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HEBI Robotics Rosie Assembly Instructions Manual

6-dof arm w/ gripper on omni-directional base
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Rosie
6-DoF Arm w/ Gripper on Omni-Directional Base
Assembly Instructions

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Summary of Contents for HEBI Robotics Rosie

  • Page 1 Rosie 6-DoF Arm w/ Gripper 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 Rosie Assembly Instructions...
  • Page 3 Robot Workspace Side View Top View Max Reach: 0.750m Half Reach: 0.375m Wheel Base: 0.5m X-Series Rosie Assembly Instructions...

  • Page 4: Technical Specifications

    Axis 4 – Wrist 1 (avoid end effector 540°/s [Default: X5-1] collisions) Axis 5 – Wrist 2 Continuous 540°/s [Default: X5-1] (limited by wiring) Axis 6 – Wrist 3 Continuous 540°/s [Default: X5-1] (limited by wiring) X-Series Rosie Assembly Instructions...
  • Page 5 Technical Specifications 82mm 105.35mm 10mm 79.5mm 12mm 10mm 10mm 4 X M3 THRU 4 X M3 THRU 23mm 113mm X-Series Rosie Assembly Instructions...
  • Page 6 PP-2240-01 PM-2293-01 PM-2292-01 PM-2290-01 Cable Housing Adapter Cable Housing End Cap Cable Housing Spool Housing Spool Cable Clamp (part of A-2055-01) -2185-01 A-2127-01 -2076-01 6” Omni Wheel Hexagonal Wireless Chassis Wheel Adapter fasteners included, not shown X-Series Rosie Assembly Instructions...
  • Page 7 4 x PP-2084-01 A-2128-01 LiGo Battery Power Distribution Board 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 Ethernet Cable, 36” Length Ethernet Cable, 12” Length X-Series Rosie Assembly Instructions...

  • Page 8: 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 Rosie Assembly Instructions...
  • Page 9 Table of Contents Assembly Quantity Image Pages Chassis [10-14] 6-DoF Arm Kit [15-23] Gripper [24-27] Final [28-39] X-Series Rosie Assembly Instructions...
  • Page 10 Chassis X-Series Rosie Assembly Instructions...
  • Page 11 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 Rosie Assembly Instructions...
  • Page 12 M5x8mm -2185-01 6” Omni Wheel -2076-01 Wheel Adapter M4x55mm X-Series Rosie Assembly Instructions...

  • Page 13: 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 Rosie Assembly Instructions...
  • Page 14 Chassis Bulkhead Layout X-Series Rosie Assembly Instructions...
  • Page 15 6-DoF Arm Kit (right-inside) X-Series Rosie Assembly Instructions...
  • Page 16 M5x16mm PP-2200-02 M5x16mm [300mm] A-2038-02 A-2039-02 X-Series Rosie Assembly Instructions...
  • Page 17 Step 2 of 2 X8-9 A-2040-01R M6x10mm Step 1 of 2 Axis 1: Base Default X8-9 Align with actuator M5x10mm FHCS output hub tick mark (face parallel with tick mark and X-Series Rosie Assembly Instructions mounting hole pointed on same side)
  • Page 18 Axis 2: Shoulder Default X8-16 X8-16 M5x14mm X-Series Rosie Assembly Instructions...
  • Page 19 Align with actuator output hub tick mark (Tube aligns with tick mark) M5x10mm X-Series Rosie Assembly Instructions...
  • Page 20 Axis 3: Elbow 5x8mm Default X8-9 5x10mm X8-9 Align with actuator output hub tick mark (Tube aligns with tick mark) X-Series Rosie Assembly Instructions...
  • Page 21 Align with actuator output hub tick mark X5-1 A-2042-01R Axis 4: Wrist 1 5x10mm Default X5-1 5x12mm 5x8mm Axis 5: Wrist 2 Default X5-1 X-Series Rosie Assembly Instructions...
  • Page 22 Align with actuator output hub tick mark X5-1 A-2042-01R 5x12mm 5x10mm Axis 6: Wrist 3 Default X5-1 X-Series Rosie Assembly Instructions...
  • Page 23 All axes at zero degrees X-Series Rosie Assembly Instructions...
  • Page 24 Gripper X-Series Rosie Assembly Instructions...
  • Page 25 Spool Default X5-9 X-Series Rosie Assembly Instructions...
  • Page 26 M5x12mm PM-2293-01 PM-2292-01 M3x35mm Spool Housing Spool Clocking for the Spool does not matter X-Series Rosie Assembly Instructions...
  • Page 27 M5x8mm PM-2290-02 Housing Horizontal Tube Adapter X-Series Rosie Assembly Instructions...

  • Page 28: Final Assembly

    Final Assembly X-Series Rosie Assembly Instructions...
  • Page 29 PM-2148-01 Tube Clamp X-Series Rosie Assembly Instructions...
  • Page 30 Align with actuator output hub tick mark (Fingers perpendicular to the tick mark) The Last Module on the Arm A-2055-01 Gripper Assembly M5x8mm X-Series Rosie Assembly Instructions...
  • Page 31 Wiring Diagram 36” Elbow 12” 18” 12” 12” Spool 12” 36” 24” 12” 12” Wrist 1 Power Cable 12” Ethernet Cable 12” 18” Shoulder 18” Power Distribution 24” 24” Wrist 2 Wrist 3 Base <To Chassis> 12” X-Series Rosie Assembly Instructions...
  • Page 32 The arm must be wired before this step ¼”-20 x ½” (BHCS) ¼”-20 (80-20 T-Nut) X-Series Rosie Assembly Instructions...

  • Page 33: Wiring Diagram

    Wiring Diagram (refer to subassembly wiring diagrams) Elbow Spool Wrist 1 Shoulder 24” Wrist 2 Wrist 3 Base Wheel 2 Legend 12” Power Cable Ethernet Cable Power Distribution Ethernet Coupler Wheel 3 Wheel 1 Battery X-Series Rosie Assembly Instructions...
  • Page 34 Make sure that the Cable Housing is long enough to be fully inserted into the Housing End Cap and the Housing Adapter About 100mm of Cable should Cable Housing stick out from the Cable Housing minimum bend radius 25mm 100mm X-Series Rosie Assembly Instructions...
  • Page 35 PP-2240-01 PP-2239-01 Cable Housing Cable PM-2222-01 Cable Housing Adapter X-Series Rosie Assembly Instructions...
  • Page 36 Gripper Cable Routing X-Series Rosie Assembly Instructions...
  • Page 37 X-Series Rosie Assembly Instructions...
  • Page 38 PM-2290-01 Cable Clamp M3x8mm X-Series Rosie Assembly Instructions...
  • Page 39 M2x8mm M2x8mm A-2090-01 A-2091-01 A-2090-01 Install all cables before attaching covers M2x8mm X-Series Rosie Assembly Instructions...
  • Page 40 © HEBI Robotics 2018 X-Series Rosie Assembly Instructions...