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Trossen Robotics WidowX MKII Assembly Manual

Robot arm
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28.09.2017
This Guide is for the WidowX Robot Arm MK-II. The assembly guide for the original WidowX
Robot Arm MK-I can be found
1.5mm Hex Key (Included)
http://www.trossenrobotics.com/productdocs/assemblyguides/widowx-robot-arm-mk2.html
WidowX Robot Arm Assembly Guide
WidowX MKII Robot Arm
Guide Version
here
Tools Needed
1/24

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Summary of Contents for Trossen Robotics WidowX MKII

  • Page 1 28.09.2017 WidowX Robot Arm Assembly Guide WidowX MKII Robot Arm Guide Version This Guide is for the WidowX Robot Arm MK-II. The assembly guide for the original WidowX Robot Arm MK-I can be found here Tools Needed 1.5mm Hex Key (Included) http://www.trossenrobotics.com/productdocs/assemblyguides/widowx-robot-arm-mk2.html...

  • Page 2: Parts List

    28.09.2017 WidowX Robot Arm Assembly Guide 2mm Hex Key (Included) 2.5mm Hex Key (Included) Small Flat Head Screw Driver Parts List Note: Some of the parts in some assemblies come packaged in separate smaller bags because they come with a bracket or other various parts. Please review the entire parts list to ensure you have all necessary components.
  • Page 3 28.09.2017 WidowX Robot Arm Assembly Guide http://www.trossenrobotics.com/productdocs/assemblyguides/widowx-robot-arm-mk2.html 3/24...
  • Page 4 28.09.2017 WidowX Robot Arm Assembly Guide http://www.trossenrobotics.com/productdocs/assemblyguides/widowx-robot-arm-mk2.html 4/24...
  • Page 5 28.09.2017 WidowX Robot Arm Assembly Guide 10 X 22 X 10 X 14 X 32 X 10 X 16 X 24 X 18 X 40 X 12 X 24 X http://www.trossenrobotics.com/productdocs/assemblyguides/widowx-robot-arm-mk2.html 5/24...

  • Page 6: Assembly Tips

    28.09.2017 WidowX Robot Arm Assembly Guide NOTE: The M2 X 4, M2.5 X 4, and M2.5 X 6 listed here are included in the ROBOTIS bracket and horn packs you have recieved with your arm. Keep that in mind when checking your part counts.

