DARwIn OP
Assembly Manual
Страница 1: ...DARwIn OP Assembly Manual ...
Страница 2: ...HIS DOCUMENT UNDER THE TERMS OF THE CREATIVE COMMONS ATTRIBUTION NONCOMMERCIAL SHAREALIKE 3 0 UNPORTED LICENSE TO VIEW A COPY OF THIS LICENSE VISIT HTTP CREATIVECOMMONS ORG LICENSES BY NC SA 3 0 DARwIn OP Assembly Manual Created by RoMeLa at Virginia Tech Version 1 0 1 Created 5 3 2011 Modified 7 26 2011 THIS ASSEMBLY MANUAL IS TO BE USED IN CONJUNCTION WITH THE FOLLOWING DOCUMENTS DARwIn OP Wirin...
Страница 3: ..._E130 1 8 Battery Cover Bracket PR13_B_FRM_CVR_BAT_ASM 1 9L Back Left Pelvic Bracket PR13_B_BRKT_PELV_L 1 9R Back Right Pelvic Bracket PR13_B_BRKT_PELV_R 1 10 Angled Actuator Bracket FR07_H102 4 11 Arm Actuator Mount FR07_SC101 2 12 Hand FR07_E180 2 13 U Actuator Bracket FR07_H120 4 14 Leg Actuator Mount FR07_S101 6 15 Actuator Connector FR07_X102 8 16 Thigh Bracket FR07_H132 2 17 Knee Bracket FR0...
Страница 4: ...Arm Cover Upper 2 34 Arm Cover Lower 2 35 Thigh Cover 2 36 Leg Cover 2 37B Back Head Cover 1 37F Front Head Cover 1 38B Back Chest Cover 1 38F Front Chest Cover 1 39L Left Foot Cover 1 39R Right Foot Cover 1 40L Left Eye Cover 1 40R Right Eye cover 1 41L Left Pupil 1 41R Right Pupil 1 33 35 36 34 39L 38B ...
Страница 5: ...28 Yes M4 Dynamixel MX 28 Yes M5 Dynamixel MX 28 Yes M6 Dynamixel MX 28 Yes M7 Dynamixel MX 28 No M8 Dynamixel MX 28 No M9 Dynamixel MX 28 No M10 Dynamixel MX 28 No M11 Dynamixel MX 28 Yes M12 Dynamixel MX 28 Yes M13 Dynamixel MX 28 Yes M14 Dynamixel MX 28 Yes M15 Dynamixel MX 28 Yes M16 Dynamixel MX 28 Yes M17 Dynamixel MX 28 No M18 Dynamixel MX 28 No M19 Dynamixel MX 28 No M20 Dynamixel MX 28 Ye...
Страница 6: ...ronics Part Number Description Qty 19 Camera 1 20 Head PCB 1 22 FitPC 1 23 CM730 1 24 Antenna 1 25 Antenna Connector 1 26 Fan 2 27 Back Cover PCB 1 29 Speaker 1 30 Power Switch 1 31 Battery 1 19 20 22 23 24 25 26 27 30 29 ...
Страница 7: ...M3x6 8 S10 Flat Head M2 5x4 4 S11 Hex Head M2x3 28 S12 Hex Head M2x4 143 S13 Hex Head M2 5x3 8 S14 Hex Head M2 5x4 48 S15 Hex Head M2 5x6 112 S16 Hex Head M2 5x8 33 S17 Hex Head M2 5x10 8 SU1 Spacer M2 5x6 4 SU2 Spacer M2 5x10 3 SU3 Spacer M3x11 4 N1 Nut M2 5 92 BC Bearing Cap 15 BG Bearing 15 FL Flange Bearing 4 ID Bearing Idler 15 MH Horn 20 TW Thrust Washer 20 S1 S2 S3 S4 S5 S6 S7 S8 S9 S10 S11...
