Willow Garage PR2 Maintenance Manual

PR2 Maintenance

ROS + PR2 Training Workshop

2

ROS + PR2 Training Workshop

PR2 Maintenance Overview

●

PR2 overview

●

Review electrical and ESD safety

●

Review PR2 power system

●

PR2 accessory kit

●

PR2 tool kit

●

Hands on demos

●

See support.willowgarage.com to order
replacement parts

3

ROS + PR2 Training Workshop

PR2 Overview

●

PR2 “anatomy”

●

Hands-on demos

●

Filter maintenance

●

Gripper tip replacement

●

Counter balance adjustment

●

Points of interest

●

Power switch

●

A/C breaker

●

Run-Stop button

●

Plug for the ESD strap

4

ROS + PR2 Training Workshop

PR2 Front View

Head Tilt Stage Panels

Gripper

Head Pan
Stage Panels

Fore Arm

Upper
Arm

Shoulde
rCovers

Center
Trim

Front
Bottom
Panel

Top
Front
Panel

Base Skirt
Front

Laser

Sled

Front
Bellows

5

ROS + PR2 Training Workshop

PR2 Side View

Head Tilt Stage
Panels

Grippe
r

Head Pan
Stage Panels

Fore Arm

Upper
Arm

Shoulde
r Covers

Left
Body
Trim

Front
Bottom
Panel

Top
Front
Panel

Base Skirt
Front

Laser
Sled

Front
Bellow
s

Rear
Bottom
Panel

Base
Skirt
Rear

Rear
Bellows

Rear Top
Panel

Hokuyo

6

ROS + PR2 Training Workshop

PR2 Rear View

Head Tilt Stage
Panel

Base
Skirt
Rear

Fan

Filter

Rear
Bottom
Panel

Rear
Top
Panel

Rear
Bellows

Head Pan Stage
Panel

DC

Breaker

Run – Stop
Button

7

ROS + PR2 Training Workshop

Electrical and ESD safety

●

When performing maintenance:

●

Turn off power even when removing covers

●

The only exceptions are when performing
counter balance adjustments and replacing
the fan filter

●

Disconnect AC power to the PR2

●

Always use an ESD strap

●

ESD straps are provided in the accessory kit:

●

Place strap around bare wrist

●

Plug jack into accessory panel

8

ROS + PR2 Training Workshop

PR2 Power System

PR2 internal power precautions and safety features:

●

Battery power is “live” within the robot, even
when the power is off

●

The power board controls all the power to the
PR2 systems and is accessible/controllable via
the ROS pr2_power_node

●

There are as many as 7 levels of protection but
you cannot assume they will prevent damage or
injury

●

Always turn off the PR2 power when performing
maintenance except when specifically required
to complete a procedure such as the counter
balance adjustment

9

ROS + PR2 Training Workshop

PR2 Power Requirements

Wall power:

●

The PR2 can only be plugged into a dedicated
15A minimum circuit

●

Only use the supplied power cord

●

Only use the supplied self plug-in cord

●

See support.willowgarage.com for ordering
replacement cords

Battery runtime

●

Approximately 2 hours stationary, less when
moving