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JACO - Installation Guide 

7 | 

P a g e

 

 

 

Figure 7 - Installation of the tubular adapter 

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.  

Those rail adapters must be sled through the rail until the desired position is reached. In order 

to  insert  the  rail,  one  may  have  to  uninstall  several  wheelchair  component  and  accessories. 

Please refer to the relevant document supplied by the wheelchair manufacturer. 

 

The MF 8010 0001 rail adapters come in pair of two and must be installed as a pair 
to assure the mechanical integrity of the system. 

Main base 

The main base is built with the following items: 

 

1 x square extrusion (MF 4040 0003), length of 120 mm 

 

1 x square extrusion (MF 4040 0001), length to be determined 

 

1 x angle bracket (MH 0843 0001) 

 

1 x slide plate (MH 3575 0001)

4

 

 

4 x bolts (M8x15) 

 

4 x nuts (MH 0809 0001) 

 

4 x flat washers (MF 0008 0002) 

 

4 x spring washers (MF 0008 0001) 

 

                                                           

4

  The  installation  of  one  slide  plate,  using  2  bolts  (M8x15)  and  2  nuts  (MH  0809  0001)  is  a  minimum 

requirement  to  assure  the  mechanical  integrity  of  the  main  base.  You  may  install  a  second  slide  plate, 
using the same additional quantity of hardware as mentioned previously, on the other side. 

 

Summary of Contents for Jaco Rehab Edition

Page 1: ...Installation guide V1 0 9 ...

Page 2: ...in base 7 Bracket system 8 Mechanical Integration Assembly Validation 12 ELECTRICAL INTEGRATION 13 CONTROL INTEGRATION 14 Kinova standard joystick 14 Through the wheelchair controller 15 CONTACT SUPPORT 17 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...

Page 3: ...JACO Installation Guide iii P a g e 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 ...

Page 4: ...re 7 Installation of the tubular adapter 7 Figure 8 Main base final assembly 8 Figure 9 Main bracket specifications 9 Figure 10 Bracket system assembly part I 10 Figure 11 Bracket system assembly part II 11 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...

Page 5: ...allation 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 The installation of the JACO arm to the wheelchair includes three principal categories of integration 1 Mechanical integration 2 Electrical ...

Page 6: ...n consent of Kinova The content of this manual is furnished for informational use only is subject to change without notice and should not be construed as a commitment by Kinova Kinova assumes no responsibility or liability for any errors or inaccuracies that may appear in this document Changes are periodically made to the information herein these changes will be incorporated into new editions of t...

Page 7: ... following figure presents an overview of an adequate mechanical integration and the required phases Figure 1 Global schematic of a mechanical integration Bolt Fastening Requirements To assure the mechanical integrity of the mechanical integration assembly the following requirement should be followed Each screw should be fastened using the adequate Nord Lock Each screw should be fastened with two ...

Page 8: ...screws shall be used to fasten the angle bracket to the main base assembly BRACKET SYSTEM Every bolt used in the bracket system assembly must be of grade 12 9 The length of each screw will depend on the spacer configurations NORD LOCK FASTENING SYSTEM The Nord Lock fastening system is comprised of a pair of washers that has cams on one side inside and radial teeth on the opposite side outside The ...

Page 9: ...assembly of every other system The large flange optimises the load distribution Figure 4 Nord Lock Outer Diameter Specifications Wheelchair Interface The mechanical integration of the JACO arm onto the wheelchair is done through the wheelchair seat frame To install the wheelchair interface you must 1 Identify the seat frame type 2 Identify and install the adequate adapter SEAT FRAME TYPE Generally...

Page 10: ...o the relevant document supplied by the wheelchair manufacturer To install the tubular adapter you must 1 Remove all screws that are part of the tubular adapter assembly 2 Place the small narrow part 3 holes visible on the inner side of the wheelchair seat frame with the open tubular side up as shown in the following figure 3 Place the large golden part on the outer side of the wheelchair seat fra...

Page 11: ...e wheelchair manufacturer The MF 8010 0001 rail adapters come in pair of two and must be installed as a pair to assure the mechanical integrity of the system Main base The main base is built with the following items 1 x square extrusion MF 4040 0003 length of 120 mm 1 x square extrusion MF 4040 0001 length to be determined 1 x angle bracket MH 0843 0001 1 x slide plate MH 3575 0001 4 4 x bolts M8x...

Page 12: ...th In this case please refer to Appendix 2 for the adequate assembly procedures You need to file all edges of the square extrusion if you need to cut it to the desired length The fasting of every screw must respect the torque recommendations presented in figure 2 The main base final assembly should look as shown in the following figure Figure 8 Main base final assembly Bracket system The bracket s...

Page 13: ...r its accessories The JACO arm and its mechanical integration assembly don t expand the wheelchair width beyond 2 to 3 inches There is no loose in the mechanical integration assembly The fasting of every screw must respect the torque recommendations presented in figure 2 The lateral spacing of the main base may be done by placing spacers MF 7515 0004 or MF 6015 0001 on the main bracket MF 8010 000...

Page 14: ...015 0001 are only used for upper spacing of the main base when used with tubular adapter 1000FSMIP The quantity of lower and upper spacer will vary depending on the required configuration Screw lengths shall adjust with the spacing requirements of the bracket system assembly To assure the mechanical integrity of the bracket system assembly the following steps are recommended As there exists a mult...

