Related Manuals for BLUEPRINTLAB Reach Alpha
Summary of Contents for BLUEPRINTLAB Reach Alpha
- Page 1 REACH SYSTEM INTEGRATION MANUAL www.blueprintlab.com tel: +61 (2) 9519 7651 email: info@blueprintlab.com...
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Page 2: Table Of Contents
REACH PRODUCT CODES ........................12 3 SINGLE & DUAL FUNCTION MANIPULATORS ....................13 SPECIFICATIONS ..........................13 INTERFACING ............................14 4 REACH ALPHA 5 ............................16 DIMENSIONS AND COORDINATES ....................... 16 SPECIFICATIONS ..........................17 INTERFACING ............................18 5 PLATFORM INSTALLATION ..........................20 Hardware Mounting Setup ........................ -
Page 3: Bench Setup And Acceptance Test
The following procedure walks through the bench setup procedure. You Will Need ✓ Reach Alpha Product ✓ Supplied Break-Out Board, Power Cable and USB-MicroUSB Cable ✓ Reach Control Software ✓ PC or Laptop running Windows 1.1.1 PHYSICAL INTERFACING... -
Page 4: Reach Control
STEP 4 STEP 5 Plug the USB end into the computer. Turn on the power at the wall socket. The red LED on the breakout board will illuminate. This completes the mechanical setup procedure. 1.1.2 REACH CONTROL Reach Control will be provided to you digitally via email as well as on a USB within the Hard Carry Case. 1) Install Reach Control. - Page 5 Select the existing device (or click add if none exist). Select the name of the port just created. Select the type of manipulator (eg. Reach Alpha 5). 4) If the Alpha is setup correctly, the 3D model in the background will update to reflect the physical position of the manipulator.
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Page 6: Acceptance Tests
1.2 ACCEPTANCE TESTs 1.2.1 RANGE OF MOTION TEST 1) On the control panel in the bottom right of Reach Control, click the velocity button. Directional arrows will appear on the 3D model. 2) Click Settings (Cog Icon) > Display > Feedback. The monitoring panel will open at the bottom of the screen. - Page 7 4) All Alpha products are shipped with a virtual obstacle to prevent collision with the ‘floor’ under the base of the manipulator. 5) Move each joint for a few seconds in each direction. Ensure movement is as expected and corresponds with control input. This completes the Range of Motion Test.
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Page 8: Master Arm Test (If Applicable)
1.2.2 MASTER ARM TEST (IF APPLICABLE) 1) Set up the Master Arm with the stand 2) Connect Master Arm to the computer via provided. USB. 3) Once powered, the Master Arm buttons will flash blue. 4) Open Reach Control, Settings (Cog Icon) > Ports > Add. Assign the new port a Name and select the comm port the Master Arm is communicating on. - Page 9 5) Settings (Cog Icon) > Control. If there is no Master Arm option underneath Spacemouse, click Add. Assign the new Control port a name. Set ‘Port’ to the name of your Master Arm port. Set ‘Device’ to the name of the Slave arm you wish to control. 6) The Master Arm is now ready to control the slave manipulator.
- Page 10 7) Move each Master Arm joint through its full range of motion. Note: Axes A & B are controllable from the Master Arm Joystick. Check that: The corresponding joint on the slave arm responds. b. The joint moves in the correct direction. The motion of slave to master is a 1-to-1 ratio.
