Related Manuals for Barrett WAM Wrist
Summary of Contents for Barrett WAM Wrist
- Page 1 WAM Wrist Cable-Maintenance Guide Barrett Technology Inc. ® Document: D1004 Version: AG.00...
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Page 2: Table Of Contents
IRCUIT AUTOTENSIONING................13 Barrett Technology, Inc. 625 Mount Auburn Street Cambridge, MA 02138 U.S.A US+617-252-9000 This manual is most useful when printed in color or viewed on screen. © 2008 Barrett Technology®, Inc. Document: D1004, Version: AG.00 Page 2 of 13... -
Page 3: General Wrist Cable Circuit Descriptions
As cables are wrapped onto each pulley or pinion, hold each wrap with your fingers to keep it from unwinding. At the end of each cabling step, one or two pieces of masking tape temporarily immobilize transmission elements and keep cables in place. © 2008 Barrett Technology®, Inc. Document: D1004, Version: AG.00 Page 3 of 13... -
Page 4: Terminology
Unlike the 4-DOF WAM, the Phase leads for the Wrist motors should NOT be unplugged when cabling. The Wrist should be mounted in a vertical orientation (tool end facing up). If a Barrett Hand was purchased, the Wrist can be secured in the Lexan stand. - Page 5 6 times (note the cable comes off of the pulley almost exactly above the brass termination). Figure 4: Example of counting the number of wraps © 2008 Barrett Technology®, Inc. Document: D1004, Version: AG.00 Page 5 of 13...
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Page 6: Cables And Cabling Order
(all 3 stages) before working on the other motor side. If a differential cable needs to be replaced, it is possible to replace it without having to remove all other cables. Contact Barrett for assistance. If a stage 1 cable needs to be replaced, it is generally possible to do this without removing the other cables in the transmission. - Page 7 Cross over to the Level 2 vertical step, rotate the vertical step (the tensioner worm is not yet installed) as necessary to allow the second termination to be inserted into the anchor on the second step. Then, rotate it back to tighten the cables. © 2008 Barrett Technology®, Inc. Document: D1004, Version: AG.00...
- Page 8 □ 16. Replace the missing wiring shield assembly and blue RTV shrouds. Make sure the plastic pins in the shrouds align properly with each other. © 2008 Barrett Technology®, Inc. Document: D1004, Version: AG.00 Page 8 of 13...
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Page 9: M5 Stage-3
□ 12. Continue on to Section 6 and follow the directions for the M5 circuit leaving the thin tape around the pinion split in place for now. Figure 12 – Taping the M5 Stage-3 Pinion Split © 2008 Barrett Technology®, Inc. Document: D1004, Version: AG.00 Page 9 of 13... -
Page 10: M6 Stage-3
□ 12. Continue on to Section 6 and follow the directions for the M6 circuit leaving the thin tape around the pinion split in place for now. © 2008 Barrett Technology®, Inc. Document: D1004, Version: AG.00 Page 10 of 13... -
Page 11: M5 And M6 Stages 1 And 2
□ 8. Immobilize the top of the pinion with tape to prevent Stage-2 from unraveling. Stage-2 should now look like Figure 18. Figure 18 – Stage-2 Final Configuration © 2008 Barrett Technology®, Inc. Document: D1004, Version: AG.00 Page 11 of 13... -
Page 12: M5 And M6 Stage-1
Clutch Housing with the push-pull hook to tension the entire cable circuit. CORRECT INCORRECT Cables do not wrap over splits Cables cross splits before transition Figure 22 -- Proper Position of Wrist Cables for Pre-Tensioning © 2008 Barrett Technology®, Inc. Document: D1004, Version: AG.00 Page 12 of 13... -
Page 13: Autotensioning
3) Repeat step 2 six times. 4) Repeat steps 1-3 six times minimum until cables are reasonable taught. 7 Autotensioning Full instructions for using the Wrist’s autotensioning mechanism are coming soon. Contact Barrett Technology for assistance. © 2008 Barrett Technology®, Inc. Document: D1004, Version: AG.00...
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