Page 15: ...ht of the JACO arm Chose the appropriate length of screws M6 and lubricate the threads with the prescribed oil Insert the screws in the holes and fasten them to the rail adapter inserted in the square extrusion with the required torque 4 Place the appropriate spacer quantity and type on the main bracket upper side 5 Reverse the assembly and insert the adequate screws type and length and Nord Lock ...

Page 16: ... Assure that there is a sufficient clearance between the JACO fixe base and any part of the wheelchair to allow easy access to every connectors buttons and screws located on the JACO fixed base Once the JACO arm is installed you should verify the hand may touch the ground on an appropriate surface and in an appropriate area for easy object pick up by the user Before finalizing the installation the...

Page 17: ...essary for powering the JACO arm It is the responsibility of the technician to assure that the 24V electric outlet is safe for both JACO and the wheelchair Once the cable is adequately prepared and to assure an adequate electrical integration please proceed with the following steps 1 Find the adequate 24V D C outlet on the wheelchair 2 From the 24V D C outlet on the wheelchair to the JACO arm fixe...

Page 18: ...tick 2 Install the Kinova standard joystick and secure it in place You will find a detailed bolt pattern for the joystick in Appendix 4 to help you design a joystick support 3 Rout the joystick cable in a way that it will not interfere with normal wheelchair or swinger movements and so it is not visually intrusive 4 Secure the joystick cable in place Depending on the user s physical capacities add...

Page 19: ...re not visually intrusive Secure all cables in place The following figure presents a schematic of the connection between systems Figure 12 Universal Interface Connection6 AUXILIARY COMMUNICATION SYSTEM The auxiliary communication system allows JACO to be recognized as an auxiliary by the controller Depending on the wheelchair manufacturer and the available option the environmental control may take...

Page 20: ...led 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 Additional push buttons must be connected to the Universal Interface to allow reaching Home and Retract positions and toggling between modes of operation In this case the emplacement of those push buttons must be studie...

Page 21: ...allation Guide 17 P a g e 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 ...

Page 22: ... 0001 Rail Adapter Kinova MF 7515 0003 Rail Adapter Kinova MF 8010 0001 Tubular Adapter Daessy 1000FSMIP MF 0001 0001 Socket Head Cap Screw M6x35 Daessy n a Main Base Square Extrusion Misumi HFSTB8 4040 300 120 Misumi HFSTB8 4040 MF 4040 0001 MF 4040 0003 Angle Bracket Misumi HBLFSN8 MH 0843 0001 Slide Plate Misumi SHPTSS8 MH 3575 0001 ...

Page 23: ... 0001 Socket Head Cap Screw M8x15 Misumi SCB8 15 MH 0815 0001 Socket Head Cap Screw M8x20 Misumi SCB8 20 M8x20 MH 0820 0001 Flat washer M8 Misumi SPWF8 MF 0008 0002 Spring washer M8 Misumi SSLW8 MF 0008 0001 Plastic knob M8x20 Misumi NKSM8 20 MF 0820 0002 Clamp lever M8x20 Misumi CLMSC8 MF 0820 0003 ...

Page 24: ...sion Kinova MF 7515 0005 Main bracket second version Kinova MF 8010 0002 Square spacer Kinova MF 7515 0004 Round spacer Kinova MF 6015 0001 Nord Lock Nord Lock NL5spss NL6spss NL8ss Socket Head Cap Screw Grade 12 9 M6x30 M6x45 M6x60 M6x75 M6x90 MH 0630 0001 MH 0645 0001 MH 0660 0001 MH 0675 0001 MH 0690 0001 ...

Page 25: ...JACO Installation Guide 21 P a g e Product Name Manufacturer PN Figure Socket Head Cap Screw Grade 12 9 M5x30 M5x45 M5x60 MH 0530 0001 MH 0545 0001 MH 0560 0001 ...

Page 26: ...y of the assembly you shall follow the procedure described herein 1 Slide one nut MH 0809 0001 on one side of each square extrusion 2 Place a slide plate MH 3575 0001 on the square extrusion with nut holes aligned 3 Insert the appropriate screws M8x15 and Nord Lock NL8ss in the nut holes and secure with the recommended torque 4 Repeat operations 1 to 3 on a second side of the square extrusion Figu...

Page 27: ...JACO Installation Guide 1 P a g e APPENDIX 3 CABLE PROVIDED FOR WHEELCHAIR ELECTRICAL INTEGRATION ...

Page 28: ...JACO Installation Guide 1 P a g e APPENDIX 4 BOLT PATTERN FOR KINOVA STANDARD JOYSTICK Figure 14 Bolt pattern for Kinova standard joystick ...

Page 29: ...MC 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 The HMC wheelchair controller Figure 15 HMC system part identification ...

Page 30: ...JACO Installation Guide 3 P a g e Connection schematic of the JACO arm Figure 16 Connection schematic with HMC system part I Figure 17 Connection schematic with HMC system part II ...

Page 31: ...2 appears 4 With a left motion of the joystick go on the mouse joystick icon 5 Enter the mouse joystick menu by a downward motion of the joystick 6 With some left motion of the joystick go on the four directions arrows icon 7 Enter the four directions arrows menu by a downward motion of the joystick 8 You should now be able to control the JACO arm ...

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