Страница 8: ...d Horn attachment Actuator bearing attachment NOTE All actuators require horn NOTE M1 M2 M7 M8 M9 M10 M17 M18 M19 do NOT require a bearing Alignment of motor horn on actuator shaft TW MH S16 ID BG BC S16 WARNING Horns must align with actuator shaft as shown Damage to actuators and or robot may occur if horn is not properly aligned when attached to actuator ...
Страница 9: ...4 4 Upper Chest Bracket 1 10 Angled Actuator Bracket 2 23 CM730 1 24 Antenna 1 25 Antenna Connector 1 M1 Dynamixel MX 28 1 M2 Dynamixel MX 28 1 M19 Dynamixel MX 28 1 S8 Phillips Head M3x4 8 S12 Hex Head M2x4 21 S15 Hex Head M2 5x6 24 S16 Hex Head M2 5x8 3 N1 Nut M2 5 16 SU3 Spacer M3x11 4 ...
Страница 10: ...10 1 Upper Chest 1 1 Upper chest actuator assembly 1 1 1 Actuator connectors to M19 1 1 2 M1 and M2 to actuator connectors 8 EA 8 EA 4 EA 4 EA 3 4 EA M19 N1 S15 S15 M2 M1 S15 ...
Страница 11: ...11 1 Upper Chest 1 1 Upper chest actuator assembly 1 1 3 Upper chest bracket assembly 1 1 S12 21 EA 10 2 EA 2 M1 horn orientation M19 horn orientation M2 horn orientation ...
Страница 12: ...1 Upper Chest 1 2 Upper chest electronics assembly 1 2 1 Antenna to upper chest bracket 1 2 3 Circuit board to upper chest bracket 1 2 2 FitPC to upper chest bracket 1 2 4 EA 4 EA 4 EA 24 4 25 23 SU3 S8 S8 ...
Страница 13: ...13 1 Upper Chest 1 3 Upper chest unit assembly 1 3 1 1 1 to 1 2 assembly Front View Back View 1 3 S15 4 EA N1 4 EA 4 EA 4 EA N1 S15 1 2 1 1 ...
Страница 14: ...R Back Right Pelvic Bracket 1 9L Back Left Pelvic Bracket 1 22 FitPC 1 30 Power Switch 1 31 Battery 1 M7 Dynamixel MX 28 1 M8 Dynamixel MX 28 1 S6 Phillips Head M2 5x4 8 S10 Flat Head M2 5x4 4 S14 Hex Head M2 5x4 10 S15 Hex Head M2 5x6 10 S16 Hex Head M2 5x8 2 S17 Hex Head M2 5x10 8 N1 Nut M2 5 10 SU1 Spacer M2 5x6 4 SU2 Spacer M2 5x10 3 ...
Страница 15: ...est 2 1 Switch assembly 2 2 Lower chest unit assembly 2 1 1 Power switch spacer assembly 2 2 1 FitPC spacer assembly 2 1 2 Switch to back right pelvic bracket 2 1 3 EA 3 EA 3 EA 4 EA 4 EA 30 9R 22 SU1 SU2 S14 S14 S6 ...
Страница 16: ...16 2 Lower Chest 2 2 Lower chest unit assembly 2 2 2 FitPC to lower chest bracket 2 2 3 M7 and M8 to lower chest bracket 4 EA 2 EA 4 EA S6 5 6 4 EA S17 S17 M8 M7 2 2 1 ...
Страница 17: ...17 2 Lower Chest 2 2 Lower chest unit assembly 2 2 4 FitPC to lower chest bracket 2 2 5 Battery bracket to lower chest bracket S10 4 EA S14 4 EA 2 1 2 9L 7 ...
Страница 18: ...18 2 Lower Chest 2 2 Lower chest unit assembly 2 2 6 Lower chest unit assembly 5 EA N1 5 EA S15 5 EA S15 N1 5 EA 2 2 8 ...
