9
3 x
X8-3
2 x
X8-9
1 x
X8-16
2 x
A-2039-02
2 x
A-2091-01
2 x
A-2038-02
2 x
A-2090-01
4 x
A-2043-01
2 x
PM-2200-02
[300mm]
1 x
PP-2239-01
Cable
1 x
A-2055-01
Gripper Assembly
2 x
A-2042-01R
1 x
A-2040-01R
Bill of Materials - Electrical
X-Series Rosie Assembly Instructions 7
4 x
A-2046-12
Power Cable, 12” Length
3 x
A-2046-18
Power Cable, 18” Length
3 x
A-2046-24
Power Cable, 24” Length
5 x
PP-2059-01
Ethernet Cable, 12” Length
2 x
PP-2061-01
Ethernet Cable, 36” Length
3 x
A-2128-01
Power Distribution Board
up to 4 x
PP-2084-01
LiGo Battery
Wiring Notes
•It is best to wire each limb before moving onto the Final Assembly.
•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 one at a time.
For more information visit: docs.hebi.us
X-Series Rosie Assembly Instructions 8
[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.
These fit well within the tubes between actuators.
Table of Contents
Assembly Quantity Image Pages
Chassis 1x [10-14]
6
-
DoF Arm Kit
1x [15-23]
Gripper 1x [24-27]
Final 1x [28-39]
X-Series Rosie Assembly Instructions 9
X-Series Rosie Assembly Instructions 10
Chassis
Tabla de contenidos
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