Boston Acoustics SPOT Specification sheet

Spot + Spot Arm
Information for Use (IFU)
v1.0 Original instructions
Boston Dynamics, Inc.

Spot + Spot Arm Information for Use v1.0
© Boston Dynamics, Inc. 2021
All rights reserved
Version 1.0
April 2021
Boston Dynamics, Inc.
200 Smith St.
Waltham, MA 02451
USA
[phone]
[email protected]om
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CONTENTS
1 Introduction 6
1.1 Manufacturer information 6
1.2 Definition of a Spot User 6
1.3 Definition of a Spot Operator 6
1.4 Description of the machinery 7
1.4.1 Properties of the Spot + Spot Arm robot 7
1.5 Robot specifications 8
1.5.1 Spot Arm workspace 10
2 Product safety overview 12
2.1 Important safety notice 12
2.2 Intended use 13
2.3 Misuse 13
2.4 Risk assessment 14
2.4.1 Hazards 15
2.4.2 Estimating the risk of pinch points 15
2.4.3 Estimating Spot Arm workspace extension 17
2.4.4 Estimating the risk of unexpected movements during manipulation 19
2.4.5 Estimating the risks associated with manipulation and balancing 20
2.4.6 Estimating the risks associated with navigation 20
2.4.7 Estimating the risks associated with collisions 21
2.5 PPE 22
2.6 EMC considerations 22
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Spot + Spot Arm Information for Use v1.0
2.7 Laser 23
2.8 General warnings 23
3 Safety features 24
3.1 Torque limitation 24
3.2 Stopping functions 25
3.2.1 Manual stop using the controller 25
3.2.2 Protective stop 26
3.2.3 Stopping time and distance 28
4 Transport, handling, and storage 30
4.1 Transport 30
4.2 Safe handling 31
4.2.1 Proper two-person lift 33
4.2.2 PPE 33
4.3 Storage 34
4.3.1 Battery storage 34
5 Installation and commissioning 35
5.1 Preparation 35
5.2 Battery setup and charging 35
6 Use of the machine 37
6.1 Preprogrammed poses: Stowed and Ready 37
6.2 Typical tasks 38
7 Maintenance 40
7.1 Visual inspection of Spot Arm 40
8 Compliance statement 41
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8.1 EU Declaration of Incorporation 41
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Spot + Spot Arm Information for Use v1.0
1 Introduction
This document contains critical safety information for Spot Arm.
Responsible use of the Spot Arm is crucial to prevent dangerous conditions for operators
and others nearby. Make sure to read, understand and comply with this document to
lessen the risk of injuries or damage to the robot or other property.
Please read the entire document before using the Spot Arm and keep the document in a
readily accessible location afterwards.
Additional information, including complete documentation on the Spot robot and Spot
Dock is available on the Boston Dynamics Support Center.
1.1 Manufacturer information
Spot and the Spot Arm are manufactured by:
Boston Dynamics, Inc.
200 Smith Street
Waltham, MA 02451
USA
1.2 Definition of a Spot User
In the scope of the present document, a “User” is the entity that uses Spot Arm for the
intended use and is responsible for the personnel associated with operation of the robot.
Users are subject to workplace safety regulations and are active counterparts of the
manufacturer in implementing residual risk reduction measures.
1.3 Definition of a Spot Operator
In the scope of the present document, an “Operator” is any person operating,
maintaining, cleaning, or troubleshooting Spot Arm under the responsibility of a User,
including person(s) who can be reasonably expected to be near Spot Arm, even if they are
not directly operating the robot. Operators must be trained in the proper use of Spot Arm.
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1.4 Description of the machinery
Spot + Spot Arm provides manipulation capability to the base Spot platform. The
manipulator provides 6 degrees of freedom. The end-effector or gripper has a built-in
single degree of freedom.
Instructions in this document primarily refer to the combined Spot + Spot Arm robot,
unless otherwise specified.
1.4.1 Properties of the Spot + Spot Arm robot
●The robot performs locomotion, navigation and manipulation in a variety of indoor
and outdoor environments.
●The Spot unit (quadruped part) uses embedded sensors to detect the surrounding
environment.
●The Spot Arm (manipulator part) has no detection sensors. Spot + Spot Arm uses a
complex set of control algorithms to manipulate objects while balancing and
moving around.
●Spot + Spot Arm can be expanded with payloads.
