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robolink

®

Joint kit – Documentation (#4; 2016-12)

igus

®

GmbH | Martin Raak | Tel. +49 (0)2203 9649 409 | [email protected]

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robolink

®

Joint kit

Basics .......................................................................................................... 2

Joint types ................................................................................................... 3

Articulated arms .......................................................................................... 4

Angle sensors ........................................................................................... 11

Actuators ................................................................................................... 14

Draw wires ................................................................................................. 15

Mounting instruction cable end bottom .................................................. 18

Drive pulleys with integrated wire tightening ......................................... 19

Step motors ............................................................................................... 20

Drive modules ........................................................................................... 23

Drive units ................................................................................................. 24

Accessories ............................................................................................... 27

Controls ..................................................................................................... 27

Dimensioned drawings ............................................................................. 28

Exploded drawings / parts lists ................................................................ 29

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Summary of Contents for robolink

Page 1: ...int kit Basics 2 Joint types 3 Articulated arms 4 Angle sensors 11 Actuators 14 Draw wires 15 Mounting instruction cable end bottom 18 Drive pulleys with integrated wire tightening 19 Step motors 20 D...

Page 2: ...lated arm Articulated arms are moved with draw wires One pair of wires each is designed to create motion for one degree of freedom The wire pair must be driven in an antagonistic fashion This provides...

Page 3: ...swivel range 2 axes joint 170 rotating range Version without rotation RL 50 PL3 180 0 swivel range Big base joint RL 90 BL1 90 swivel range for 6 DOF arms 90 rotating range Small base joint RL 50 BL2...

Page 4: ...50 BL2 can only be used as first joints in a multi axes joint arm Rotating joint RL 50 TL2 can only be used in annexation to base joint RL 90 BL1 shoulder kinematics rotation pivot rotation A 6 DOF c...

Page 5: ...the tube lengths visible tube lengths and rotating point distances are shown in Figures 7 and 8 along with information for minimum lengths X distance of the rotating points to each other and from the...

Page 6: ...olink Joint kit Documentation 4 2016 12 igus GmbH Martin Raak Tel 49 0 2203 9649 409 mraak igus de 6 Fig 11 Tube length information for 1 joint Fig 12 Tube length information for combinations of 2 joi...

Page 7: ...culated arm versions can be configured with 1 to 6 degrees of freedom DOF The following figures show some possibilities as an example RL P1 RL T1 RL 01 RL T1P1 RL P1P1 Fig 13 Articulated arms with 1 D...

Page 8: ...weight gr max stat load N max dyn load N 1 13 RL T1 E 100 173 134 307 290 89 62 13 RL P1 E 100 134 134 270 89 62 2 14 RL 01 E 100 202 134 336 400 89 62 14 RL T1P1 E 100 207 134 341 535 89 62 14 RL P1...

Page 9: ...lated arms can be optionally equipped with angle sensors Section Angle sensors The shown end plates for rotating joints or end flanges for 2 axes and swivel joints are not part of the delivery scope b...

Page 10: ...bH Martin Raak Tel 49 0 2203 9649 409 mraak igus de 10 Fig 20 RL WSU8 001 to connect an articulated arm with a 2 axes or swivel joint in the first joint Fig 21 Dimensioned drawing for an optional moun...

Page 11: ...r chip The magnetic rings are specified as follows Swivel motion RL 50 xxx 31 pole pairs 1 additional south pole Rotating motion RL 50 xxx 29 pole pairs 1 additional south pole Swivel and rotating mot...

Page 12: ...hs Distance from center point x mm Positioning accuracy mm 200 0 24 400 0 49 500 0 61 Table 2 Positioning accuracy with angle sensors Since the positioning errors for multiple axis are compounded syst...

Page 13: ...6 conductors The corresponding strands are assigned as follows State 2012 08 producer igus line name FIXFLEX FF900 11 282 number of conductors 12 conductor cross section 0 09 line diameter mm 3 9 usa...

