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®
robolink
Joint kit - Documentation (#4; 2016-12)
®
robolink
Joint kit
Basics .......................................................................................................... 2
Joint types ................................................................................................... 3
Articulated arms .......................................................................................... 4
Angle sensors ........................................................................................... 11
Actuators ................................................................................................... 14
Draw wires ................................................................................................. 15
Mounting instruction cable end bottom .................................................. 18
Drive pulleys with integrated wire tightening ......................................... 19
Step motors ............................................................................................... 20
Drive modules ........................................................................................... 23
Drive units ................................................................................................. 24
Accessories ............................................................................................... 27
Controls ..................................................................................................... 27
Dimensioned drawings ............................................................................. 28
Exploded drawings / parts lists ................................................................ 29
®
igus
GmbH | Martin Raak | Tel. +49 (0)2203 9649 409 | mraak@igus.de
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Summary of Contents for igus robolink
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Page 1: Table Of Contents
Step motors ....................20 Drive modules ................... 23 Drive units ....................24 Accessories ....................27 Controls ..................... 27 Dimensioned drawings ................28 Exploded drawings / parts lists ..............29 ® igus GmbH | Martin Raak | Tel. +49 (0)2203 9649 409 | mraak@igus.de... -
Page 2: Basics
GmbH offers assembled drive units for a variety of articulated arms on the basis of step motors with planetary gears in an aluminum housing. ® A control (in this case: step motor control) is needed to move a robolink articulated arm. ®... -
Page 3: Joint Types
Each joint can be optionally equipped with angle sensors. Nur in Kombination mit RL-90-BL1 only in combination with RL-90-BL1 Fig.1: pivot joint Fig.2: rotating joint Fig.3: rotating joint RL-50-PL1 RL-50-TL1 RL-50-TL1 ® igus GmbH | Martin Raak | Tel. +49 (0)2203 9649 409 | mraak@igus.de... -
Page 4: Articulated Arms
The tubes have an inside contour to prevent rotation on the joint interface. The big base joint RL-90-BL1 is connected by a plain aluminum tube (da = 40 mm), the distorsion ® igus GmbH | Martin Raak | Tel. +49 (0)2203 9649 409 | mraak@igus.de... - Page 5 The rotating joint can only be the first joint of a series connection, but it can feed up to 8 additional wires, and directly distribute these to the drives in wire pairs. ® igus GmbH | Martin Raak | Tel. +49 (0)2203 9649 409 | mraak@igus.de...
- Page 6 ® robolink Joint kit – Documentation (#4; 2016-12) Fig. 11: Tube length information for 1 joint Fig. 12: Tube length information for combinations of 2 joints ® igus GmbH | Martin Raak | Tel. +49 (0)2203 9649 409 | mraak@igus.de...
- Page 7 Fig. 14: Articulated arms with 2 DOF RL-01P1 RL-P1P1P1 RL-T1P1P1 RL-B1P1 Fig. 15: Articulated arms with 3 DOF RL-0101 RL-B103 RL-T1P101 RL-T1P1P1P1 Fig. 16: Articulated arms with 4 DOF ® igus GmbH | Martin Raak | Tel. +49 (0)2203 9649 409 | mraak@igus.de...
- Page 8 [N] DOF Fig. Version (Stand.) [mm] [mm] [mm] [mm] *)**) RL-T1(-E) RL-P1(-E) RL-01(-E) RL-T1P1(-E) RL-P1P1(-E) RL-01P1(-E) RL-P1P1P1(-E) RL-T1P1P1(-E) 1.585 RL-B1P1(-E) RL-0101(-E) 1.750 RL-B103(-E) RL-T1P101(-E) 1.060 RL-T1P1P1P1(-E) ® igus GmbH | Martin Raak | Tel. +49 (0)2203 9649 409 | mraak@igus.de...
- Page 9 (RL-WSU8-001) is generally recommended starting at 3 DOF for a controlled distribution of the drive wires. The 3D STEP data for all articulated arms is available for download at: www.igus.de/robolink/support&service. ® igus GmbH | Martin Raak | Tel. +49 (0)2203 9649 409 | mraak@igus.de...
- Page 10 Fig. 20: RL-WSU8-001 to connect an articulated arm with a 2 axes or swivel joint in the first joint Fig. 21: Dimensioned drawing for an optional mounting plate for the mounting component RL-WSU8-001 ® igus GmbH | Martin Raak | Tel. +49 (0)2203 9649 409 | mraak@igus.de...
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Page 11: Angle Sensors
Fig. 23: Sensor unit for 2 axes joint rotating (2) for RL-50-xxx RL-50-001 /-002 /-003 Fig. 24: Installation situation of the sensor in the joint RL-50-001 /-002 /-003 ® igus GmbH | Martin Raak | Tel. +49 (0)2203 9649 409 | mraak@igus.de... - Page 12 The components have to be adjusted to the respective loads. For this case, a possible electrical configuration is shown in Fig. 26. ® igus GmbH | Martin Raak | Tel. +49 (0)2203 9649 409 | mraak@igus.de...
- Page 13 Hall-Sensor grey Encoder Index grey/rose Encoder Channel A violet Encoder Channel B rose ® Fig. 27: Cable definition - igus sensor cables ® igus GmbH | Martin Raak | Tel. +49 (0)2203 9649 409 | mraak@igus.de...
