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Barrett WAM Wrist Maintenance Manual Download Page 5

WAM™ Wrist – Cable Maintenance Guide [email protected] 

www.barrett.com 

© 2008 Barrett Technology®, Inc. 

Document: D1004, Version: AG.00 

Page 5 of 13 

 
Combined terminology 

– There are many terminations, pulleys, pinions, and stages in the Wrist. To identify a single one, the 

terminology is combined. The figures below show some examples: 

 

 

Figure 3 – Views of the Wrist 

Orientations

 

Clockwise/Counter-clockwise: view the Wrist facing the output plate of the Wrist (base of the Wrist facing away from you). 
M5/M6-Side: Use the labels on the side of the lower area of the wrist to determine which is the M5-Side and which is the M6-
Side. 
 

Counting the number of turns

 

Throughout this manual, there are instructions to wind a cable around a pinion or pulley a certain number of turns. It is important 
to understand exactly how the number-of-turns are counted. Always start at the anchor (brass termination) of the cable as the 
“zero” point and end where the cable comes off of the pulley. In the example picture below, the lower cable is wound around the 
larger pulley exactly 6 times (note the cable comes off of the pulley almost exactly above the brass termination). 

 

 

Figure 4: Example of counting the number of wraps 

 
 
 

6

0

M5 

M6 

M5 

M6 

M5 Stage-3 Pinion 

Split 

M5-Side 

Stage-1 

Pulley 

Pin on M5-Side 
Stage-2 Pulley 

M6-Side Stage-1 

Lower Pulley 

Termination 

Stage-3 

Upper 

Pulley 

Open wrap 
from Pulley 
to Pinion in 
M6-Side 
Stage-2 

M6-Side 
Stage-2 
Lower-
Pinion 
Anchor-
Separator 

Summary of Contents for WAM Wrist

Page 1: ...WAM Wrist Cable Maintenance Guide Barrett Technology Inc Document D1004 Version AG 00 ...

Page 2: ...2 2 TERMINOLOGY 4 2 3 CABLES AND CABLING ORDER 6 3 CABLING THE DIFFERENTIAL 6 4 M5 STAGE 3 9 5 M6 STAGE 3 10 6 M5 AND M6 STAGES 1 AND 2 11 6 1 TOOLS AND TIPS 11 6 2 M5 M6 STAGE 1 PREINSTALLATION 11 6 3 M5 M6 STAGE 2 11 6 4 M5 AND M6 STAGE 1 12 6 5 PRE TENSIONING M5 M6 CIRCUIT 12 7 AUTOTENSIONING 13 Barrett Technology Inc 625 Mount Auburn Street Cambridge MA 02138 U S A US 617 252 9000 This manual ...

Page 3: ... 1 For First Time Cablers Re cabling the Wrist is generally easier if the user is familiar with cabling other mechanisms such as the WAM Arm If the user is cabling the Wrist for the first time she should read this entire section on wrist cabling especially Section 6 5 on pre tensioning input circuits and section 1 of the WAM Arm cabling manual before beginning to cable the Wrist Make sure that pro...

Page 4: ...s or pulleys the drive cable crosses the plane that contains the axes of both elements This wrap results in the elements rotating in opposite directions when cabled M5 M6 Side directions often used in this text to identify an item The motor number indicates the motor or side of the wrist containing the motor the component is closest to Tension Tool in while tensioning the Wrist Open wrap when span...

Page 5: ...ing the number of turns Throughout this manual there are instructions to wind a cable around a pinion or pulley a certain number of turns It is important to understand exactly how the number of turns are counted Always start at the anchor brass termination of the cable as the zero point and end where the cable comes off of the pulley In the example picture below the lower cable is wound around the...

Page 6: ...ength between terminations mm B1216 WristCable Differential Level1 1 1 97 2 B1217 WristCable Differential Level2 1 1 107 2 B1218 WristCable Differential Level3 1 1 132 2 B1219 WristCable Differential Level4 1 1 152 2 B3477 WristCable Stage1 4 2 860 5 B3478 WristCable Stage2 4 2 610 5 B3479 WristCable Stage3 4 2 560 5 3 Cabling the Differential The differential circuits are shown in Figure 5 They c...

Page 7: ... the Level 2 horizontal pulley anchor Rotate the bottom 3rd stage pulley counter clockwise approximately turn The cable should now be threaded through the small gap between the Level 2 horizontal and vertical pulleys Remove the brass termination from the horizontal pulley and leave both ends of the cable unconnected 4 Get a Level 1 cable B1216 and insert one end of the cable into the vertical anch...

Page 8: ...ecessary and insert the free end of the Level 3 cable into the anchor on the horizontal pulley and rotate back to tighten 12 Rotate J6 slightly in the negative direction while keeping tension on the Level 3 cable so that the Level 4 horizontal termination is visible and accessible Insert one termination of the Level 4 cable B1219 into the anchor in the horizontal step Wrap the cable around approxi...

Page 9: ...ble B3479 to the lower anchor in the lower 3rd stage pulley Wrap the cable up the pulley 3 times using tape to hold each wrap as necessary This cable will transition above the first cable so it must wrap between the wraps of the first see color enhanced Figure 10 7 Cross over to the pinion using a cross wrap Attach the free end of the cable to the anchor in the top of the pinion and rotate the top...

Page 10: ...le is tight 5 Immobilize the bottom of the pinion with tape to prevent cable unwinding see Figure 14 6 Attach one end of another 3rd stage cable B3479 to the lower anchor in the upper 3rd stage pulley Wrap the cable up the pulley 3 5 times using tape to hold each wrap as necessary This cable will transition above the first cable so it must wrap between the wraps of the first see color enhanced Fig...

Page 11: ... B3478 Attach one end to the top anchor of the 2nd stage pulley 2 Wrap the cable around the pulley 1 75 2 times using tape to hold the wraps 3 Transition over to the 2nd stage pinion using an open wrap Attach the free end of the cable to the bottom anchor of the pinion Slowly and evenly wind on the cable by rotating the pinion until the cable is tight after approximately of a turn the cable should...

Page 12: ...utch Housing which houses the one way clutch and rotate the Clutch Housing to take up the slack Guide the cable carefully to ensure that the cable winds on smoothly and evenly Rotate the Clutch Housing until the cable is tight It is normal that the Clutch Housing may be a bit difficult to rotate The stage should now look like Figure 21 7 Remove all tape except for the tape across the stage 3 pinio...

Page 13: ...nt themselves but not necessarily in the proper arrangement Once the cables have been repositioned as shown in Figure 22 retension again by inserting the Wrist Tension Tool into the clutch lock to keep the motor shaft from turning and pushing on the clutch housing with the push pull hook Repeat the process of running the wrist through its range of motion and re tensioning until all the stage 1 and...

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