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

8 9

ASSEMBLY MANUAL ASSEMBLY MANUAL

8

8

CABLE-180

FR12-S102K

×1

ID

11

ID

11

WB-M2×3

×8

CABLE-X3P-180

×1

9

FHS-M2.5×14

×4

CABLE-180

CABLE-240

ID

12

ID

11

CABLE-X3P-240

×1

X-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

XM430­W350T

×1

ID

11

XM430­W350T

×1

ID

12

10 11

ASSEMBLY MANUAL ASSEMBLY MANUAL

10

10

FR12-H101K×1FR12-S101K

×1

LINK FRAME(LONG)

×1

CABLE-240

(DYNAMIXEL ID12)

CABLE-180

(DYNAMIXEL ID13)

WB-M2.5×6

×4

NUT-M2.5

×4

WB-M2.5×8

×4

11

FR12-S102K

×1

FR12-H101K

×1

LINK FRAME(SHORT)

×1

WB-M2.5×6

×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

FR12-S102K

to using

WB-M2.5x6

12 13

ASSEMBLY MANUAL ASSEMBLY MANUAL

12

12

ID

14

ID

13

CABLE-180

WB-M2×3

×10

FHS-M2.5×14

×4

13

FR12-H104K

×1

WB-M2.5×12

×4

X-SP

×4

X-SP

×4

Assemble

DYNAMIXEL(ID 13)

to

FR12-H101K

using

WB-M2x3

Insert

X-SP

into 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

ID

13

XM430­W350T

×1

ID

14

CABLE-100

(DYNAMIXEL ID14)

14 15

ASSEMBLY MANUAL ASSEMBLY MANUAL

14

14

WB-M2×3

×10

15

CABLE-240

WB-M2×3

×10

FHS-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

16 17

ASSEMBLY MANUAL ASSEMBLY MANUAL

16

WB-M2.5×20×4X-SP

×4

Assemble

DYNAMIXEL(ID 11)

and

Base Plate-02

using

WB-M2.5x20

Appendix 1

Horn Align Marking View

ID

11

18

ASSEMBLY MANUAL

18

To prevent substance from getting caught between the DYNAMIXEL and frame,

3D printed optional parts can be attached to OpenManipulator. These parts can be down­loaded from Thingiverse or Onshape. Please check the QR codes below.

Appendix 2

OnshapeThingiverse

ASSEMBLY MANUAL ASSEMBLY MANUAL

1:1

FHS-M2.5×14

×12

WB-M2.5×12

×8

WB-M2×4

×4

WB-M2×3

×38

WB-M2.5×20

×4

WB-M2.5×6

×8

WB-M2.5×4

×4

WB-M2.5×8

×16

WB-M3×10

×4

NUT-M2.5

×16

NUT-M3

×4

XM430-W350-T

×5

1:1

012345678910 11 12 13 14 15 16 17 18 19 20 21 22 23 24

ID11ID

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

4

ASSEMBLY MANUAL

ALL RIGHTS RESERVED.
Copyright ⓒ by ROBOTIS Co., Ltd.

Reproduction and modication 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.