Страница 19: ...older 4 M11 Dynamixel MX 28 1 M13 Dynamixel MX 28 1 M15 Dynamixel MX 28 1 M17 Dynamixel MX 28 1 M19 Dynamixel MX 28 1 S3 Phillips Head M2x4 2 S4 Phillips Head M2x5 6 S11 Hex Head M2x3 8 S12 Hex Head M2x4 41 S13 Hex Head M2 5x3 4 S14 Hex Head M2 5x4 4 S15 Hex Head M2 5x6 28 S16 Hex Head M2 5x8 10 N1 Nut M2 5 20 BC Bearing Cap 2 BG Bearing 2 FL Flange Bearing 2 ID Bearing Idler 2 ...
Страница 20: ...3 1 1 Lower leg actuator mount assembly 3 1 3 M15 to lower leg actuator mount 3 1 2 Lower leg actuator mount bearing assembly 3 1 4 Actuator connectors to M15 3 1 4 14 4EA S15 4 EA 4 EA ID BC BG 2 EA 4 EA 4 EA M15 FL N1 S16 S11 15 S15 N1 ...
Страница 21: ... 3 Right Leg 3 1 Right lower leg 3 1 5 U actuator bracket to foot 3 1 7 3 1 4 to U actuator bracket 3 1 6 M17 to U actuator bracket S13 4 EA 13 18 5 EA S12 5 EA S15 4 EA M17 3 1 4 M17 horn orientation S12 ...
Страница 22: ...22 3 Right Leg 3 1 Right lower leg 3 1 8 Knee bracket to foot 3 1 17 S12 5 EA 2 EA 2 EA 2 EA 32 S12 2 EA M15 horn orientation S3 S4 ...
Страница 23: ...3 2 1 Upper leg actuator mount assembly 3 2 3 M11 to upper leg actuator mount 3 2 2 Upper leg actuator mount bearing assembly 3 2 4 Actuator connectors to M11 3 2 4 14 S11 4EA ID BC BG S16 N1 4 EA S15 4 EA 2 EA 4 EA S15 15 4 EA N1 M11 FL ...
Страница 24: ...24 3 Right Leg 3 2 Right upper leg 3 2 5 M9 to U actuator bracket 3 2 6 3 2 4 to 3 2 5 assembly 3 2 5 3 2 6 S15 4 EA S12 5 EA S12 5 EA 3 2 4 M9 M9 horn orientation 13 ...
Страница 25: ...25 3 Right Leg 3 2 Right upper leg 3 2 7 Thigh bracket to actuator mount 3 2 8 M13 to actuator mount 3 2 8 16 14 4 EA 4 EA N1 4 EA M13 S14 S15 ...
Страница 26: ...26 3 Right Leg 3 2 Right upper leg 3 2 9 3 2 6 to 3 2 8 assembly 3 2 5 EA 2 EA 2 EA S12 3 2 6 3 2 8 M11 horn orientation S4 S12 32 ...
Страница 27: ...27 3 Right Leg 3 3 Right leg unit assembly 3 3 1 3 1 to 3 2 assembly 3 3 3 2 3 1 S12 5 EA 32 S12 2 EA S4 2 EA M13 horn orientation ...
Страница 28: ...older 4 M10 Dynamixel MX 28 1 M12 Dynamixel MX 28 1 M14 Dynamixel MX 28 1 M16 Dynamixel MX 28 1 M18 Dynamixel MX 28 1 S3 Phillips Head M2x4 2 S4 Phillips Head M2x5 6 S11 Hex Head M2x3 8 S12 Hex Head M2x4 41 S13 Hex Head M2 5x3 4 S14 Hex Head M2 5x4 4 S15 Hex Head M2 5x6 28 S16 Hex Head M2 5x8 10 N1 Nut M2 5 20 BC Bearing Cap 2 BG Bearing 2 FL Flange Bearing 2 ID Bearing Idler 2 ...
Страница 29: ...4 1 1 Lower leg actuator mount assembly 4 1 3 M16 to lower leg actuator mount 4 1 2 Lower leg actuator mount bearing assembly 4 1 4 Motor bracket assembly 4 1 4 S11 4 EA BG 4 EA N1 4 EA 4 EA 4 EA 2 EA S16 FL 14 S15 15 BC S15 M16 N1 ID ...
