Kinova Jaco Rehab Edition Installation Manual

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Installation guide

V1.0.9

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Page 1 Installation guide V1.0.9...
Page 2: Table Of Contents
APPENDIX 1: MECHANICAL INTEGRATION – PARTS DESCRIPTION ..... 18 APPENDIX 2: ASSEMBLING TWO SQUARE EXTRUSION ..........22 APPENDIX 3: CABLE PROVIDED FOR WHEELCHAIR ELECTRICAL INTEGRATION ................................. 1 APPENDIX 4: BOLT PATTERN FOR KINOVA STANDARD JOYSTICK ......1 ii | P a g e...
Page 3 JACO - Installation Guide APPENDIX 5: CONTROL INTERFACE FOR HMC ............... 2 The HMC wheelchair controller ....................... 2 Connection schematic of the JACO arm....................3 Accessing the JACO arm control ....................... 4 iii | P a g e...
Page 4 Figure 12 - Universal Interface Connection ................... 15 Figure 13 - Assembling two square extrusions ................22 Figure 14 - Bolt pattern for Kinova standard joystick..............1 Figure 15 – HMC system, part identification ................... 2 Figure 16 - Connection schematic with HMC system (part I) ............3 Figure 17 - Connection schematic with HMC system (part II) ............
Page 5: About This Document
The installation of the JACO arm must be secure and adequately integrated onto the wheelchair. Do not attempt installation if any of the JACO arm hardware component in the part kit is missing or damaged. Contact Kinova to report the damage and request a replacement kit.
Page 6: Disclaimer
The mention of any product does not constitute an endorsement by Kinova Inc. This manual is furnished under a lease agreement and may only be copied or used within accordance with the terms of such lease agreement.
Page 7: Mechanical Integration
Each phase is described individually in this section. The different parts and items used for to assure the mechanical integration suggested by Kinova are detailed in Appendix 1. The following figure presents an overview of an adequate mechanical integration and the required phases.
Page 8: Figure 2 - Recommended Screw, Nord-Lock And Torque
JACO - Installation Guide The following figure presents the torque and Nord-Lock recommendations. Product Name Screw Nord-Lock Torque (Nm) Angle Bracket MH 0843 0001 M8x20 Slide Plate MH 3575 0001 M8x15 Rail Adapter MF 7519 0001 15.8 Rail Adapter MF 7515 0003 15.8 Rail Adapter MF 8010 0001...
Page 9: Wheelchair Interface
JACO - Installation Guide Figure 3 - Nord-Lock Assembly Kinova recommends the use of stainless steel (ss) Nord-Lock. For one hole size (e.g. NL6ss), you may have two different flange sizes. Kinova recommends the use of enlarged outer diameter (NL6spss) for the assembly of the bracket system and regular outer diameter (NL6ss) for the assembly of every other system.
Page 10: Figure 5 - Tubular Seat Frame
Figure 6- Rail type seat frame SEAT FRAME TUBULAR ADAPTER For a tubular type seat frame, Kinova suggests the use of the tubular adapter (1000FSMIP). The tubular adapter must be installed around the tubular seat frame with the opened side up and the large golden part (5 holes visible) facing outside.
Page 11: Main Base
SEAT FRAME RAIL TYPE ADAPTER If the wheelchair is equipped with a rail type seat frame, Kinova suggests the use of a rail adapter (MF 7515 0003, MF 7519 0001 or MF 8010 0001). The choice of the rail adapter is dependent of the wheelchair seat frame profile.
Page 12: Bracket System
JACO - Installation Guide The length of the horizontal square extrusion (MF 4040 0001) will define the length of the mechanical integration assembly and the forward position of the JACO arm. The length of the square extrusion provided may be shortened by cutting the square extrusion to the desired length.
Page 13: Figure 9 - Main Bracket Specifications
JACO - Installation Guide The JACO hand may easily reach the ground, on a surface of about one squared foot, in an area where the user may have a good visual appreciation of the actions done with the JACO hand; The JACO arm may achieve most of the basic movements without interfering with the user, the wheelchair or its accessories;...
Page 14: Figure 10 - Bracket System Assembly (Part I)
JACO - Installation Guide Please note that: Upper spacing refers to spacers used between the main bracket and the rail adapter (wheelchair). Lower spacing refers to spacers used between the main base and the main bracket. The square spacers (MF 7515 0004) are used for lower spacing of the main base and the upper spacing when used with rail adapters (MF 7519 0001, MF 7515 0003 or MF 8010 0001).
Page 15: Figure 11 - Bracket System Assembly (Part Ii)
JACO - Installation Guide 1) Insert the rail adapter (MF 7519 0001) in the square extrusion (MF 4040 0001) as defined in the following figure; 2) Place the appropriate quantity of square spacer (MF 7515 0004 - if needed) on the square extrusion with bolt holes aligned;...
