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HEBI Robotics 6-DoF Assembly Instructions Manual

Arm kit
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Summary of Contents for HEBI Robotics 6-DoF

  • Page 2 - 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 6-DoF Arm Assembly Instructions...

  • Page 3: Side View

    Axis 5 – Wrist 2 Continuous provide different payload capacities. 540°/s [Default: X5-1] (limited by wiring) Side View Axis 6 – Wrist 3 Continuous 540°/s [Default: X5-1] (limited by wiring) Top View Max Reach: 0.750m 750mm Half Reach: 0.375m X-Series 6-DoF Arm Assembly Instructions...
  • Page 4 0.4 Nm X8-9 1.1 Nm 23 N X8-16 2.0 Nm 40 N *Values assume a symmetric two-finger grasp ** Default Module 10mm 4 X M3 THRU 10mm 10mm 12mm 4 X M3 THRU 79.5mm 23mm 113mm X-Series 6-DoF Arm Assembly Instructions...
  • Page 5 -2091-02 -2200-02 -2088-90-30 A-2188-01 -2043-01 -2040-01R -2042-01R [300mm] (Gas Spring – 30lbs.) PM-2222-01 PP-2241-01 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) X-Series 6-DoF Arm Assembly Instructions...
  • Page 6 A-2128-01 A-2048-02 Power Distribution Board Power Jumper A-2046-12 A-2046-18 A-2046-24 Power Cable, 12” Length Power Cable, 18” Length Power Cable, 24” Length PP-2059-01 PP-2061-01 Ethernet Cable, 12” Length Ethernet Cable, 36” Length X-Series 6-DoF Arm Assembly Instructions...
  • Page 7 X-Series 6-DoF Arm Assembly Instructions...
  • Page 8 M5x16mm PM-2200-02 M5x16mm [300mm] A-2038-03 A-2039-03 X-Series 6-DoF Arm Assembly Instructions...
  • Page 9 Step 2 of 2 X8-9 A-2040-01R M6x12mm Step 1 of 2 Axis 1: Base Default X8-9 M5x10mm FHCS Align with actuator output hub tick mark (face parallel with tick mark and X-Series 6-DoF Arm Assembly Instructions mounting hole pointed on same side)
  • Page 10 Axis 2: Shoulder Default X8-16 X8-16 M5x14mm X-Series 6-DoF Arm Assembly Instructions...
  • Page 11 M5x16mm Align with actuator output hub tick mark (Tube aligns with tick mark) M5x10mm A-2088-90-30 A-2188-01 (Gas Spring – 30lbs.) Gas springs require washer for flush mounting (included in A-2088-90-30) X-Series 6-DoF Arm Assembly Instructions...
  • Page 12 Axis 3: Elbow Default X8-9 5x8mm 5x10mm X8-9 Align with actuator output hub tick mark (Tube aligns with tick mark) X-Series 6-DoF Arm Assembly Instructions...
  • Page 13 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 6-DoF Arm Assembly Instructions...
  • Page 14 Align with actuator output hub tick mark X5-1 A-2042-01R 5x10mm Axis 6: Wrist 3 Default X5-1 5x12mm X-Series 6-DoF Arm Assembly Instructions...
  • Page 15 X-Series 6-DoF Arm Assembly Instructions...
  • Page 16 X-Series 6-DoF Arm Assembly Instructions...
  • Page 17 Spool Default X5-9 X-Series 6-DoF Arm Assembly Instructions...
  • Page 18 M5x12mm PM-2293-01 PM-2292-01 M3x35mm Spool Housing Spool Clocking for the Spool does not matter Wire Actuated Gripper Assembly Instructions...
  • Page 19 M5x12mm M3x50mm PM-2293-01 PM-2292-01 Spool Housing Spool 12 x PM-2467-01 M3 5.9mm OD Flat Washer (Use for X8 Spool ONLY) PM-2467-01 Clocking for the Spool does not matter Wire Actuated Gripper Assembly Instructions...
  • Page 20 M5x8mm PM-2190-03 (A-2089-02) Housing Mid-Tube Adapter X-Series 6-DoF Arm Assembly Instructions...
  • Page 21 PM-2148-01 Tube Clamp X-Series 6-DoF Arm Assembly Instructions...
  • Page 22 The Last Module on the Arm M5x8mm Align with actuator output hub tick mark X-Series 6-DoF Arm Assembly Instructions (Fingers perpendicular to the tick mark)
  • Page 23 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 6-DoF Arm Assembly Instructions...
  • Page 24 18” 12” 12” Spool 12” 36” 18” 12” 12” Wrist 1 Power Cable 12” Ethernet Cable 12” 18” Shoulder Power Distribution 18” Power Jumper 24” 24” Power Supply Wrist 2 Wrist 3 36” Base network X-Series 6-DoF Arm Assembly Instructions...

  • Page 25: Power Distribution

    36” Elbow 12” 18” 12” 12” 36” 12” 12” Wrist 1 Power Cable 12” Ethernet Cable 12” 18” Shoulder Power Distribution 18” Power Jumper 24” 24” Power Supply Wrist 2 Wrist 3 36” Base network X-Series 6-DoF Arm Assembly Instructions...
  • Page 26 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 6-DoF Arm Assembly Instructions...
  • Page 27 PP-2240-01 PP-2239-01 Cable Housing Cable PM-2222-01 Cable Housing Adapter X-Series 6-DoF Arm Assembly Instructions...
  • Page 28 X-Series 6-DoF Arm Assembly Instructions...
  • Page 29 X-Series 6-DoF Arm Assembly Instructions...
  • Page 30 PM-2290-01 Cable Clamp M3x8mm X-Series 6-DoF Arm Assembly Instructions...
  • Page 31 2x8mm 2x8mm A-2143-02 A-2090-02 A-2091-02 2x8mm Install cables before adding caps 2x8mm 2x8mm X-Series 6-DoF Arm Assembly Instructions...
  • Page 32 Initializing the Spool, pt. 1 Connect the Spool Module into the network, and turn it on Open HEBI Scope GUI III. Set the Strategy of the Spool Module to Command the Effort to -5 Nm “STRATEGY_4” 1. Go to “Monitoring” tab 1.
  • Page 33 Initializing the Spool , pt. 2 While Commanding the Effort, set the current Stop commanding the effort, and command the position to “-0.7” position to 0. 1. Go to “Dashboard” tab 1. Go to “Monitoring” tab 2. Toggle “Params” as shown 2.
  • Page 34 Initializing the Spool, , pt. 3 *If the Safety Limits are not set, the spool can turn to a position greater than zero, and break the cable.* *To close the gripper, turn the spool clockwise (negative effort).* *To open the gripper, turn the spool counter- clockwise (positive effort)* VII.
  • Page 35 • Magnet embedded end effector (A-2081-01) • Interfaces with hex shaft driver bits for screwing/bolting tasks • Screwdriver bits not included • HEBI I/O Board (A-2116-01) • Integrate with 3 party end effectors or tools using HEBI APIs X-Series 6-DoF Arm Assembly Instructions...
  • Page 36 © HEBI Robotics 2018 X-Series 6-DoF Arm Assembly Instructions...