●Spot + Spot Arm does not carry persons.
●Spot + Spot Arm is operated remotely without a physical connection, such as a
cable between control units and the machinery.
Major Spot + Spot Arm components
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Spot + Spot Arm Information for Use v1.0
1.5 Robot specifications
Specifications for the Spot Arm manipulator:
Spot Arm manipulator
Value
Degrees of freedom
6 + gripper
Length at full extension
985 mm
Lift capacity*
Up to 11 kg
Continuous lift capacity at 0.5 m extension*
5 kg
Operating temperature
-20°C to 45°C
Ingress protection
IP54
* At 22°C
Specifications for the Spot Arm gripper:
Spot Arm gripper
Value
Depth of grip
90 mm
Maximum aperture
175 mm
Peak clamp force (at tip of opening)
130 N
Integrated sensors
ToF, 4K RGB
Accessory port
Gigabit Ethernet, 50W power, camera sync (PPS)
The combined weight of the Spot Arm (manipulator and gripper) is 8 kg.
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Specifications for Spot (quadruped part):
Category
Specification
Value
Dimensions
Length
1100 mm
Width
500 mm
Normal stand height (with Spot
Arm stowed)
830 mm
Normal stand height (with Spot
Arm extended straight up)
1700 mm
Tall stand height (with Spot Arm
extended straight up)
1820 mm
Net weight (with battery)
32.5 kg
Degrees of freedom
12
Max. speed
1.6 m/s
Environment
Ingress protection
IP54
Operating temperature
-20°C to 45°C
Slopes
+/- 30°
Power
Battery capacity
605 Wh
Max. battery voltage
58.8V
Typical runtime
60 minutes
Standby time
110 minutes
Charger power
400W
Max. charge current
7A
Time to charge
Approximately 2 hours
Battery weight
4.18 kg
Payload
Max. payload weight with Spot +
Spot Arm
6 kg
Max. power per port
150W
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Spot + Spot Arm Information for Use v1.0
Payload ports
2
T-slot rail bolt size
M5 x 1.0
Cameras
Camera type
Projected stereo
Field of view
360 degrees
Operating range
4 m
Connectivity
802.11
Explorer Wi-Fi: 2.4GHz 802.11 b/g/n
Enterprise Wi-Fi: Explorer + 5Ghz 802.11ac
Ethernet
1000Base-T
1.5.1 Spot Arm workspace
The working space of Spot Arm is determined by the volume used to plan and execute a
trajectory, which depends on the combination of the following factors:
●Volume (maximum space) where the manipulator can move
●Displacement of the base
The maximum space of the manipulator alone is determined by the range of motion of
the joints, as set forth below:
Joint Axis
Range
Max. velocity
SH0
-150°/180°
10 rad/s
SH1
-180°/30°
10 rad/s
EL0
0°/180°
10 rad/s
EL1
-160°/160°
10 rad/s
WR0
-105°/105°
10 rad/s
WR1
-165°/165°
10 rad/s
The length of the manipulator at full extension, including the gripper, is 985 mm. The
maximum height of the Spot Arm with Spot in tall stand pose is 1820 mm.
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Spot Arm joint axis designations
Spot Arm joint ROM and length of links (in millimeters)
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Spot + Spot Arm Information for Use v1.0
2 Product safety overview
Spot + Spot Arm uses sophisticated control methodology for dynamically balancing while
manipulating objects.
Spot + Spot Arm’s behavior while in motion can be variable or unexpected with respect to
planned trajectories or movements. Spot + Spot Arm behavior is affected by physical
contact and the exchange of forces with manipulated objects and equipment.
This section contains important safety information, which all Users must
read and understand before using Spot + Spot Arm.
It is important to read ALL parts of this documentation:
1. As an integral part of Operator training
2. Before designing and commissioning Spot + Spot Arm applications
2.1 Important safety notice
Spot + Spot Arm is a partly completed machinery and the use and safety of the robot
1
depends on specific applications to be implemented by the User including, but not
limited to, tools and parts manipulated, equipment that is part of the application, and
safeguards that may be integrated.
Spot + Spot Arm combines complex walking and balancing with full spatial manipulation,
resulting in a wide range of motion.
Users must conduct a full risk assessment of their application prior to use. The risk
assessment shall consider the entire lifecycle of the Spot + Spot Arm application,
including but not limited to:
●Setting up and commissioning the Spot + Spot Arm, with particular attention to
training activities.
