r-series hexapod - hebi robotics

General Warnings and Cautions

Danger (May cause serious injury or death)

• Keep water, flammables, solvents and other liquids clear from unsealed actuator.

• Keep fingers away from moving parts during operation.

• Cut power immediately if actuator emits strange odors or smoke.

• Keep actuator out of reach of children.

Warning (May cause injury or damage to actuator)

• Do not expose the actuator to permanent and strong magnetic fields.

• Do not force screws into the bottom of the actuator. R8 = 8mm Tap Depth

• Use provided hardware with accessories and hand tighten as needed.

• Attempts to disassemble actuator will void the warranty and may cause permanent damage.

*Sealing (R-Series Actuators are IP67 when properly used)*

• Please refer to all online documentation for proper sealing techniques of the actuator.

For more information please visit: docs.hebi.us

R-Series Hexapod Assembly Instructions 2

Bill of Materials - Mechanical

R-Series Hexapod Assembly Instructions 3

fasteners included, not shown

Default Configuration

1 xA-2260-01

Sealed Wireless Chassis Assembly

16 xPP-2200-02300mm Tube

2 xPP-2200-200200mm Tube

6 xA-2188-02

6 xA-2263-57-30

(Gas Spring – 30lbs.)

6 xPP-2335-01

12xA-2219-01

6 xA-2222-01

12 xA-2218-01

1 xA-2096-02

12 xA-2090-02

12 xA-2231-01

6 xA-2232-01

12 xR8-9

Straight Connector

6 xR8-16

Right Angle Connector

Bill of Materials - Electrical

R-Series Hexapod Assembly Instructions 4

PP-2349-BLK18AWG Power Wire, Black

PP-2349-RED18AWG Power Wire, Red

PP-2358-BLU22AWG M-Stop Cable, Blue

PP-2358-YEL22AWG M-Stop Cable, Yellow

PP-2401-DUPPOF Duplex Cable

ll items are included in R-Series Connection Toolbox

Table of ContentsAssembly Image Pages

Chassis [6-8]

Left Legs(includes wiring)

[9-24]

Right Legs(includes wiring)

[25-38]

Final(includes wiring)

[39-43]

R-Series Hexapod Assembly Instructions 5

R-Series Hexapod Assembly Instructions 6

Chassis

1 x

R-Series Hexapod Assembly Instructions 7

1 xA-2260-01

Sealed Wireless Chassis Assembly

2 xPP-2200-200200mm Tube

4 xPP-2200-02300mm Tube

1 x

R-Series Hexapod Assembly Instructions 8

1 xA-2096-02

Left LegsR-Series Hexapod Assembly Instructions 9

3 x

R-Series Hexapod Assembly Instructions 10

1 xA-2222-01

Flat face towards inside

M6x10mm

3 x

R-Series Hexapod Assembly Instructions 11

1 xA-2222-01

Align with actuatoroutput hub tick mark

(inside face parallel with tick mark)

1 xR8-9

Straight Connector

R-Series Hexapod Assembly Instructions 12

3 x

Connectors of both modulespoint the same way

1 xR8-16

Right Angle Connector

R-Series Hexapod Assembly Instructions 13

3 x

1 xPP-2200-02

[300mm]1 x

A-2218-011 x

A-2219-01

R-Series Hexapod Assembly Instructions 14

3 x3 x

3 xAlign with actuator

output hub tick mark

(Tube aligns with tick mark)

R-Series Hexapod Assembly Instructions 15

3 x

1 xA-2188-02

1 xA-2263-57-30

(Gas Spring – 30lbs.)

R-Series Hexapod Assembly Instructions 16

3 x3 x

3 x

R-Series Hexapod Assembly Instructions 17

3 x

1 xPP-2335-01

1 xPP-2200-02

[300mm]1 x

A-2218-01

R-Series Hexapod Assembly Instructions 18

3 x

1 xR8-9

Straight Connector

R-Series Hexapod Assembly Instructions 19

3 x3 x

3 x

Align with actuatoroutput hub tick mark

(Tube aligns with tick mark)

R-Series Hexapod Assembly Instructions 20

3 x

1 xA-2219-01

Wiring Notes• Keeping wires organized will help prevent tangling and add a nice aesthetic.

