Kinova Gen3 User manual

Kinova® Gen3 lite
robot
User guide

Contents
Introduction..............................................................................................................................................................6
Welcome................................................................................................................................................................... 6
About this document............................................................................................................................................6
Normal use definition.......................................................................................................................................... 6
Risk assessment.................................................................................................................................................... 7
Safety directives and warnings........................................................................................................................ 7
Warranty...................................................................................................................................................................9
Disclaimer...............................................................................................................................................................10
Acronyms and abbreviations............................................................................................................................11
Robot components............................................................................................................................................... 13
Overview..................................................................................................................................................................13
Base...........................................................................................................................................................................13
Base connector panel............................................................................................................................ 14
Base joystick / expansion connector pinout..................................................................................14
Base LED indications...............................................................................................................................15
Base mounting accessories............................................................................................................................. 16
Quick connect system............................................................................................................................ 16
Mounting plate......................................................................................................................................... 18
Table mounting clamp (optional)....................................................................................................... 19
Actuators................................................................................................................................................................20
Robot structure and skin................................................................................................................................. 20
Wrist and Gripper................................................................................................................................................20
Robot communications and network interfaces.......................................................................................21
Getting started..................................................................................................................................................... 23
Overview.................................................................................................................................................................23
What's in the box?..............................................................................................................................................23
Manipulating the robot joints when the robot is powered o............................................................25
Robot mounting options................................................................................................................................... 25
Securing the mounting plate on a table with the table mounting clamp............................ 26
Attaching the mounting plate to a surface with screws...........................................................27
Mounting plate bolting pattern......................................................................................................... 28
Installing the robot on the quick connect base............................................................................29
Installing the quick connect system................................................................................................ 30
Attaching the robot base to the mounting plate......................................................................... 32
Mounting the robot directly onto a surface.................................................................................. 33
Base underside bolting pattern......................................................................................................... 35
Robot power adapter.........................................................................................................................................36
E-stop (optional)................................................................................................................................................. 36
Powering on the robot...................................................................................................................................... 37
Power-up, booting, and initialization sequence....................................................................................... 37
Operating the robot............................................................................................................................................38
Overview of operating the robot.......................................................................................................38

Supported control devices...................................................................................................................38
Home and retract positions................................................................................................................ 44
Connecting a computer to the robot............................................................................................................45
Establishing a communication link between the robot and a computer via USB
(RNDIS)...................................................................................................................................................45
Connecting to a computer using a USB type-A to Ethernet adapter and Ethernet
cable (Optional).................................................................................................................................. 47
KINOVA® KORTEX™ Web App..............................................................................................................49
Connecting a computer to the robot via Wi-Fi.............................................................................. 51
Dimensions, specifications, and capabilities...............................................................................................53
Schematic and dimensions.............................................................................................................................. 53
Technical Specifications....................................................................................................................................54
Sensors....................................................................................................................................................................56
Base readings available........................................................................................................................ 57
Actuators readings available.............................................................................................................. 58
Wrist readings available.......................................................................................................................58
Gripper pose and twist readings available.................................................................................... 59
Gripper finger motor readings available.........................................................................................59
Eective workspace...........................................................................................................................................60
Payload vs. workspace...................................................................................................................................... 61
Concepts and terminology................................................................................................................................63
Robot key concepts............................................................................................................................................ 63
Terminology reference.......................................................................................................................................65
General mathematics and robotics...................................................................................................65
Features, components and functionalities.....................................................................................67
Control Modes..........................................................................................................................................68
Robot control........................................................................................................................................................ 69
High-level and low-level robot control...................................................................................................... 69
Control features...................................................................................................................................................69
Singularity avoidance.............................................................................................................................70
Protection zones......................................................................................................................................70
Joint limits...................................................................................................................................................71
Cartesian limits........................................................................................................................................ 73
High-level and low-level robot control methods reference................................................................ 73
High-level control modes description..........................................................................................................75
Trajectory control modes......................................................................................................................75
Joystick control modes.......................................................................................................................... 77
Low-level control detailed description........................................................................................................77
Configurations and safeties............................................................................................................................. 79
Configurable parameters..................................................................................................................................79
Base configuration..................................................................................................................................79
Actuators configuration........................................................................................................................80
Device configuration...............................................................................................................................81
Safety items..........................................................................................................................................................82
Base safeties............................................................................................................................................ 82

