Boston Acoustics Spot Information For Use
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Boston Acoustics Spot Information For Use

Boston Acoustics Spot Information For Use

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Spot + Spot Arm
Information for Use (IFU)
v1.0 Original instructions
Boston Dynamics, Inc.

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Summary of Contents for Boston Acoustics Spot

  • Page 1 Spot + Spot Arm Information for Use (IFU) v1.0 Original instructions Boston Dynamics, Inc.
  • Page 2 Spot + Spot Arm Information for Use v1.0 © Boston Dynamics, Inc. 2021 All rights reserved Version 1.0 April 2021 Boston Dynamics, Inc. 200 Smith St. Waltham, MA 02451 +1 617-868-5600 support@bostondynamics.com Boston Dynamics, Inc.

  • Page 3: Table Of Contents

    1.1 Manufacturer information 1.2 Definition of a Spot User 1.3 Definition of a Spot Operator 1.4 Description of the machinery 1.4.1 Properties of the Spot + Spot Arm robot 1.5 Robot specifications 1.5.1 Spot Arm workspace 2 Product safety overview 2.1 Important safety notice...
  • Page 4 Spot + Spot Arm Information for Use v1.0 2.7 Laser 2.8 General warnings 3 Safety features 3.1 Torque limitation 3.2 Stopping functions 3.2.1 Manual stop using the controller 3.2.2 Protective stop 3.2.3 Stopping time and distance 4 Transport, handling, and storage 4.1 Transport...
  • Page 5 8.1 EU Declaration of Incorporation Boston Dynamics, Inc.

  • Page 6: Introduction

    Waltham, MA 02451 1.2 Definition of a Spot User In the scope of the present document, a “User” is the entity that uses Spot Arm for the intended use and is responsible for the personnel associated with operation of the robot.

  • Page 7: Description Of The Machinery

    ● The Spot unit (quadruped part) uses embedded sensors to detect the surrounding environment. ● The Spot Arm (manipulator part) has no detection sensors. Spot + Spot Arm uses a complex set of control algorithms to manipulate objects while balancing and moving around.

  • Page 8: Robot Specifications

    175 mm Peak clamp force (at tip of opening) 130 N Integrated sensors ToF, 4K RGB Accessory port Gigabit Ethernet, 50W power, camera sync (PPS) The combined weight of the Spot Arm (manipulator and gripper) is 8 kg. Boston Dynamics, Inc.
  • Page 9 Normal stand height (with Spot 830 mm Arm stowed) Normal stand height (with Spot 1700 mm Arm extended straight up) Tall stand height (with Spot Arm 1820 mm extended straight up) Net weight (with battery) 32.5 kg Degrees of freedom Max.

  • Page 10: Spot Arm Workspace

    1.5.1 Spot Arm workspace The working space of Spot Arm is determined by the volume used to plan and execute a trajectory, which depends on the combination of the following factors: ● Volume (maximum space) where the manipulator can move ●...
  • Page 11 Spot Arm joint axis designations Spot Arm joint ROM and length of links (in millimeters) Boston Dynamics, Inc.

  • Page 12: Product Safety Overview

    2. Before designing and commissioning Spot + Spot Arm applications 2.1 Important safety notice Spot + Spot Arm is a partly completed machinery and the use and safety of the robot depends on specific applications to be implemented by the User including, but not limited to, tools and parts manipulated, equipment that is part of the application, and safeguards that may be integrated.

  • Page 13: Intended Use

    Spot + Spot Arm is not intended for collaborative applications involving human contact or proximity to humans. Spot + Spot Arm should only be used in dedicated areas where access is restricted or where demarcation is made clear to Operators.

  • Page 14: Risk Assessment

    Spot + Spot Arm is a versatile machine capable of complex movements. Mechanical hazards, in particular, depend on specific applications and the robot’s posture. A risk assessment must be conducted before Spot + Spot Arm is used for the identified application for the first time.