●Regular use of the Spot + Spot Arm application, with particular attention to
manipulation and navigation actions.
1According to the EU Machinery Directive 20063/42/CE. Although not recognized in other
jurisdictions, the notion of partly completed machinery is valid in general and Spot Arm is only fully
determined as complete machinery when integrated in specific applications.
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●Maintenance and troubleshooting.
The User is responsible for implementing and
maintaining risk reduction measures for specific Spot +
Spot Arm applications.
2.2 Intended use
Spot + Spot Arm is intended to be used for general purpose manipulation driven by
legged movements in industrial or controlled environments. These environments are
subject to limitations of conditions and preparation by the Users after a survey of the
expected or planned environment.
Spot + Spot Arm is not intended for collaborative applications involving human contact or
proximity to humans.
Spot + Spot Arm should only be used in dedicated areas where access is restricted or
where demarcation is made clear to Operators.
Spot + Spot Arm is capable of carrying additional payloads. Due to variations in the size
and purpose of different payloads, added payloads may interfere with the manipulator.
Users must always identify the intended use of their
final applications and conduct full risk assessments prior
to use.
2.3 Misuse
The following behaviors and uses of Spot + Spot Arm by Users and Operators are
prohibited:
●Using the robot before reviewing a specific application and performing a risk
assessment.
●Using the robot in home environments.
●Using the robot in personal care, medical treatment, or life-critical applications.
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Spot + Spot Arm Information for Use v1.0
●Entering or remaining inside a restricted area designated for the robot operations
other than for the purpose of setting or recording missions.
●Transporting persons or animals.
●Transporting hazardous materials or substances.
●Intentionally harming any person with the robot or payloads mounted on the robot.
●Using the robot for any illegal purpose.
●Using the robot as a climbing aid.
●Using the robot in potentially explosive environments.
●Using the robot outside of the controlled or restricted environment.
2.4 Risk assessment
Spot + Spot Arm is a versatile machine capable of complex movements. Mechanical
hazards, in particular, depend on specific applications and the robot’s posture.
A risk assessment must be conducted before Spot + Spot Arm is used for the identified
application for the first time.
Users must identify significant hazards in their application relating to:
●The intended manipulation tasks.
●The environment where Spot +Spot Arm is moving during manipulation or
navigation.
●The parts and equipment used during operation.
Users must consider the following factors when estimating the risks of potential contacts
with Spot + Spot Arm or other elements of the application:
●The severity of potential collisions that could cause injury.
●The frequency of the foreseeable occurrence of a hazard.
●The probability of errors or failures.
●The potential for collisions.
●Awareness of the surroundings.
●The speed of possible hazards.
Users must consider the intended use of Spot + Spot Arm, accidental events, and
reasonably foreseeable misuse in an application.
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2.4.1 Hazards
Boston Dynamics has identified the following significant hazards, which must be
considered by the User when conducting a risk assessment:
●Bruising on the lower body due to contact with any part of Spot + Spot Arm after
general falls and loss of balance on elevated or inclined surfaces.
●Items ejected from the gripper.
●Tripping, dragging, and entanglement of elements of the application with Spot
Arm.
●Trapping of Spot Arm in equipment or parts of the layout while the Spot unit is still
partly or completely free.
●Bruising upon impact with the Spot Arm after a tip-over.
●Bruising upon impact with the Spot Arm as a result of recoiling movements of Spot
+ Spot Arm.
●Cutting, puncturing, or bruising by items manipulated with Spot Arm.
●Bone injury due to contact with heavy parts of the equipment involved in Spot Arm
manipulation.
The foregoing list is not exhaustive, as other significant hazards can be present
depending on the particular Spot + Spot Arm application.
In particular, Users should review the environmental conditions and the properties of their
layouts and determine whether their application causes or presents additional hazards.
2.4.2 Estimating the risk of pinch points
Pinch points are present at:
●The gripper tip
●Along the manipulator (at the wrist, elbow, and shoulder joints)
●Between the shoulder motors and the top of the front hips, specifically when the
robot base is rolling laterally
●Hips and knees
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Spot + Spot Arm Information for Use v1.0
Spot + Spot Arm pinch point hazards
No intentional accesses to powered moving joints should be part of any intended use.
When performing the risk assessment, consider:
●The severity of hazards associated with pinch
points in the legs and hips can be moderate or
high, particularly for hands and fingers.