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Page 14: Actuators
The spring force can be configured between 20 and 100 N. (technical documentation of the gripper under design, status 08-2012) ® Fig. 29: igus electrical gripper RL-50-GRI-03-xx with standard (left) and universal jaws (right) ® igus GmbH | Martin Raak | Tel. +49 (0)2203 9649 409 | mraak@igus.de... -
Page 15: Draw Wires
• continuous motion possible, because the segments are made from RN54 material; • low bending radii, optionally as small as 30mm. ® Fig. 32: igus Bowden Fig. 33: Bowden cable segments / schematic cable ® igus GmbH | Martin Raak | Tel. +49 (0)2203 9649 409 | mraak@igus.de... - Page 16 The following figures show how the wires are fed through a lower joint. This feed-through ® is pre-assembled by igus and is not assembled by the customer. ® igus GmbH | Martin Raak | Tel. +49 (0)2203 9649 409 | mraak@igus.de...
- Page 17 Fig. 34: Two wire pairs are fed through the Fig. 35: Upper connecting element for lower joint guiding the wire Fig. 36: Bowden cable segments for Fig. 37: Lower connecting element parallel feed-through ® igus GmbH | Martin Raak | Tel. +49 (0)2203 9649 409 | mraak@igus.de...
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Page 18: Mounting Instruction Cable End Bottom
! drying time min. 90 minutes before use ! strength/retention with Loctite 4204 > 1.900N strength/retention with Loctite 401 > 1.400N State 25.01.12 strength/retention without Loctite > 190 N ® igus GmbH | Martin Raak | Tel. +49 (0)2203 9649 409 | mraak@igus.de... -
Page 19: Drive Pulleys With Integrated Wire Tightening
The igus drive unit is equipped with new pulleys RL-ZA011-0250-xx (since July 2011). They enable the user to tighten the wires for the robolink arm easily. The tension of the wires can be adjusted individually: If the tension is to low: the joint will have play (will bounce). -
Page 20: Step Motors
Tab. 3: Basic technical specs for step motors Fig. 38: Connector versions: Fig. 39: Strand conductor versions: MOT-AN-S-060-005-042-M-A-AAAA (NEMA17) MOT-AN-S-060-005-042-L-A-AAAA (NEMA17) MOT-AN-S-060-020-056-M-A-AAAA (NEMA23) MOT-AN-S-060-020-056-L-A-AAAA (NEMA23) ® igus GmbH | Martin Raak | Tel. +49 (0)2203 9649 409 | mraak@igus.de... - Page 21 ® robolink Joint kit – Documentation (#4; 2016-12) Fig. 40: Connector assignments for motors Fig. 41: Characteristic progression for motors Fig. 42: Motor dimensions ® igus GmbH | Martin Raak | Tel. +49 (0)2203 9649 409 | mraak@igus.de...
- Page 22 ® robolink Joint kit – Documentation (#4; 2016-12) ® Fig. 43: Connecting cables for motors with connectors from igus (optional) ® igus GmbH | Martin Raak | Tel. +49 (0)2203 9649 409 | mraak@igus.de...
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Page 23: Drive Modules
Strand conductor version Gearing 1:16 • AEM1-23 NEMA23 motor Connector version Gearing 1:16 Fig. 44: Drive module consisting of the step motor, planetary gear and tensionable drive wheel ® igus GmbH | Martin Raak | Tel. +49 (0)2203 9649 409 | mraak@igus.de... -
Page 24: Drive Units
• Grippers or suction cups per specification (=> Section - Actuators). Other options (on request): • Step motors with encoder and/or brake, • Other reduction gearing, • Special designs. ® igus GmbH | Martin Raak | Tel. +49 (0)2203 9649 409 | mraak@igus.de... - Page 25 13.720 RL-T101P1P1-DU1523 1.314 13.870 *) only applies to geometric configurations with standard tube length = 100mm Table 5: Complete system specifications with NEMA23 motors (3-5 DOF) ® igus GmbH | Martin Raak | Tel. +49 (0)2203 9649 409 | mraak@igus.de...
- Page 26 RL-B10101-DU3623L 26.895 RL-B10301-DU3623L 26.950 *) only applies to geometric configurations with standard tube length = 100mm Table 6: Complete 6 DOF system specification with NEMA23L motors ® igus GmbH | Martin Raak | Tel. +49 (0)2203 9649 409 | mraak@igus.de...
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Page 27: Accessories
Due to the possibility of a seamless integration of the IME software any application is possible with minimum engineering input. Further Information about control solutions will be published by igus in 2015. ® ®... -
Page 28: Dimensioned Drawings
Dimensioned drawings Fig. 50: Dimensioned drawing - Swivel joint RL-50-PL1 Fig. 51: Dimensioned drawing - Rotating joint RL-50-TL1 Fig. 52: Dimensioned drawing - 2 axes joint RL-50-001 ® igus GmbH | Martin Raak | Tel. +49 (0)2203 9649 409 | mraak@igus.de... -
Page 29: Exploded Drawings / Parts Lists
Exploded drawings / parts lists Fig. 53: Exploded drawing / parts list - Swivel joint RL-50-PL1 Fig. 54: Exploded drawing / parts list - Rotating joint RL-50-TL1 ® igus GmbH | Martin Raak | Tel. +49 (0)2203 9649 409 | mraak@igus.de... - Page 30 ® robolink Joint kit – Documentation (#4; 2016-12) Fig. 55: Exploded drawing / parts list - 2 axes joint RL-50-001 (-002) ® igus GmbH | Martin Raak | Tel. +49 (0)2203 9649 409 | mraak@igus.de...
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