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HEBI Robotics Edward Assembly Instructions Manual

X-series, mobile manipulator on omni-directional base
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Edward
Mobile Manipulator on Omni-Directional Base
Assembly Instructions

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Summary of Contents for HEBI Robotics Edward

  • Page 1 Edward Mobile Manipulator on Omni-Directional Base Assembly Instructions...

  • Page 2: General Warnings And Cautions

    - 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 Edward Assembly Instructions...
  • Page 3 Robot Workspace Max Reach: 0.65m Wingspan: ~1.5m Max Height: ~1.0m Can reach objects on ground or on a shelf Wheel Base: ~0.5m Fits through most doorways (with arms in) X-Series Edward Assembly Instructions...
  • Page 4 [2” x 1” T-Slot 6” Length] PP-2146-01 PP-2143-01 PP-2144-01 PP-2189-01 T-Slot Corner Plate T-Slot 2x2 Corner Bracket Rubber Bumper Spring Mount Bracket -2185-01 -2076-01 -2067-01 6” Omni Wheel Wheel Adapter Disk Grippers fasteners included, not shown X-Series Edward Assembly Instructions...
  • Page 5 Power Distribution Board Ethernet Coupler LiGo Battery A-2046-12 A-2046-18 A-2046-24 Power Cable, 12” Length Power Cable, 18” Length Power Cable, 24” Length PP-2061-01 PP-2059-01 PP-2060-01 Ethernet Cable, 36” Length Ethernet Cable, 12” Length Ethernet Cable, 24” Length X-Series Edward Assembly Instructions...

  • Page 6: Wiring Notes

    Wires that come from the daisy-chain power connections. previous joint should be inserted These fit well within the tubes between actuators. directly to actuator ports. Wires that connect to the next joint should be threaded through the actuator’s bore hole. X-Series Edward Assembly Instructions...
  • Page 7 Table of Contents Assembly Quantity Image Pages Chassis [8-12] Spine [13-22] 1x Left Arms [23-31] 1x Right Final [32-37] X-Series Edward Assembly Instructions...

  • Page 8: X-Series Edward Assembly Instructions

    Chassis X-Series Edward Assembly Instructions...

  • Page 9: Wheel

    A-2127-01 X8-3 Hexagonal Wireless Chassis A-2043-01 X8-3 ¼”-20 (T-slot nut) ¼”-20 x ½” (BHCS) “Wheel 1” X8-3 M5x10mm (FHCS) Rubber bumpers will need to be “Wheel 2” removed in order to slide in T-slot nuts X8-3 X-Series Edward Assembly Instructions...
  • Page 10 M5x8mm -2185-01 6” Omni Wheel -2076-01 Wheel Adapter M4x55mm X-Series Edward Assembly Instructions...

