Robotis Open Manipulator Assembly Manual

ASSEMBLY

MANUAL

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 conrm the directions of DYNAMIXELs and 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

XM430­W250T

×5

DC12-IDLER

-CAP

×3

DC12-IDLER

×3

DC12-P­BEARING

×3

CABLE-X3P-180

×1

CABLE-X3P-100

×1

CABLE-X3P-240

×1

4 5

ASSEMBLY MANUAL ASSEMBLY MANUAL

4

1

2

3

PALM GRIPPER

×2

RUBBER PAD

×2

x2

x2

CRANK ARM×1NUT-M3

×2

RAIL BLOCK×2LINK ROD

×2

FLANGE BUSH×2NUT-M3

×2

WB-M3×10

×2

4

x2

WB-M2.5×8×8NUT-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

in the middle of the

RAIL BLOCK

using

FLANGE BUSH

and

WB-M3x10

6 7

ASSEMBLY MANUAL ASSEMBLY MANUAL

6

5

ID

15

RAIL BRACKET(LEFT)

×1

RAIL BRACKET(RIGHT)

×1

X-SP

×4

WB-M2.5×4

×4

WB-M2.5×12

×4

WB-M2×4

×4

6

FLANGE BUSH

×1

WB-M3×10

×1

7

FLANGE BUSH

×1

WB-M3×10

×1

Assemble

RAIL 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

XM430­W350T

×1

ID

15