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Robotis Open Manipulator, Assembly Manual

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Robotis Open Manipulator Assembly Manual Download Page 2

2

3

ASSEMBLY MANUAL

ASSEMBLY MANUAL

2

 

CAUTION

1. Please read the assembly manual carefully.
2.  Please check DYNAMIXEL IDs and lengths of cables, and assemble  

DYNAMIXELs.

3. Please confirm the directions of DYNAMIXELs and the gripper are correct.

I D

11

CABLE-240

[DYNAMIXEL 

I D

11

, 

I D

15

 ] 

Remove described bolts.

[DYNAMIXEL 

I D

12

, 

I D

13

, 

I D

14

 ]

  Pass the cable through hollow back case, DC12-IDLER,  

DC12-IDLER-CAP and DC12-P-BEARING and connect it into DYNAMIXEL.

DYNAMIXEL Preparations

 (XM430-W350-T)

I D

12

I D

14

CABLE-100

I D

13

CABLE-180

I D

15

XM430- 

W250T

×5

DC12-IDLER

-CAP

×3

DC12-IDLER

×3

DC12-P-

BEARING

×3

CABLE-X3P-180

×1

CABLE-X3P-100

×1

CABLE-X3P-240

×1

Summary of Contents for Open Manipulator

Page 1: ...ASSEMBLY MANUAL ...

Page 2: ...the gripper are correct ID 11 CABLE 240 DYNAMIXEL ID 11 ID 15 Remove described bolts DYNAMIXEL ID 12 ID 13 ID 14 Pass the cable through hollow back case DC12 IDLER DC12 IDLER CAP and DC12 P BEARING and connect it into DYNAMIXEL DYNAMIXEL Preparations XM430 W350 T ID 12 ID 14 CABLE 100 ID 13 CABLE 180 ID 15 XM430 W250T 5 DC12 IDLER CAP 3 DC12 IDLER 3 DC12 P BEARING 3 CABLE X3P 180 1 CABLE X3P 100 1...

Page 3: ...ROD 2 FLANGE BUSH 2 NUT M3 2 WB M3 10 2 4 x2 WB M2 5 8 8 NUT M2 5 8 Insert NUT M3 from underneath the CRANK ARM Assemble LINK ROD RAIL BLOCK and PALM GRIPPER using WB M2 5x8 and NUT M2 5 Attach RUBBER PAD to the inner side of the PALM GRIPPER Assemble LINK ROD inthemiddleofthe RAIL BLOCK using FLANGE BUSH and WB M3x10 ...

Page 4: ... BRACKET RIGHT to RAIL BRACKET LEFT Assemble DYNAMIXEL ID 15 to RAIL BRACKET RIGHT RAIL BRACKET LEFT using WB M2 5x12 and WB M2 5x4 Assemble CRANK ARM to the horn of DYNAMIXEL ID 15 using WB M2x4 Slide LINK ROD RAIL BLOCK PALM GRIPPER into RAIL BRACKET Assemble FLANGE BUSH to CRANK ARM and LINK ROD using WB M3x10 Horn Align Marking View ID 15 CRANK ARM CRANK ARM FLANGE BUSH XM430 W350T 1 I D 15 ...

Page 5: ... SP 4 Assemble FR12 S102K and DYNAMIXEL ID 11 using WB M2x3 Connect CABLE X3P 180 to DYNAMIXEL ID 11 Insert X SP into the bolt holes of DYNAMIXEL ID 12 and assemble to FR12 S102K using FHS M2 5x14 Connect DYNAMIXEL ID 12 and DYNAMIXEL ID 11 using CABLE X3P 180 Connect CABLE X3P 240 to DYNAMIXEL ID 11 Horn Align Marking View XM430 W350T 1 I D 11 XM430 W350T 1 I D 12 ...

Page 6: ...6 4 NUT M2 5 4 WB M2 5 8 4 Pass CABLE X3P 240 from DYNAMIXEL ID 12 through the hole of LINK FRAME LONG Assemble FR12 H101K to LINK FRAME LONG using WB M2 5x8 and NUT M2 5 Assemble LINK FRAME LONG to FR12 S101K using WB M2 5x6 Pass CABLE X3P 180 from DYNAMIXEL ID 13 through the hole of LINK FRAME SHORT Assemble FR12 H101K to LINK FRAME SHORT using WB M2 5x8 and NUT M2 5 Assemble LINK FRAME SHORT to...

Page 7: ...the bolt holes of DYNAMIXEL ID 14 and assemble to FR12 S102K using FHS M2 5x14 Connect DYNAMIXEL ID 13 and DYNAMIXEL ID 14 using CABLE X3P 180 Connect DYNAMIXEL ID 14 and DYNAMIXEL ID 15 using CABLE X3P 100 Insert X SP into the bolt holes of DYNAMIXEL ID 15 and assemble FR12 H104K to Gripper using WB M2 5x12 Horn Align Marking View ID 13 XM430 W350T 1 I D 13 XM430 W350T 1 I D 14 CABLE 100 DYNAMIXE...

Page 8: ... M2 5 14 4 X SP 4 Assemble DYNAMIXEL ID 14 and Gripper using WB M2x3 Connect DYNAMIXEL ID 12 and DYNAMIXEL ID 13 using CABLE 180 Assemble DYNAMIXEL ID 12 using WB M2x3 Assemble DYNAMIXEL ID 13 using FHS M2 5x14 through X SP Horn Align Marking View Horn Align Marking View ID 14 ID 12 ...

Page 9: ...16 17 ASSEMBLY MANUAL ASSEMBLY MANUAL 16 WB M2 5 20 4 X SP 4 Assemble DYNAMIXEL ID 11 and Base Plate 02 using WB M2 5x20 Appendix 1 Horn Align Marking View ID 11 ...

Page 10: ...ance from getting caught between the DYNAMIXEL and frame 3D printed optional parts can be attached to OpenManipulator These parts can be down loaded from Thingiverse or Onshape Please check the QR codes below Appendix 2 Onshape Thingiverse ...

Page 11: ... 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 ID 11 ID 15 CABLE X3P 100 1 CABLE X3P 180 2 CABLE X3P 240 2 RAIL BLOCK 2 RAIL BRACKET LEFT 1 RAIL BRACKET RIGHT 1 PALM GRIPPER 2 LINK FRAME LONG 1 LINK FRAME SHORT 1 FR12 H101K 2 FR12 H104K 1 FR12 S101K 1 FR12 S102K 2 CRANK ARM 1 FLANGE BUSH 4 LINK ROD 2 RUBBER PAD 2 Parts List X SP 24 DC12 IDLER CAP 3 DC12 IDLER 3 DC12 P BEARING 3 ...

Page 12: ...Copyright ⓒ by ROBOTIS Co Ltd Reproduction and modification of this book in any form or by any means is strictly prohibited without the prior consent or the written permission from the publisher Contents and color may vary from those illustrated ...

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