  • Page 11: Chassis Wiring

    Chassis Wiring Legend *Cabling will be provided with assembled chassis Power Cable Ethernet Cable Battery Wheel 3 Wheel 1 Wheel 2 X-Series Edward Assembly Instructions...
  • Page 12 Chassis Bulkhead Layout X-Series Edward Assembly Instructions...
  • Page 13 Spine X-Series Edward Assembly Instructions...
  • Page 14 ¼”-20 (80-20 T-Nut) ¼”-20 x ½” (BHCS) A-2043-01 X8-16 M5x10mm (FHCS) “Ankle” X8-16 X-Series Edward Assembly Instructions...
  • Page 15 M5x16mm PM-2200-02 -2039-02 -2038-02 [300mm] M5x16mm X-Series Edward Assembly Instructions...
  • Page 16 300mm M5x10mm Align with actuator output hub tick mark (Tube aligns with tick mark) X-Series Edward Assembly Instructions...
  • Page 17 M5x16mm M5x16mm PM-2200-02 [300mm] -2038-02 A-2118-01 X-Series Edward Assembly Instructions...
  • Page 18 M5x8mm Align with actuator output hub tick mark (Tube aligns with tick mark) “Knee” X8-16 8-16 M5x10mm X-Series Edward Assembly Instructions...
  • Page 19 PM-2200-01 [150mm] M5x16mm X-Series Edward Assembly Instructions...
  • Page 20 ¼”-20 x ½” (SHCS) PP-2143-01 Rubber Bumper PP-2141-06 [2” x 1” T-Slot 6” Length] Align such that T-slot nuts are tangent to bottom of T-slot extrusion. X-Series Edward Assembly Instructions...
  • Page 21 90mm ¼”-28 x ¾” (SHCS) Gas springs require washer for flush mounting -2088-200-20 [Gas Spring – 20lbs.] A-2083-01 PP-2144-01 Spring Mount Bracket ¼”-20 x ½” (BHCS) Remove safety clips when installing spring on ball end studs. X-Series Edward Assembly Instructions...
  • Page 22 Spine Wiring <From Left Arm> 1’ <To Left Arm> <To Right Arm> 24” 24” 1’ 2’ 24” Knee 12” 2’ 12” Legend Power Cable Ethernet Cable 18” Ankle Power Distribution 1’ <To Chassis> Ethernet Coupler X-Series Edward Assembly Instructions...
  • Page 23 “Right” “Left” Arms (1x Left & 1x Right) X-Series Edward Assembly Instructions...
  • Page 24 M5x12mm Step 2 of 2 -2040-01L -2040-01R Step 1 of 2 M6x12mm A-2039-02 “Base” X5-9 Align with actuator M5x10mm FHCS output hub tick mark (face parallel with tick mark and X-Series Edward Assembly Instructions mounting hole pointed on same side)
  • Page 25 1x L 1x L 1x R 1x R “Shoulder” X5-9 M5x14mm X-Series Edward Assembly Instructions...
  • Page 26 M5x16mm PM-2200-02 -2039-02 -2038-02 [300mm] M5x16mm X-Series Edward Assembly Instructions...
  • Page 27 M5x16mm PM-2200-02 -2039-02 -2038-02 [300mm] M5x16mm X-Series Edward Assembly Instructions...
  • Page 28 1x L 1x R 1x L 1x R M5x10mm Align with actuator output hub tick mark (Tube aligns with tick mark) X-Series Edward Assembly Instructions...
  • Page 29 1x L 1x R “Elbow” M5x8mm X5-4 1x L 1x R M5x10mm Align with actuator output hub tick mark (Tube aligns with tick mark) X-Series Edward Assembly Instructions...
  • Page 30 1x L 1x R -2067-01 Disk Grippers M5x8mm “Wrist” X5-4 M5x14mm X-Series Edward Assembly Instructions...
  • Page 31 12” 12” Left Base Right Base 18” 1’ 1’ Left Wrist 18” Right Wrist Left Base Right Base Legend <From Spine> Power Cable Ethernet Cable <From Spine> <To Right Arm> Power Distribution (via spine) Ethernet Coupler X-Series Edward Assembly Instructions...

  • Page 32: Final Assembly

    Final Assembly X-Series Edward Assembly Instructions...
  • Page 33 20mm (from origin) ¼”-20 x ½” (BHCS) ¼”-20 (80-20 T-Nut) PP-2146-01 T-Slot Corner Plate PP-2189-01 T-Slot 2x2 Corner Bracket X-Series Edward Assembly Instructions...
  • Page 34 1x L 1x R M5x16mm M5x16mm X-Series Edward Assembly Instructions...
  • Page 35 X-Series Edward Assembly Instructions...

  • Page 36: Wiring Diagram

    (refer to subassembly wiring diagrams) Left Elbow Right Elbow Right Base Left Base Left Wrist Right Wrist Right Base Left Base Knee Ankle Wheel 3 Legend Power Cable Ethernet Cable Power Distribution Ethernet Coupler Wheel 1 Wheel 2 Battery X-Series Edward Assembly Instructions...
  • Page 37 M2x8mm A-2091-01 A-2090-01 Install all cables before attaching covers M2x8mm X-Series Edward Assembly Instructions...
  • Page 38 © HEBI Robotics 2018 X-Series Edward Assembly Instructions...