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SR-RH8D: Unpacking and Mechanical Assembly
Congratulations on your purchase of the SR-RH8D Hand. This hand is the result of years' experience in hand design and use, and it aims at incorporating everything a robot builder needs: reliability^3, ease of use and compatibility with existing robot platforms in both hardware and software.
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.
For a single hand
- 1x SR-RH8D Hand
- Spare Tendons
- Assorted nuts, bolts and friction rings (for the fingers)
For a Pair of Hands
- 2x SR-RH8D Hands
- Assorted nuts, bolts and friction rings (for the fingers)
If you also purchased the PC Interface Board + Power Interface Board
- 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 into 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
Available soon.
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).
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 slightly over 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.
Use supplied M2.5x16mm screws to mount unit. Take care to notice that screws must enter the unit between 12mm and 16mm. This means supplied screws can be used with mounts up to 4mm thick. If thicker mount is to be used, please use longer screw accordingly.
After this step and without applying power, manually rotate unit to confirm assembly was performed correctly. Unit should turn around 180º total.
IMPORTANT:
When tightening screws do not push them in. Screws should be tightened by rotation only.
BEST PRACTICE: we suggest applying thread lock glue to the screws holding the hand. Use of the washers is recommended but not necessary, depending on the mount material
Complete the assembly by connecting a Dynamixel cable from the hand to the nearest interface (servo or PC adapter).
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