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Page 11: Product Overview
This manual predominantly applies to the Alpha 5 (often termed ‘manipulator’ in this document) but applies more generally to other Reach Alpha actuators (e.g. 3 or 4-Function variants) as well. 2.1 PRODUCT FEATURES... -
Page 12: Reach Product Codes
2.2 REACH PRODUCT CODES Throughout this manual, actuators will be referred to by their product codes as listed below. RS1-1100 Single Function Rotate Stage RS1-1400 Single Function Bend Stage RS1-1300 Single Function Linear Stage RS1-2140 Dual Function Rotate/Bend Stage RS1-2130 Dual Function Rotate/Linear Stage RS1-5001 5 Function Manipulator... -
Page 13: Single & Dual Function Manipulators
3 SINGLE & DUAL FUNCTION MANIPULATORS 3.1 SPECIFICATIONS Mechanical Specification RS1-1100 RS1-1400 RS1-1300 RS1-2140 RS1-2130 Weight Air 200g 320g 220g 360g 360g Weight Water 100g 220g 130g 220g 250g Dimensions 98xΦ40mm 140xΦ40mm 103xΦ40mm 165xΦ40mm 117xΦ40mm Torque/Force 0.6Nm 10Nm 600N 10Nm/1Nm 0.6Nm/600N 60°/s / Rate... -
Page 14: Interfacing
3.2 INTERFACING Mechanical All actuators have the same mounting flange. This is to allow for easy integration of the entire range. Our tailormade mounting kit allows for the quick swap out between various components or the simple rotation of a single axis unit. Figure 1: Mounting Flange Dimensions Figure 2: Mounting Kit Dimensions (Optional) Page 14 of 25... - Page 15 Electrical The standard connector interface for RS1 range is a 5-PIN HUMG SeaConn Connector. The mating connector is a 5 Pin HUMG CCP. It is important that the serial device and the RS1 Actuator share a common ground. Failing to do so could damage the device. Figure 3: 5 Pin HUMG SeaConn Connector RS232 - Male Face View When using a RS485 version Pin 4 is A and Pin5 is B.
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Page 16: Reach Alpha 5
4 REACH ALPHA 5 4.1 DIMENSIONS AND COORDINATES Figure 5: Joint Limits Figure 4: Joints and Origin Figure 6: Zero Point/ Travel/Direction & Zero Point Figure 7: Axis Length Page 16 of 25 The Blueprint Laboratory Confidential Proprietary Information not to be reproduced or made available to third parties without prior... -
Page 17: Specifications
4.2 SPECIFICATIONS Mechanical Specification Joint A Joint B Joint C Joint D Joint E Weight Air 1250g Weight Water 880g Dimensions 570xΦ40mm (Mounting Base to Jaw Tip) Max Lift (Full Reach) Torque/Force 600N 0.6Nm 10Nm 10Nm 10Nm Rate 3mm/s 50°/s 30°/s 30°/s 30°/s... -
Page 18: Interfacing
Mechanical The Reach Alpha offers a variety of mounting configurations. These are easily implemented using the supplied two-part mounting kit. This kit is designed to absorb moderate shock to help protect the Reach Alpha from external impact. Figure 8: Mounting Dimensions of Mounting Kit Electrical The standard interface for the Reach Alpha is a Teledyne 6 Pin IE(W)-55 Impulse Connector. - Page 19 Figure 9: IMPULSE IE55 FEMALE Whip – Female Face View Figure 10: IMPULSE IE55 CCP Dimensions (mm) Communication The Reach Alpha communicates via a serial RS232 or RS485 interface. The serial connection should be configured via the Reach Control software suite or manually using the following specification. Serial Specifications...
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Page 20: Platform Installation
5 PLATFORM INSTALLATION The manipulator is designed to be integrated onto different vehicle platforms. The following steps will ensure a safe and reliable installation on most unmanned vehicles. For information regarding the installation on common ROV platforms specific instructions may be available. Please contact Blueprint Lab regarding your vehicle integration requirements for more information. - Page 21 Figure 16: Insert through O-ring and Tighten Locking Nut Step 4 Connect the manipulator cable by inserting the female Impulse connector and rotating the locking nut. Connect the manipulator to the host PC running Reach Control using the same steps given in Section 1, per your specific communication and power setup.
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Page 22: Alpha Servicing Overview
5.2 ALPHA SERVICING OVERVIEW The Reach Alpha system is recommended for an OEM Servicing every one (1) year or 200 operational hours, whichever occurs first. Blueprint Lab offer a capped price service with each new Reach Alpha system. The coverage period of the capped price service program is for a period of two (2) years, or 200 operational hours, whichever occurs first. -
Page 23: Module Replacement
5.3 MODULE REPLACEMENT In the instance a module needs to be replaced (such as swapping an end-effector between a grabber and a pan-tilt unit), please carefully follow the steps laid out below. It is recommended that you contact your supplier prior to performing this procedure if it is your first time. 1. - Page 24 10. Line up bayonet teeth with 11. Rotate module to 45 degrees 12. Tighten looking nut. female. Ensure the Red dots are to align the red dots. Pull apart to offset by 45 degrees and not their feel teeth engage. direction.
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