• Spiral sleeving is a good accessory for organizing loose wires

• Visit the following link to see detailed instruction on connecting wires to R-Series Modules.

http://docs.hebi.us/#r-series-quickstart

For more information visit: docs.hebi.us

R-Series Hexapod Assembly Instructions 21

[Spiral sleeving]

Wires that come from the previous joint should be inserted directly to actuator ports.

Wires that connect to the next joint should be threaded through the actuator’s bore hole.

R-Series Hexapod Assembly Instructions 22

Wiring Example

R-Series Hexapod Assembly Instructions 23

Wiring Diagram

Fiber

Power

BaseStraight Connector

ShoulderRight Angle Connector

ElbowStraight Connector

Back toChassis

R-Series Hexapod Assembly Instructions 24

3 x

Install cables beforeadding caps

2 xA-2090-02

1 xA-2231-01

1 xA-2232-01

Right LegsR-Series Hexapod Assembly Instructions 25

3 x

R-Series Hexapod Assembly Instructions 26

1 xA-2222-01

Flat face towards inside

M6x10mm

3 x

R-Series Hexapod Assembly Instructions 27

1 xA-2222-01

1 xR8-9

Straight ConnectorAlign with actuator

output hub tick mark(inside face parallel with tick mark)

R-Series Hexapod Assembly Instructions 28

3 x

1 xR8-16

Right Angle Connector

Connectors of both modulespoint the same way

R-Series Hexapod Assembly Instructions 29

3 x

1 xPP-2200-02

[300mm]1 x

A-2218-011 x

A-2219-01

R-Series Hexapod Assembly Instructions 30

3 x3 x

3 x

Align with actuatoroutput hub tick mark

(Tube aligns with tick mark)

R-Series Hexapod Assembly Instructions 31

3 x

1 xA-2188-02

1 xA-2263-57-30

(Gas Spring – 30lbs.)

R-Series Hexapod Assembly Instructions 32

3 x3 x

3 x

R-Series Hexapod Assembly Instructions 33

3 x

1 xPP-2335-01

1 xPP-2200-02

[300mm]1 x

A-2218-01

R-Series Hexapod Assembly Instructions 34

3 x

1 xR8-9

Straight Connector

R-Series Hexapod Assembly Instructions 35

3 x3 x

3 xAlign with actuator

output hub tick mark

(Tube aligns with tick mark)

R-Series Hexapod Assembly Instructions 36

3 x

1 xA-2219-01

R-Series Hexapod Assembly Instructions 37

Wiring Diagram

Fiber

Power

BaseStraight Connector

ShoulderRight Angle Connector

ElbowStraight Connector

Back toChassis

R-Series Hexapod Assembly Instructions 38

3 x

Install cables beforeadding caps

2 xA-2090-02

1 xA-2231-01

1 xA-2232-01

R-Series Hexapod Assembly Instructions 39

Final Assembly

R-Series Hexapod Assembly Instructions 40

3 x3 x

Loosen M5 X 16mm Screwsto create clearance for the tube

R-Series Hexapod Assembly Instructions 41

Leg LayoutView from Top of Robot

R-Series Hexapod Assembly Instructions 42

Wiring DiagramView from Top of Robot

Router

Ethernet Cable

POF EthernetMedia Converter

Power and M-Stop

Fiber Cable

Fiber Coupler

FromLeg1 Elbow

FromLeg3 Elbow

FromLeg5 Elbow

FromLeg6 ElbowFrom

Leg4 Elbow

R-Series Hexapod Assembly Instructions 43

Install cables beforeadding caps

6 xA-2231-01

R-Series Hexapod Assembly Instructions 44

Leg DimensionsView from Top of Robot

Forward

325mm

262.5mm

362.5mm

325mm

315mm

315mm

R-Series Hexapod Assembly Instructions 45© HEBI Robotics 2019