Actuators safeties...................................................................................................................................83
Gripper safeties....................................................................................................................................... 86
KINOVA® KORTEX™ Web App User Guide.....................................................................................................88
Introduction...........................................................................................................................................................88
Purpose...................................................................................................................................................................88
Device availability of Web App...................................................................................................................... 88
Platform and browser support...................................................................................................................... 90
User login................................................................................................................................................................91
Web App layout and navigation.....................................................................................................................92
Robot control panel............................................................................................................................................95
Pose virtual joystick control................................................................................................................95
Angular virtual joystick control..........................................................................................................97
Virtual joystick keyboard shortcuts................................................................................................. 98
Actions panel.......................................................................................................................................... 100
Snapshot tool......................................................................................................................................... 100
Main pages.......................................................................................................................................................... 100
Configurations page group................................................................................................................ 100
Safeties..................................................................................................................................................... 104
Operations page group........................................................................................................................105
Systems page group..............................................................................................................................115
Users.......................................................................................................................................................... 120
KINOVA® KORTEX™ Developer Guide........................................................................................................... 123
Introduction......................................................................................................................................................... 123
Devices and services........................................................................................................................................123
Available services............................................................................................................................................. 124
Services, methods, and messages.............................................................................................................. 125
KINOVA® KORTEX™ API and Google Protocol Buer............................................................................. 125
Service client-server model...........................................................................................................................125
Blocking and non-blocking calls..................................................................................................................126
Device routing and transport........................................................................................................................126
Robot servoing modes.....................................................................................................................................127
High-level servoing............................................................................................................................... 127
Low-level servoing............................................................................................................................... 128
Notifications........................................................................................................................................................ 129
Error management............................................................................................................................................129
KINOVA® KORTEX™ GitHub repository....................................................................................................... 129
KINOVA® KORTEX™ ROS packages and GitHub repository overview...............................................130
Guidance for advanced users..........................................................................................................................131
Overview................................................................................................................................................................131
Reference frames and transformations.................................................................................................... 131
Standard robot frames.........................................................................................................................131
Homogeneous transforms................................................................................................................. 132
Homogeneous transform matrices................................................................................................. 132
Denavit-Hartenberg (DH) parameters........................................................................................... 134
Singularity configurations.............................................................................................................................. 136
Inertial parameters definition.......................................................................................................................137

Inertial parameters of the robot................................................................................................................. 138
Maintenance and troubleshooting................................................................................................................141
Maintenance........................................................................................................................................................ 141
Troubleshooting................................................................................................................................................. 142
How to respond to safety warnings and errors.........................................................................143
Contacting Kinova support................................................................................................................ 144

KINOVA® Gen3 lite robot User guide 6
Introduction
Welcome
Welcome to the KINOVA® Gen3 lite robot.
Thank you for choosing our robot as a tool for your pathbreaking research needs.
This document is meant to provide you with all the information you need to get up and running with
your new robot and get the most out of it.
We are here to help you in your journey. If you need any help or have any questions about how
to get to where you're going with the robot, please feel free to contact our support team at
[email protected].
About this document
Read all instructions before using this product and any third-party options.
Read all warnings on the product and in this guide.
This document contains information regarding product setup and operation. It is intended for
Kinova product end users.
All third-party product names, logos, and brands appearing herein are the property of their
respective owners and are for identification purposes only. Their use in this document is not meant
to imply endorsement by Kinova.
Kinova has made every effort to ensure that this document is accurate, accessible and complete. As
part of our commitment to continuous improvement, we welcome any comments or suggestions at
www.kinovarobotics.com/support.
From time to time, Kinova will make updates to this document. To download the most up to date
version of this document, visit the Gen3 lite Technical Resources section of our website(https://
www.kinovarobotics.com/en/resources/gen3-lite-technical-resources)).
For general inquiries please contact us at [phone]
Normal use definition
This section describes the normal use of the robot.
The definition of normal use includes lifting, pushing, pulling, or manipulating a maximum load of:
• mid-range, continuous: 600 g
• full-range, continuous 500 g
The robot is designed to hold, move, and manipulate objects in the user environment. However, for
some loads in certain positions (near maximum load and reach), holding an object for an extended
period of time may result in heating. To protect the robot hardware from excessive heat, safety
thresholds shut down the robot if the temperature rises above a certain threshold. Before this is
reached, an API notifcation will be rendered as a user alert on the KINOVA® KORTEX™ Web App.
The robot includes a number of temperature-related safeties:
• base - CPU core and ambient temperatures

