l.c. technology
DESCRIPTION
L.C. Technology. ROBOT ASSEMBLY. Base Assembly. Raised Tabs. Place Servo in vice between Fibre Clamps. BASE. Repeat process for other 2 servo’s. File off raised tabs on each side of Servo. Base Assembly. File slot on base to size so that servo fits in tightly. M4 Set Screws. - PowerPoint PPT PresentationTRANSCRIPT
L.C. Technology
ROBOT ASSEMBLY
Base Assembly
BASE
File off raised tabs on each side of Servo.
Place Servo in vice between Fibre Clamps.
Raised Tabs
Repeat process for other 2 servo’s
Base Assembly
File slot on base to size so that servo fits in tightly.
Turn Servo so that Spindle is nearest to semi-circular end.
M4 Set Screws
Base Assembly
M4 Nuts used to secure servo in position
Feet
Thread one end of each of the 5 legs M5
5 Legs
M5 Set screws used to secure 5 legs.
Circular Disc Assembly
Select the attachment shown from the servo pack and attach to circular disk as shown.
Use screws supplied with servo to attach it to disc.
Watch the position of this hole *
Vertical Up-Right
Vertical Upright positioned as shown and glued using Liquid Solvent Cement.
Important: Upright fitted so that it is flush with underside of disc.
Do not attach to base until instructed!
Hole on this side
Stabilising the base Using an M4 x 20 and two M4 nuts, one of the nuts to be placed above disc and the other below
4 stabilising set screws and nuts in place
Fitting Servo to Up-Right
2 M4 screws and nuts used to fix servo to Vertical Up-Right.
Notch facing towards back
Horizontal Arm
Hole at top of Arm
Gripper
M2 screw and Locknut to secure Gripper pivot in place.
Gripper
Glue both parts together.Be careful not to glue
pivot point!
Narrow side to the top
Locknut
Back Servo Motor assembly
Spindle of servo facing back of robot
M3 x 20 Set screw used with 2 nuts, one nut infront and one behind
M4 x 10 Set screw and nut
Assemble of Circular Disc onto Base
Position Base as shown
NB: Rotate Spindle of Servo Motor fully clockwise until it stops rotating.
Attach disk and Up-right to servo as shown. Vertical upright should be Parallel to Back edge of base.
Secure Disc to Servo
Use Servo Screw supplied to secure Disc to Servo.Do not over tigthen.
Adjust stabilising screws accordingly
Top Servo Assembly
Position Servo in slot as shown, with Servo spindle at the top.Secure with two M4 x 12 set screws and nuts.
Spindle
Top Arm Assembly
Fit top arm onto servo spindle but do not secure with screw until after calibration.
Servo Attachment
Press fit servo attachment to servo motor but do not secure with screw until after calibration
2.5 mm Brass Rod
Using a pliers bend an 90 degree angle on the end of the rod approx. 6 mm long.
Remove burrs usinga file
Brass Rod Assembly
Insert brass rod through Servo attachment as shown. Do not cut the other end of rod until after calibration.
Genie Board Connections
Base servo connected to Q0
Arm servo connected to Q1
Gripper servo connected to Q2
Orange/Yellow wire connected to signal in each case
Genie Board ConnectionsConnect Genie Cable to Board and computer.
Power up Genie Board with 6v battery and crocodile clips as shown.
+-
Calibrating Horizontal arm
Write the following program to position servo.
Remove arm from servo.
Run program live.
Position arm so that it is just 10 mm above table.
Press fit on servo spindle and secure with screw supplied.
Calibrating Gripper Movement
Write the following program to position servo.
Run program live.
Position servo attachment so that one leg is at the 12 o Clock position.
Press fit on servo spindle and secure with screw supplied.
Calibrating Gripper Movement
Fit Brass rod through top hole as before.
Close gripper fully and mark position of hole on brass rod using marker.
Bend through 90 degree.Cut rod so that 3 mm of the bend is remaining. Remove burrsNB. This 90 degree bend is in a different direction to previous bend.
Elastic Band
Attach elastic band as shown feed through hole in base and secure using a piece of Diameter 2.5 mm rod. Remove burrs
The elastic band prevents the arm from jerking as it is moving.
Finishing
Completed Robot
Attach rubber adhesive feet onto 5 legs as shown.
Wiring of Hand Controller
Knot on cable to prevent wires from breaking off.
A0
Gripper
A1 A2
Base Arm
Congratulations
You now have a 3 axis Robot Arm ready for programming!