rh8d:unpacking_mechanical_assembly

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rh8d:unpacking_mechanical_assembly [2018/02/01 18:45] – created Pedro Ramilorh8d:unpacking_mechanical_assembly [2021/06/15 12:00] (current) SeedR KB Admin
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 ==== Package Contents ==== ==== Package Contents ====
-When unpacking, please check your package contents. The set of spares varies depending on whether you purchased a single hand or a pair.+When unpacking, please check your package contents.
  
 === For a single hand === === For a single hand ===
   * 1x SR-RH8D Hand   * 1x SR-RH8D Hand
-  * Spare Tendons 
-  * Assorted nuts, bolts and friction rings (for the fingers) 
  
 === For a Pair of Hands === === For a Pair of Hands ===
   * 2x SR-RH8D Hands   * 2x SR-RH8D Hands
-  * Assorted nuts, bolts and friction rings (for the fingers) 
  
 +Note: The Bluetooth interface and Capacitive Pads, if ordered, are installed inside the unit. They will not be visible from the outside.
  
-=== If you also purchased the PC Interface Board + Power Interface Board ===+=== If your ordered the PC Interface Board + Power and Data Hub + Power Supply === 
 +  * 1x Power Supply 12V 
 +  * 1x USB to Serial converter cable. \\Typically, this will be a special 2-in-1 cable with miniaturized circuitry built inside the USB connector. 
 +  * 1x Power and Data Hub board 
 +  * 1x or 2x Long connection cable (depending on whether you ordered one unit or a pair or units) 
 +  * 2x Short connection cables 
 + 
 +The Long and Short connection cables are similar and can be interchanged if the user needs. The Long cable is usually used to connect to the main unit but this is not mandatory; any of the cables can be used.
  
-You will also receive: 
-  * 1x USB to UART converter (to connect the PC to the External bus port, the fastest communication option with the lowest latency) 
-  * 1x Power + Data hub board to inject power on the bus 
-  * 1x 12V Power supply 
-  * 2x USB adapter to Power + Data hub cables 
-  * 2x Power + Data hub to RH8D unit cables 
  
 ==== Assembling the unit on your Robot: Overview ==== ==== Assembling the unit on your Robot: Overview ====
  
 +The hand is assembled by means of 8 screws located on the back (“wrist”) position. These screws are designed with common spacing in mind, being compatible with assembly on Robotis Dynamixel Pro Series (such as used in Thor-Mang).
 +{{ :rh8d:8d_2d_edited.jpg?400 |}}
 +
 +{{ :rh8d:back_8d_manual.jpg?400 |}}
 +
 +Assembly screws are already pre-assembled (in green). Remove them, including the washers. Pay attention to NOT remove the screws in red or any other screws as they are structural to the hand assembly.
 +
 +The wrist rotation has aproximately 180º of range. Therefore, for correct assembly, rotate central hub so that triangle in center part aligns with top triangle in outer shell. This corresponds to neutral angle. Wrist will rotate 90 degrees left and right from this position.
  
-Available soon.+Use the pre-assembled M2.5 bolts to mount the unit to your robot.
  
-BEST PRACTICEwe suggest applying thread lock glue (included in your Darwin/Robotis OP[2] kit) to the screws holding the hand.+**IMPORTANT:** Bolts must enter the unit between 12mm and 16mm. Any longer will damage the internals of the unit and may prevent correct rotation of the Wrist; any shorter and appropriate fixation may not be provided.
  
 +After this step and **without applying power, manually rotate unit to confirm assembly was performed correctly**. If you feel any blockage within the 180 degree range, please consult with our technical team through the email support@seedrobotics.com **before powering and using** the unit.
  
-Complete the assembly by connecting a Dynamixel cable from the hand to the nearest interface (servo or PC adapter).+** FINAL NOTES:** 
 +  * When tightening screws __do not press or push them in__. Screws should be tightened by rotation only. 
 +  * Use of the washers is recommended but not essencial, depending on the mounting bracket and your own individual needs. 
 +  * Complete the assembly by connecting the appropriate cable to the main connector at the back of handSee [[common:connectorpinouts_connectionoptions|Connection Diagrams and Connector Pinouts]]
  
  
  

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  • rh8d/unpacking_mechanical_assembly.1517510724.txt.gz
  • Last modified: 2018/02/01 18:45
  • by Pedro Ramilo