  • Page 15: Hazards

    Boston Dynamics has identified the following significant hazards, which must be considered by the User when conducting a risk assessment: ● Bruising on the lower body due to contact with any part of Spot + Spot Arm after general falls and loss of balance on elevated or inclined surfaces.
  • Page 16 Spot + Spot Arm Information for Use v1.0 Spot + Spot Arm pinch point hazards No intentional accesses to powered moving joints should be part of any intended use. When performing the risk assessment, consider: The severity of hazards associated with pinch ●...

  • Page 17: Estimating Spot Arm Workspace Extension

    2.4.3 Estimating Spot Arm workspace extension The workspace of Spot Arm extends approximately 1 m beyond the footprint of the base of Spot. Spot + Spot Arm workspace dimensions The highest point of reach combines the height of the quadruped robot unit and the elevation angle of the manipulator.
  • Page 18 Spot + Spot Arm Information for Use v1.0 The principal figures for estimating the extension of the Spot + Spot Arm workspace are reported in the following table. Dimension Description Typical value/range Notes Maximum extension of Spot 985 mm At the tip of the...

  • Page 19: Estimating The Risk Of Unexpected Movements During Manipulation

    2.4.4 Estimating the risk of unexpected movements during manipulation Operating and practicing with Spot + Spot Arm may produce unexpected movements in any direction. The fastest movements are correlated with the swing of the manipulator around the vertical axis exiting from the shoulder joint with the manipulator fully extended. This configuration is rarely used for manipulation and locomotion.

  • Page 20: Estimating The Risks Associated With Manipulation And Balancing

    Refer to Spot Instructions for Use on the Boston Dynamics Support Center for more information. 2.4.6 Estimating the risks associated with navigation The Spot + Spot Arm is intended to navigate in an environment with the manipulator in Stowed pose. Boston Dynamics, Inc.

  • Page 21: Estimating The Risks Associated With Collisions

    Boston Dynamics Support Center for details about safe navigation. Moving Spot Arm during robot navigation may affect the balancing capability of Spot + Spot Arm, resulting in potentially large displacements around the expected trajectory, fast recovery of occasional unbalances, and rapid compensation movements.

  • Page 22: Ppe

    ● 1600 mm/s. 2.5 PPE While operating Spot + Spot Arm, no additional PPE is needed other than what is required in the User’s industrial environment. However, wearing safety footwear is recommended. 2.6 EMC considerations Spot and Spot Arm have been tested for EMC compliance according to standards related to heavy industrial environments.

  • Page 23: Laser

    Make sure that there is sufficient clearance ● during training and setup to avoid contact with people and objects or fixtures due to unexpected movements. Do not stay on either side of Spot + Spot Arm ● during teaching or setting tasks. Boston Dynamics, Inc.

  • Page 24: Safety Features

    Spot + Spot Arm Information for Use v1.0 3 Safety features 3.1 Torque limitation Manipulator joint torque is mechanically limited as indicated in the following table: Joint Axis Max torque 90 Nm 90 Nm 20 Nm 20 Nm 20 Nm...

  • Page 25: Stopping Functions

    3.2.1 Manual stop using the controller To suspend robot motion, press the B button on the controller to stop Spot + Spot Arm. The robot will pause and stand in place. If Spot is seated, it will remain seated. To de-energize the robot motors: 1.

  • Page 26: Protective Stop

    Stow position by pressing B twice (B + B) on the controller. 3.2.2 Protective stop Spot + Spot Arm can be stopped by interfacing an external safeguard signal to the payload port. The stopping function will de-energize all motors (legs and manipulator). Boston Dynamics, Inc.
  • Page 27 When activated, the stopping function will cause the robot to lose its ability to stand and balance. The Spot Arm will NOT keep its joints locked. On flat ground, Spot + Spot Arm lowers its body and the manipulator collapses on top of Spot.