Страница 30: ...0 4 Left Leg 4 1 Left lower leg 4 1 7 4 1 4 to U actuator bracket 4 1 6 M18 to U actuator bracket 4 EA S12 5 EA S15 4 EA S12 5 EA 13 M18 4 1 4 18 S13 M18 horn orientation 4 1 4 U actuator bracket to foot ...
Страница 31: ...31 4 Left Leg 4 1 Left lower leg 4 1 8 Knee bracket to foot 4 1 2 EA S4 2 EA 32 2 EA S12 2 EA S12 5 EA S3 M16 horn orientation ...
Страница 32: ...2 1 Upper leg actuator mount assembly 4 2 3 M12 to upper leg actuator mount 4 2 2 Upper leg actuator mount bearing assembly 4 2 4 Actuator connectors to M12 4 2 4 4 EA ID 4 EA 4 EA 4 EA 4 EA 2 EA S11 S16 N1 M12 BC 15 75 FL 14 S15 S15 BG ...
Страница 33: ...33 4 Left Leg 4 2 Left upper leg 4 2 5 M9 to U actuator bracket 4 2 6 4 2 4 to 4 2 5 assembly 4 2 5 4 2 6 S12 5 EA S15 4 EA M10 13 5 EA S12 4 2 4 4 2 5 M10 horn orientation ...
Страница 34: ...34 4 Left Leg 4 2 Left upper leg 4 2 7 Thigh bracket to actuator mount 4 2 8 M14 to actuator mount 4 2 8 4 EA S15 4 EA N1 4 EA 14 16 M14 S14 ...
Страница 35: ...35 4 Left Leg 4 2 Left upper leg 4 2 32 4 2 6 2 EA S12 2 EA 5 EA 4 2 8 S12 S4 M12 horn orientation 4 2 9 4 2 6 to 4 2 8 assembly ...
Страница 36: ...36 4 Left Leg 4 3 Left leg unit assembly 4 3 1 4 1 to 4 2 assembly 4 3 32 S4 2 EA 2 EA S12 5 EA 4 1 S12 4 2 M14 horn orientation ...
Страница 37: ...RIPTION QTY 10 Angled Actuator Bracket 1 11 Actuator Mount 1 12 Hand 1 M3 Dynamixel MX 28 1 M5 Dynamixel MX 28 1 S11 Hex Head M2x3 4 S12 Hex Head M2x4 10 S14 Hex Head M2 5x4 4 S15 Hex Head M2 5x6 8 S16 Hex Head M2 5x8 4 N1 Nut M2 5 8 ...
Страница 38: ...38 5 Right Arm 5 1 Right arm unit assembly 5 1 1 Angled actuator bracket to hand 4 EA 5 1 1 M5 to angled actuator bracket 4 EA S12 10 EA M5 S14 M5 horn orientation 10 12 S11 ...
Страница 39: ...39 5 Right Arm 5 1 Right arm unit assembly 5 1 3 Actuator mount to M5 5 1 4 M3 to actuator mount 5 1 4 EA N1 4 EA N1 4 EA 4 EA M3 S15 11 S15 ...
Страница 40: ...IPTION QTY 10 Angled Actuator Bracket 1 11 Actuator Mount 1 12 Hand 1 M4 Dynamixel MX 28 1 M6 Dynamixel MX 28 1 S11 Hex Head M2x3 4 S12 Hex Head M2x4 10 S14 Hex Head M2 5x4 4 S15 Hex Head M2 5x6 8 S16 Hex Head M2 5x8 4 N1 Nut M2 5 8 ...
Страница 41: ...41 6 Left Arm 6 1 Left arm unit assembly 6 1 1 Angled actuator bracket to hand 6 1 2 M6 to angled actuator bracket 10 EA S11 4 EA 4 EA M6 S12 S14 M6 horn orientation 10 12 ...
Страница 42: ...42 6 Left Arm 6 1 Left arm unit assembly 6 1 3 Actuator mount to M6 6 1 4 M4 to actuator mount N1 4 EA 4 EA 4 EA 4 EA 6 1 11 S15 M4 S15 N1 ...