  • Page 7: Horn Installation

    28.09.2017 WidowX Robot Arm Assembly Guide excess off onto the side of the spoon. Building with Turbo Fuse & Turbo Lock Horn Installation Mount one each of the HN05-N102 Servo Horn to the two MX-64 servos using a Hex Socket Head M3 x 8mm bolt.
  • Page 8 28.09.2017 WidowX Robot Arm Assembly Guide Mount one each of the Servo Horn to MX-28 servos using the included bolt. There is a notch on the spline, indicating the position of the servo. Make sure this is facing up (centered position) and that the single dot on the horn is aligned with the notch, as shown.
  • Page 9 28.09.2017 WidowX Robot Arm Assembly Guide assemble it as shown. ID The Servos Before Assembly You will need to ID your servos before building. If you have not done so yet, go to the DynaManager Guide and ID your servos. You will need to ID each one of your servos with the appropriate ID shown below, and set their Baud rate to 1mbps from the default of 57600.
  • Page 10 28.09.2017 WidowX Robot Arm Assembly Guide http://www.trossenrobotics.com/productdocs/assemblyguides/widowx-robot-arm-mk2.html 10/24...
  • Page 11 28.09.2017 WidowX Robot Arm Assembly Guide Pre Step: Sand your Gripper Rails AX Parallel Gripper: Fine Tuning For proper functionality of your gripper, please pay attention to this guide. The gripper rails are designed tightly, and you may cause irreversible damage to your gripper if you do not sand it in advance.
  • Page 12 28.09.2017 WidowX Robot Arm Assembly Guide Build the Base Mount Standoffs to the bottom side of the Middle Base. Mount Standoffs for the ArbotiX Board to the bottom side of the Middle Base. Mount Standoff Sets to the top side of the Middle Base.
  • Page 13 28.09.2017 WidowX Robot Arm Assembly Guide Mount the MX-28T Actuator with ID #1 to the top side of the Middle Base. *Insert nuts first in their respective positions for mounting. Mount the ArbotiX Board to the standoffs on the bottom side of the Middle Base. *Note the ArbotiX orientation when mounting.
  • Page 14 28.09.2017 WidowX Robot Arm Assembly Guide Mount the Bottom Base to the standoffs on the bottom side of the Middle Base. Apply the Rubber Feet to the bottom side of the Bottom Base. Pay close attention to the orientation of the plates. Misaligning the plates can cause your arm to be at the wrong angle when centered.
  • Page 15 28.09.2017 WidowX Robot Arm Assembly Guide Mount the Bottom and Top Spacer Plates to the horn of ID #1. Mount the Pan Plate to the inside ring of the Bearing. *Note the Pan Plate orientation when mounting. Mount the FR05-H101 Hinge Frame to the top side of the Pan Plate.
  • Page 16 28.09.2017 WidowX Robot Arm Assembly Guide Mount the Pan Cover to the outer ring of the Bearing and into the standoff assemblies from the Middle Base. *Note the Pan Cover orientation when mounting. Build the Arm Mount the MX-64T Actuator ID #2 to the Hinge Frame.
  • Page 17 28.09.2017 WidowX Robot Arm Assembly Guide Insert the M2.5 nuts in the appropriate sockets and mount the two Shoulder Plates to the Shoulder Servo ID #2 & Elbow Servo ID #3 as shown. Repeat for other side. 16 x Combine the 15mm M-F & 20mm FF Standoffs. Attach between shoulder plates as shown.
  • Page 18 28.09.2017 WidowX Robot Arm Assembly Guide Picture shown for reference (ignore forearm section for now). Run a 200mm cable from the Shoulder servo to the Elbow servo. Next we will build the forearm portion of the arm. Stack Forearm Spacers 3, 4, 5 (2x), as shown and bolt together with the FR07-S101K Frame.
  • Page 19 28.09.2017 WidowX Robot Arm Assembly Guide Attach the X-Long Bracket & Forearm assembly to Elbow Servo ID #3 as shown. You will use the 2x clear spacers included with the bracket assembly. *Note the ID #3 orientation when mounting. The servo should be centered and the forearm should be mounted at 90 degrees from the shoulder.
  • Page 20 28.09.2017 WidowX Robot Arm Assembly Guide Seat 4x M2.5 nuts in the bottom sockets of the ID # 4 servo and attach it to the FR07-S101K Frame as shown. Connect the cable coming from Servo ID # 3 to Servo ID #4. Picture shown for reference, arrows reference bolts in prior step.
  • Page 21 28.09.2017 WidowX Robot Arm Assembly Guide Mount the Top Reverse Bracket on top of the Bottom Reverse Bracket. Mount the AX-12A Actuator ID #5 to the Top Reverse Bracket. *Insert nuts first in their prospective positions for mounting. Mount the Bottom and Middle Wrist Brackets to the horn of ID #5.
  • Page 22 28.09.2017 WidowX Robot Arm Assembly Guide Mount the Top Wrist Bracket to the AX-12A Actuator ID #6. *Insert nuts first in their prospective positions for mounting. Mount the Top Wrist Bracket to the Middle and Bottom Wrist Bracket. Nuts will sit in hex-shaped holes of the Bottom Wrist Bracket.
  • Page 23 28.09.2017 WidowX Robot Arm Assembly Guide *Note the Wrist Section orientation when mounting. *Use the M2x4mm Bolts from the HN07-N101 and HN07-I101 packages. 10 x Connect a cable from ID #5 to ID #6. Attach the loose cable from ID #4 to ID #5. (Bottom View of cable passing through Wrist Brackets.) Wire the Arm...
  • Page 24 28.09.2017 WidowX Robot Arm Assembly Guide http://www.trossenrobotics.com/productdocs/assemblyguides/widowx-robot-arm-mk2.html 24/24...