  • Page 28: Stopping Time And Distance

    The maximum response time for the stopping function is 200 ms. The de-energized safe state after a stop results from the Spot + Spot Arm gradually or suddenly going into the ground, with all motors powered off. The configuration of legs and manipulators is not predictable, as it depends on the dynamics of the stop.
  • Page 29 Minimum stopping clearance forward and back Minimum stopping clearance laterally Boston Dynamics, Inc.

  • Page 30: Transport, Handling, And Storage

    Spot + Spot Arm Information for Use v1.0 4 Transport, handling, and storage 4.1 Transport Spot Arm is transported in two customized cases designed exclusively for the robot and its associated components. Do not discard the cases after removing Spot + Spot Arm.

  • Page 31: Safe Handling

    4.2 Safe handling Refer to the Boston Dynamics Support article Spot Arm boxing and unboxing information about moving the manipulator part of Spot Arm during boxing and unboxing procedures. Spot Arm must be manually configured in Stow position before lifting Spot + Spot Arm.
  • Page 32 Two people are required to lift Spot + Spot Arm. Spot has a handle at each hip joint. Use these to lift, carry, and roll the robot. When using the handles, hands and fingers can be pinched.

  • Page 33: Proper Two-Person Lift

    Spot + Spot Arm combined weighs 40 kg and can be awkward to carry, particularly with attached payloads. Grab the handles and maintain safe lifting precautions. To lift Spot + Spot Arm, two people will need to assist, with one at the front and one at the rear. Two-person lift using grasp handles 4.2.2 PPE...

  • Page 34: Storage

    Spot + Spot Arm Information for Use v1.0 4.3 Storage Store Spot + Spot Arm in a dry location that has adequate temperature controls. Spot + Spot Arm can be safely stored in temperatures between -30°C and 40°C, with relative humidity between 30% and 70%.

  • Page 35: Installation And Commissioning

    first time. Battery setup and charging Spot + Spot Arm is powered by a removable lithium-ion battery pack. The battery can be charged standalone using the robot’s battery charger or while installed in the robot. The robot’s battery must be removed from the robot when not in use.
  • Page 36 Spot + Spot Arm Information for Use v1.0 Inserting the battery To reduce the risk of electric shock and fire: Use a properly grounded outlet. Do not use ● ground adapters or a replacement plug. Do not touch uninsulated parts of the output ●...

  • Page 37: Use Of The Machine

    6 Use of the machine The Spot + Spot Arm can be operated in various manipulation modes. Details and illustrated procedures are collected in a series of training videos on the Boston Dynamics Support Center. Preprogrammed poses: Stowed and Ready Spot Arm has two predefined positions.

  • Page 38: Typical Tasks

    When a preset pose is requested by commands, the Spot Arm will quickly move to the final configuration. Pressing B twice (B +B) on the controller will return the Spot Arm to the Stow pose, immediately halting the execution of the current action.
  • Page 39 Drag The robot drags an object it cannot lift. ⚠ WARNING: In the event of loss of grasp during dragging, the Spot Arm may experience large compensation movements. Door opening Two door behaviors are available: Open Door and Open Grasped Door.

  • Page 40: Maintenance

    3. Check that manipulator and gripper outer coverings do not present visible evidence of damage. Do not attempt to repair the Spot or Spot Arm. Spot Arm is not meant to be repaired by Users. Contact Boston Dynamics Support for help servicing Spot or Spot Arm by emailing support@bostondynamics.com.

  • Page 41: Compliance Statement

    8.1 EU Declaration of Incorporation Products in the scope of the Declaration of Incorporation: ● Spot + Spot Arm (a robot composed of a mobile unit equipped with 4 articulated limbs for locomotion and a multi-axis manipulator assembled on top of the mobile unit, controlled by a shared controller).
  • Page 42 Spot + Spot Arm Information for Use v1.0 Other Technical Standards Used: ● EN ISO 12100:2010, EN 60204-1:2018, ● EN IEC 62133-2:2017, EN IEC 60825-1:2014/A11:2020 Boston Dynamics shall transmit relevant information about the partly completed machinery in response to a reasoned request by the national authorities.

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