User manual

Barrett Technology, Inc.
BA4-310 System User Manual Version 1.1
4
LIST OF FIGURES
Figure 1 - BarrettArm BA4-310................................................................................................5
Figure 2 - BarrettWrist BW3-210..............................................................................................6
Figure 3 - Fault Status Indicator LEDs......................................................................................9
Figure 4 – Main Power Indicator LED......................................................................................9
Figure 5 – Adaptor Box Connections ......................................................................................13
Figure 6 - Lab Mounting-Surface Diagram..............................................................................14
Figure 7 - BarrettArm Floor Mount.........................................................................................15
Figure 8 - BarrettArm Quick-Connect Photo...........................................................................16
Figure 9 - Control Cabinet ......................................................................................................19
Figure 10 - Ribbon Cable Sockets on the Motion Control Board.............................................20
Figure 11 - BarrettArm Electrical Connection Locations.........................................................21
Figure 12 - Pinion to Pulley Transition Types .........................................................................26
Figure 13 - Patented Cable Tensioner......................................................................................27
Figure 14 - Typical Cable Circuit Arrangement.......................................................................32
Figure 15 - Base Cable Circuits...............................................................................................34
Figure 16 - Joint 1 Terminations .............................................................................................35
Figure 17 - Base Joint 2
nd
Stage Cable Paths (top view) ..........................................................36
Figure 18 - Inboard Cable on 2
nd
-Stage Pulley ........................................................................41
Figure 19 - Outboard Cable on 2
nd
-Stage Pulley......................................................................42
Figure 20 - Outboard Cable on 2
nd
-Stage Pinion......................................................................42
Figure 21 - Elbow Directional References...............................................................................46
Figure 22 - Right 2
nd
-Stage Elbow Pulley Cabling ..................................................................47
Figure 23 - Left 2
nd
-Stage Elbow Pulley Cabling.....................................................................47
Figure 24 - Elbow Position for 1
st
-Stage Cabling.....................................................................49
Figure 25 - Left 1
st
-Stage Elbow Pulley Cabling .....................................................................50
Figure 26 - Right 1
st
-Stage Elbow Pulley Cabling ...................................................................51
Figure 27 - 1
st
-Stage Elbow Cables Through Arm Link...........................................................52
Figure 28 - Motor 3 Pinion-Access Hole.................................................................................53
Figure 29 - Elbow Motor Inner Pinion Cable Wraps................................................................54
Figure 30 - Schematic Diagram of Wrist Cable Circuits..........................................................56
Figure 31 - Wrist Differential Cable Circuits...........................................................................58
Figure 32 - Left Side 3
rd
-Stage Cabling...................................................................................60
Figure 33 - Left Side 2
nd
-Stage Cabling...................................................................................61
Figure 34 - Left Side 1
st
-Stage Cabling ...................................................................................62
Figure 35 - Proper Position of Wrist Cables for Pre-Tensioning ..............................................66
Figure 36 - Denavit-Hartenberg Frames..................................................................................67