Page 16: Mechanical Integration Assembly Validation
JACO - Installation Guide 6) Fasten the bracket system assembly to the adapter (already installed on the wheelchair seat frame) with the required torque. Please note that the bracket system requires screws of two different lengths to allow adequate fastening to the tubular adapter. The middle screw should be about 15 to 20 mm longer than both extremities screws, as shown in the preceding figure.
Page 17: Electrical Integration
The JACO arm power cable provided by Kinova is presented in Appendix 3. At one end, it is equipped with the necessary connector for the JACO base and the other end is equipped with no connector. The 4 free wires at this end are devoted to be joined to the adequate connector to acquire the 24V D.C.
Page 18: Control Integration
Note that the control may be customized. Please refer to the Jacosoft User Guide for detailed information on the configuration methods. Kinova standard joystick In order to allow the user to achieve a suitable control over the JACO arm with the Kinova standard joystick, you must: 1) Define an adequate location for the Kinova standard joystick.
Page 19: Through The Wheelchair Controller
JACO - Installation Guide Through the wheelchair controller In order to allow the user to achieve a suitable control over the JACO arm with the wheelchair control interface, you must: Connect an auxiliary communication system to the wheelchair controller; Connect the Universal Interface to the auxiliary communication system; Connect JACO to the Universal Interface;...
Page 20 JACO - Installation Guide Input/Output Module (IOM) Mouse Emulator; Bluetooth module. This auxiliary communication system will transfer the controller output to the Universal Interface. The auxiliary communication system must be connected to the controller. Please refer to the documents provided by the wheelchair manufacturer for detailed procedure. UNIVERSAL INTERFACE The Universal Interface is an electronic device which translates the output of the auxiliary communication system into an adequate command to JACO.
Page 21: Contact Support
JACO - Installation Guide CONTACT SUPPORT If you need help, have questions or comments about this guide or the information detailed in it, please contact Kinova at: Support@KinovaRobotics.com www.kinovaRobotics.com 17 | P a g e...
Page 22: Appendix 1: Mechanical Integration - Parts Description
JACO - Installation Guide APPENDIX 1: MECHANICAL INTEGRATION – PARTS DESCRIPTION Wheelchair Interface Rail Adapter Kinova MF 7519 0001 Rail Adapter Kinova MF 7515 0003 Rail Adapter Kinova MF 8010 0001 Tubular Adapter Daessy MF 0001 0001 1000FSMIP Socket Head Cap Screw...
Page 23 JACO - Installation Guide Product Name Manufacturer Figure Misumi MH 0809 0001 HNTTSS8-8 Socket Head Cap Screw Misumi MH 0815 0001 M8x15 SCB8-15 Socket Head Cap Screw Misumi MH 0820 0001 M8x20 SCB8-20 (M8x20) Flat washer M8 Misumi MF 0008 0002 SPWF8 Spring washer M8 Misumi...
Page 24 JACO - Installation Guide Product Name Manufacturer Figure Bracket System Main bracket Kinova MF 7515 0005 (first version) Main bracket Kinova MF 8010 0002 (second version) Square spacer Kinova MF 7515 0004 Round spacer Kinova MF 6015 0001 Nord-Lock Nord-Lock...
Page 25 JACO - Installation Guide Product Name Manufacturer Figure Socket Head Cap Screw *Grade 12.9 M5x30 MH 0530 0001 M5x45 MH 0545 0001 M5x60 MH 0560 0001 21 | P a g e...
Page 26: Appendix 2: Assembling Two Square Extrusion
JACO - Installation Guide APPENDIX 2: ASSEMBLING TWO SQUARE EXTRUSION In some case, you will need to assemble two square extrusions together to achieve the desired square extrusion length. In order to assure the mechanical integrity of the assembly, you shall follow the procedure described herein.
Page 27: Appendix 3: Cable Provided For Wheelchair Electrical Integration
JACO - Installation Guide APPENDIX 3: CABLE PROVIDED FOR WHEELCHAIR ELECTRICAL INTEGRATION P a g e...
Page 28: Appendix 4: Bolt Pattern For Kinova Standard Joystick
JACO - Installation Guide APPENDIX 4: BOLT PATTERN FOR KINOVA STANDARD JOYSTICK Figure 14 - Bolt pattern for Kinova standard joystick P a g e...
Page 29: Appendix 5: Control Interface For Hmc
JACO - Installation Guide APPENDIX 5: CONTROL INTERFACE FOR HMC The HMC system has some specific particularities that are explained in the following section. One of this particularity is that is has been modified to bypass the IOM and accept a direct connection to the JACO arm.
Page 30: Connection Schematic Of The Jaco Arm
JACO - Installation Guide Connection schematic of the JACO arm Figure 16 - Connection schematic with HMC system (part I) Figure 17 - Connection schematic with HMC system (part II) P a g e...
Page 31: Accessing The Jaco Arm Control
JACO - Installation Guide Accessing the JACO arm control 1) Turn the wheelchair controller on. 2) You should see window #1. 3) Wait until window #2 appears. 4) With a left motion of the joystick, go on the “mouse & joystick”...