Page 14: ...NK for electrical grippers from GIMATIC and also for suction systems Cameras or lighting sources e g LED can also be adapted Fig 28 standardized adaptable pneumatic grippers Our own draw wire gripper...

Page 15: ...tension is inadequate When the wire tension is too high the wire friction in the system and the service life of the wires are negatively impacted The tensionable drive wheels from igus see Fig 25 are...

Page 16: ...ly tensioned wires cause increased friction and wear igus GmbH recommends using tensionable drive wheels RL ZA011 0250 xx igus GmbH recommends using the igus Bowden cable RL SD02 BZ01 to feed wires on...

Page 17: ...mbH Martin Raak Tel 49 0 2203 9649 409 mraak igus de 17 Fig 34 Two wire pairs are fed through the lower joint Fig 35 Upper connecting element for guiding the wire Fig 36 Bowden cable segments for para...

Page 18: ...l not be damaged bring cable end bottom in the following end position threading the terminal block onto the wire 1 smaller diameter 2 of the terminal block first on the wire larger diameter 3 shows fo...

Page 19: ...unscrew the 3 screws for 2 turns 3 tighten the rope with the 3 pin tool that is delivered with the drive unit 4 tighten the 3 screws again after that All drive pulleys can be adapted to different mot...

Page 20: ...nd NEMA23 step motors with M12 plug connectors or as strand conductors cost effective alternative Technical documentation can be found in the technical spec sheet download at www igus de robolink supp...

Page 21: ...k Joint kit Documentation 4 2016 12 igus GmbH Martin Raak Tel 49 0 2203 9649 409 mraak igus de 21 Fig 40 Connector assignments for motors Fig 41 Characteristic progression for motors Fig 42 Motor dime...

Page 22: ...robolink Joint kit Documentation 4 2016 12 igus GmbH Martin Raak Tel 49 0 2203 9649 409 mraak igus de 22 Fig 43 Connecting cables for motors with connectors from igus optional...

Page 23: ...ng is available upon request The technical specs for the gears can be found in the dimension or specification sheet in the attachments The function of the tensionable drive wheel is described in Secti...

Page 24: ...ilable upon request Fig 45 Complete system 5 DOF art no RL T10101 E DU1523 Fig 46 Complete system 6 DOF art no RL B10301 E DU3623L with RL 50 GRI 02 01 E The following options are user selectable for...

Page 25: ...115 6 760 5 RL T10101 DU1517 460 410 80 240 1 066 8 070 RL T101P1P1 DU1517 460 410 80 240 1 244 8 220 only applies to geometric configurations with standard tube length 100mm Table 4 Complete system s...

Page 26: ...Complete units have the following specifications 6 DOF DOF NEMA23L versions l1 mm l2 mm b1 mm h2 mm x ges mm Gewicht gr 6 RL B10101 DU3623L 600 698 160 427 622 26 895 RL B10301 DU3623L 600 698 160 427...

Page 27: ...ls SMCI47 S SIEMENS SPS controls S7 1200 In cooperation with WAGO Kontakttechnik GmbH Co KG a Germany based manufacturer of automation and interconnection products a solution for controlling the robol...

Page 28: ...12 igus GmbH Martin Raak Tel 49 0 2203 9649 409 mraak igus de 28 Dimensioned drawings Fig 50 Dimensioned drawing Swivel joint RL 50 PL1 Fig 51 Dimensioned drawing Rotating joint RL 50 TL1 Fig 52 Dime...

Page 29: ...tation 4 2016 12 igus GmbH Martin Raak Tel 49 0 2203 9649 409 mraak igus de 29 Exploded drawings parts lists Fig 53 Exploded drawing parts list Swivel joint RL 50 PL1 Fig 54 Exploded drawing parts lis...

Page 30: ...robolink Joint kit Documentation 4 2016 12 igus GmbH Martin Raak Tel 49 0 2203 9649 409 mraak igus de 30 Fig 55 Exploded drawing parts list 2 axes joint RL 50 001 002...

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