●Pinch points along legs or manipulator joints are
most likely accessible in powered off conditions,
at startup, or during maintenance and handling.
●Pinch points are likely to be determined by the
size and geometry of manipulated parts.
●Pinch points between the manipulator elbow and
potential payloads can occur, depending on the
sizes of payloads.
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2.4.3 Estimating Spot Arm workspace extension
The workspace of Spot Arm extends approximately 1 m beyond the footprint of the base of
Spot.
Spot + Spot Arm workspace dimensions
The highest point of reach combines the height of the quadruped robot unit and the
elevation angle of the manipulator.
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Spot + Spot Arm Information for Use v1.0
The principal figures for estimating the extension of the Spot + Spot Arm workspace are
reported in the following table.
Dimension
Description
Typical value/range
Notes
R
Maximum extension of Spot
Arm
985 mm
At the tip of the
gripper
H1
Height of Spot + Spot Arm in
fully outstretched horizontal
configuration (maximum
horizontal extension of Spot
Arm)
1100 mm +/- 160 mm
Variable depending
on height and
pitch/roll of Spot unit
D1
Extension of Spot Arm beyond
the footprint of Spot, in fully
outstretched horizontal
configuration (maximum
horizontal extension)
850 mm
Furthest point forward
H2
Height of Spot + Spot Arm in 45°
configuration
1480 mm +/- 160 mm
Variable depending
on height and
pitch/roll of Spot unit
D2
Extension of Spot Arm beyond
the footprint of Spot, in 45°
configuration
580 mm
Combination of
moderate extension
and high elevation
H3
Height of Spot + Spot Arm in
fully vertical configuration
(minimum horizontal extension)
1560 mm +/- 160 mm
Variable depending
on height and
pitch/roll of the base
D3
Extension of Spot Arm beyond
the footprint of Spot in fully
vertical configuration (minimum
horizontal extension)
20 mm
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When performing the risk assessment, consider:
●Pitching of Spot is generally limited to +/- 30° in
typical configurations. Pitching can compensate for
or increase the total elevation angle of Spot Arm
relative to its mounting. This configuration affects
the values of H and D dimensions, as shown in the
table above.
●Elevation angles higher than 60° will maintain the
workspace of Spot Arm very close to the footprint of
Spot.
●Spot + Spot Arm is not likely to reach the upper
human body for elevation angles that are
commonly used for moving Spot Arm of the Spot
footprint.
2.4.4 Estimating the risk of unexpected movements during
manipulation
Operating and practicing with Spot + Spot Arm may produce unexpected movements in
any direction.
The fastest movements are correlated with the swing of the manipulator around the
vertical axis exiting from the shoulder joint with the manipulator fully extended. This
configuration is rarely used for manipulation and locomotion.
When performing the risk assessment, consider:
●The main direction of motion of the base robot
and the direction of motion expected for
manipulation.
●The extended workspace of Spot + Spot Arm,
which is the combined workspace of the
manipulator and the displacement of Spot.
●Any object or equipment within the operating
range of the Spot + Spot Arm. Make sure to
operate in an environment with sufficient
clearances and low probability of contact with
equipment.
●The nature of the parts manipulated. Loss of
grasp may generate instantaneous forces and
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Spot + Spot Arm Information for Use v1.0
sudden recovery movements, potentially leading
to the loss of stability.
2.4.5 Estimating the risks associated with manipulation and
balancing
The robot's upright and/or balancing posture can only be attained with active control.
However, active control does not ensure that stable balancing is attained.
Ground conditions are not entirely predictable — Spot + Spot Arm could fall unexpectedly.
Touching objects or equipment with Spot Arm may affect the overall balance of Spot +
Spot Arm. Spot + Spot Arm may react with large movements to compensate for external
forces or the onset of imbalance.
When performing the risk assessment, consider:
●That the occurrence of loss of stability in the
robot increases when Spot + Spot Arm is used to
manipulate objects or equipment on elevated or
inclined terrain.
●The effect of the offset in the center of mass due
to the configuration of the manipulator.
●The combined effect of the movement of the
arm, expected acceleration of the base, external
loads and the weight of parts manipulated.
Refer to Spot Instructions for Use on the Boston Dynamics Support Center
for more information.
2.4.6 Estimating the risks associated with navigation
The Spot + Spot Arm is intended to navigate in an environment with the manipulator in
Stowed pose.
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