Страница 43: ...43 7 Head Part Number DESCRIPTION QTY 1 Head Bracket 1 20 Head PCB 1 S3 Phillips Head M2x4 2 S15 Hex Head M2 5x6 6 N1 Nut M2 5 6 ...
Страница 44: ...44 7 Head 7 1 Head unit assembly 7 1 1 Head bracket to M20 7 1 2 Head PCB to head bracket 7 1 6 EA S3 2 EA N1 6 EA M20 20 1 S15 ...
Страница 45: ...45 8 Full Assembly Part Number Description Qty 32 Cable Holder 2 S4 Phillips Head M2x5 4 S11 Hex Head M2x3 4 S12 Hex Head M2x4 20 S14 Hex Head M2 5x4 22 ...
Страница 46: ...46 8 Full Assembly 8 1 Chest unit assembly 8 1 1 1 1 to 2 1 assembly 8 1 1 1 2 1 6 EA S14 ...
Страница 47: ...3 Arms to body assembly 8 2 1 3 3 and 4 3 to 8 1 assembly 8 3 1 5 1 and 6 1 to 8 1 assembly 2 EA S4 4 EA 4 EA 8 EA 4 3 10 EA 8 1 8 1 6 1 5 1 S12 S11 S14 32 M9 horn orientation M10 horn orientation M3 horn orientation M4 horn orientation 8 EA S14 3 3 ...
Страница 48: ...48 8 Full Assembly 8 4 Head to body assembly 8 4 1 7 1 to 8 1 assembly 8 4 10 EA 7 1 8 1 S12 M19 horn orientation ...
Страница 49: ... Leg Cover 2 37B Back Head Cover 1 37F Front Head Cover 1 38B Back Chest Cover 1 38F Front Chest Cover 1 39L Left Foot Cover 1 39R Right Foot Cover 1 40L Left Eye Cover 1 40R Right Eye Cover 1 41L Left Pupil 1 41R Right Pupil 1 S1 M1 4x4 6 S2 Button Head M2x4 2 S3 Phillips Head M2x4 16 S5 Phillips Head M2x6 20 S6 Phillips Head M2 5x4 4 S7 Phillips Head M2 5x6 4 S9 Phillips Head M3x6 8 ...
Страница 50: ...50 9 Covers 9 1 Head covers 9 1 1 Head led cover to front head cover 9 1 3 Camera to front head cover 9 1 2 Eyes assembly 9 1 3 21 37F 41L 2 EA 4 EA 40R 40L 41R S1 19 S1 ...
Страница 51: ...51 9 Covers 9 1 Head covers 9 1 4 Front head cover location on head 9 1 5 Front head cover to back head cover assembly 9 1 8 4 9 1 3 4 EA 37B S5 Section View ...
Страница 52: ...52 9 Covers 9 2 Chest covers 9 2 1 Back cover PCB to back chest cover 9 2 2 Fans to back cover assembly 9 2 2 38B 27 4 EA 2 EA 8 EA S5 S9 26 ...
Страница 53: ...53 9 Covers 9 2 Chest covers 9 2 3 Speaker to front cover 9 2 4 9 2 2 and 9 2 3 to 8 4 assembly 9 2 3 9 2 3 4 EA 2 EA S5 8 4 9 2 2 38F 29 S2 ...
Страница 54: ...54 9 Covers 9 3 Thigh and foot covers 9 4 Shin covers 9 3 1 Thigh covers and foot covers assembly 9 4 1 Shin covers assembly 2 EA S6 2 EA 4 EA 4 EA 36 2 EA 39R 35 39L S3 S3 S3 4 EA S3 4 EA S6 2 EA ...
Страница 55: ...55 9 Covers 9 5 Arm covers 9 5 1 Arm covers assembly 9 2 EA 2 EA 2 EA 4 EA 34 S7 S5 33 S7 2 EA 4 EA S5 ...
Страница 56: ......
