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Blue Robotics Newton Gripper, Руководство пользователя

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Blue Robotics Newton Gripper Скачать руководство пользователя страница 3

10/3/2018

Newton Gripper

http://docs.bluerobotics.com/newton-gripper/#specifications

3/17

Newton Gripper Assembly

Newton Gripper Mount

3D Model

All 3D models are provided in zip archives containing the follow  le types:

SolidWorks Part (.sldprt)
IGES (.igs)
STEP (.step)
STL (.stl)

Newton Gripper

 

Newton Gripper Assembly NEWTON-GRIPPER-ASM-R3-PUBLIC.zip (/newton-gripper/cad/NEWTON-GRIPPER-ASM-R3-PUBLIC.zip)

Newton Gripper Mount

NEWTON-MOUNT-ASM-R1-PUBLIC.zip (/newton-gripper/cad/NEWTON-MOUNT-ASM-R1-PUBLIC.zip)

Installation

The 

Newton Gripper

 can be easily installed onto a BlueROV2 using the accompanying mount.

Removing a Blank Penetrator

To remove a blank penetrator from your BlueROV2, you will need the following tools:

Содержание Newton Gripper

Страница 1: ... lines or free a snagged tether Keep ngers and other body parts away from the gripper when operating It s strong and has the potential to do some damage Notify other crew members to do the same Quick Start Open and Close with PWM signal source 1 Connect the signal wire to a signal source such as the Pixhawk on the BlueROV2 or a 3 3v microcontroller Yellow PWM 3 3 volts only 2 Connect the power wir...

Страница 2: ...mm 2 75 in Time to Open Close 1 6 secs Cable Cable Diameter 3 8 mm 0 15 in Cable Length 635 mm 25 in Cable Jacket Black Urethane Conductor Insulation Acid Etched FEP Conductor Gauge 20 AWG Wires Black Ground Red Power Yellow Signal Physical Pressure Rating 300 m 984 ft Overall Length Closed 294 mm 11 57 in Overall Length Open 300 mm 11 81 in Body Primary Diameter 35 mm 1 38 in Bracket Mounting Hol...

Страница 3: ...P step STL stl Newton Gripper Newton Gripper Assembly NEWTON GRIPPER ASM R3 PUBLIC zip newton gripper cad NEWTON GRIPPER ASM R3 PUBLIC zip Newton Gripper Mount NEWTON MOUNT ASM R1 PUBLIC zip newton gripper cad NEWTON MOUNT ASM R1 PUBLIC zip Installation The Newton Gripper can be easily installed onto a BlueROV2 using the accompanying mount Removing a Blank Penetrator To remove a blank penetrator f...

Страница 4: ...h 1 To ensure your ROV is completely powered o please remove the battery completely from the 3 enclosure and place to the side 2 Remove the fairings and buoyancy blocks by removing the self tapping screws that hold the fairings to the frame 3 Remove the 4 electronics enclosure from the ROV by removing the M3x16 screws that mount the enclosure to the ROV cradle ...

Страница 5: ...tions 5 17 4 Remove the Vent Plug from the Vent Penetrator Bolt on the electronics enclosure Remove the 4 tube and forward dome assembly from the rear end cap 5 Remove the blank penetrator as pictured from the 4 End Cap with the penetrator wrench that came with the BlueROV2 kit ...

Страница 6: ...r surface of the electronics enclosure endcap clean with isopropyl alcohol or isopropyl alcohol wipes and make sure it is free of any particles in the areas where the penetrator O ring will sit 2 Remove the O ring from the bag and apply silicone grease to it 3 Install the O ring onto the Gripper cable penetrator 4 Install the Gripper cable penetrator on to the end cap in the hole you previously re...

Страница 7: ...iring Connections To install the Newton Gripper wires into your BlueROV2 you will need the following tool 1 x Large 2 Phillips head screw driver 1 Plug the Gripper Signal Wire Yellow into Aux Channel 3 or other free AUX Channel with the yellow wire oriented toward the bottom of the Pixhawk ...

Страница 8: ...tp docs bluerobotics com newton gripper specifications 8 17 2 Connect the power wires red and black wires into open screw terminals on the respective positive and negative terminal blocks Reassemble BlueROV2 Electronics Enclosure ...

Страница 9: ...x16 screws through the clips and into the Enclosure Cradle 4 Series It is easier to install these screws if the clips are not fully tightened until all screws are through the clips and threading into the Enclosure Cradle 4 Series This allows to clips to rotate so you can nd the threaded hole in the Enclosure Cradle 4 Series easily Mounting the Newton Gripper to the BlueROV2 Frame To mount the Newt...

Страница 10: ...emove the 3 battery enclosure by removing the M4x14 Screws from the bottom of the frame 4 Cut out and align one of the the provided templates onto the bottom side with the counterbore holes and tape in place You have the option of mounting the gripper to the right or left side of the vehicle ...

Страница 11: ...ndicated position markings 6 Re attach the 3 battery enclosure to the frame with the M4x14 Screws 7 Re attach the bottom frame panel to the BlueROV2 with the four M5x16 Screws 8 Place the Gripper assembly into the Mount half with the holes for mounting onto the frame 9 Slide the other Mount half onto the gripper assembly and insert the Thumbscrew into the mount hole ...

Страница 12: ...cs bluerobotics com newton gripper specifications 12 17 10 Coming from the aft end of the BlueROV2 weave the Gripper assembly into its mounting location apply a drop of threadlocker to the included M5x16 Screwsand secure to the frame ...

Страница 13: ...opellers after you have nished routing the Newton Gripper cable Below is an example of what the cable routing should look like Reinstall Buoyancy Blocks and Fairings To install the new buoyancy blocks and fairings you will need the following parts and tools 16 x Fairing screws that were placed o to the side during disassembly 4 x Fairings with buoyancy installed that were placed o to the side duri...

Страница 14: ...immed based on your operating conditions Trimming the ballast may involve a bit of trial and error Setup in QGroundControl The following servo settings are available on ArduSub 3 5 3 and QGroundControl v3 2 4 BlueRobotics Rev6 or newer If your software is out of date please conduct a software update by following the instructions on the BlueROV2 Software Setup http docs bluerobotics com brov2 softw...

Страница 15: ...ou like however the limited number of buttons means that you will have to shift the button controls around Our preference is to assign the Gripper open and close functions to the bumper buttons so the operator still has full movement control on the joysticks We then moved the camera tilt to being on Shift Bumper button pushes as illustrated below in the button assignment table for a Logitech F310 ...

Страница 16: ...old_set Disabled 9 servo_3_min_momentary mount_tilt_down 10 servo_3_max_momentary mount_tilt_up 11 gain_inc trim_pitch_dec 12 gain_dec trim_pitch_inc 13 lights1_dimmer trim_roll_dec 14 lights1_brighter trim_roll_inc 15 Disabled Disabled Final Test That s it Once powered up you should be able to control the gripper with the joystick buttons The ROV does not need to be armed for the gripper to be ac...

Страница 17: ...10 3 2018 Newton Gripper http docs bluerobotics com newton gripper specifications 17 17 ...

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