KINOVA
®
Gripper adapter kit
Installation Guide
17
Installation
Kinova gripper removal
This section describes the procedure to remove the standard gripper from a Gen2
Ultra
lightweight robot.
Before you begin
Ensure that the arm is powered down before beginning. You will need a 2 mm hex
key, and the procedure will require touching the actuators; it is recommended that you
wear an anti-static wrist strap to protect against ESD damage to the actuator electronic
circuitry.
About this task
Removing the gripper is the first step to replacing a malfunctioning gripper or installing a
different type of end effector. This procedure requires about 10 minutes to complete.
Procedure
1.
Locate the last actuator at the end of the robotic arm.
2.
Remove the plastic ring covering the actuator to expose the aluminum ring on either side
of the actuator. You will see two sets of six evenly-spaced screws, one on each side of the
actuator.
3.
Remove the six screws on the output side of the actuator (the side toward the gripper).
Note:
Make sure to preserve the screws. You will need them to attach the gripper adapter,
and also if you want to reattach the Kinova gripper later on.
Note:
Removing the screws on the other (input) side of the actuator will detach the last
actuator from the arm shell. This is not necessary for removal of the gripper.
4.
Gently pull the gripper away from the wrist.
Note:
Do not pull too hard. There is a flex cable connecting the last actuator to the gripper,
and you might break the cable if you pull too hard.
5.
Detach the flex cable from the Kinova gripper. There may be glue holding the cable in place -
remove the glue, then pull out the small tabs on the side of the connector to loosen the cable.
Pull the cable free from the connector to fully disconnect the gripper from the flex cable.
Note:
Keep the other end of the flex cable connected to the last actuator on the arm. You
will need this later to connect the new gripper.
Installing the gripper adapter
This section describes the procedure to install the gripper adapter on the robot.
Before you begin
It is assumed that you have already
removed the standard gripper
that was previously
mounted on the robot before starting.
About this task
This procedure allows you to install the gripper adapter onto the Gen2
Ultra lightweight
robot
. To install the gripper adapter, it will be necessary to:
• mechanically secure the gripper adapter on the robot
• electrically connect the gripper adapter to the last actuator of the robot using a flex cable