KINOVA® Gen3 lite robot User guide 7
• actuators - CPU core and motor temperatures
• gripper - micro-controller core and gripper motor temperatures
During normal operation, the robot joints are subject to heating. If you receive any temperature
warnings, put down any object as soon as is practical and place the robot into a stable rest position
to allow it to cool down.
The expected service life of the robot is five years when the robot is used continuously for one hour
per day. The warranty period is two years.
Risk assessment
Before proceeding it is imperative that a risk assessment be performed (note that this is required
by law in many countries). As it is a machine, the safety of the robot depends on how well it is
integrated with its environment and with other machines.
The recommended international standards for conducting a risk assessment are as follows:
• ISO 12100
• ISO 10218-2
The risk assessment should take into consideration all activities carried out in the context of the
robot application, including (but not limited to):
• teaching the robot (during set-up)
• development of the robot installation
• robot troubleshooting
• robot maintenance
• everyday robot operation
The risk assessment must be completed before integration of the robot in an application and must
be kept up to date with any changes in the parameter settings, work environment, or tasks of
the robot. The risk assessment should address configuration settings as well as the need for any
additional emergency stop buttons.
Safety directives and warnings
Directives, warnings and safety considerations for the KINOVA® Gen3 lite robot.
IMPORTANT
Before operating the robot for the first time, ensure that you have read, completely understood and
complied with all of the following directives, warnings and cautionary notes. Failure to do so may
result in serious injury or death to the user, damage to the robot, or a reduction in its useful life.
Table 1: Safety
There is no mechanical brake on the robot. If the power supply is cut or an unrecoverable error occurs,
be aware that the robot will fall. However, mechanisms are in place within the actuators that will slow the
descent in the absence of external power.

KINOVA® Gen3 lite robot User guide 8
For your personal
safety, and that of
others, it is strongly
recommended that the
following be carried out:
- risk assessment, before integration of the robot into a given
application.
- use the robot near a flame or source of heat.
- exceed the maximum specified payload.
- attempt to stop the robot or prevent its movement by holding it.
- attempt to backdrive / force the robot joints to turn by hand while the
robot is powered on. This may cause damage to the robot. The joints may be
turned slowly by hand only when the robot is powered off.
- install the robot base within 20 cm of your body (base contains a Wi-Fi
transmitter).
- use the robot to submerge objects in water.
- operate or store the robot outside the recommended temperature ranges.
- manipulate containers with hot or extremely cold liquids using the robot.
- operate the robot in an environment which includes atomized flammable
dust / particles or explosive / flammable gases, etc.
- manipulate sharp objects with the robot.
- drop or hit the robot, or force parts of the robot against itself. If this
happens, before using the robot again, move each robot through the entirety
of its joint range and then run the demo sequence, verifying no errors or
warnings are present. In case of any doubts, contact Kinova support.
- move the robot recklessly in such a way that there is a realistic risk of
injuring bystanders or breaking objects in the operating environment of the
robot.
For your personal
safety, and that of others,
never:
- power up and boot, reboot, or upgrade firmware of the robot unless the
robot is in a stable position.
- the robot does not encounter any obstacles (persons or objects). Although
inherently safe in its default configuration, disabling the robot safeties
requires that the user be responsible for ensuring a secure working space.
- children are not left unsupervised with the robot.
- the end effector never collides with a hard surface.
- the grasping of objects by gripper fingers is stable, to prevent the risk of
dropped or thrown objects (if using a gripper).
- eye protection is worn when manipulating fragile objects with the robot.
- the robot has its base securely fixed to the work surface when in operation.
- before using the robot, it is confirmed that there are no warnings.
For your personal
safety, and that of others,
always ensure that:
- the robot is protected adequately before being used near any messy
process (e.g. welding or painting).

KINOVA® Gen3 lite robot User guide 9
Do not operate the robot when the relative humidity exceeds the maximum specified limit. In such a
case, put down any object in the gripper, bring the robot to a resting position and wait until the humidity
decreases to an allowable value.
The robot is not certified for use in applications in sterile environments (e.g. food production,
pharmaceuticals, medical, surgical).
Table 2: General
Do not connect the USB ports on the base to one another.
It is recommended that surge protection be used to protect the robot against external surges on the
main AC line which might be caused by lightning or other abnormal conditions.
The base must be mounted as specified in the installation section, with particular attention to the bolt
pattern, strength requirements and any table or tripod-specific mounting.
For transport, the robot and accessories should be placed in the original packaging with the shipping
box secured in place to avoid excessive jostling during transport.
Do not expose the robot to heavy rain.
Table 3: Maintenance
Perform regular cleaning of the robot, as well as visual inspection for damage and wear, particularly the
gripper and fingers.
If the robot is exposed to rain, contact Kinova support to schedule maintenance by an authorized
Kinova technician.
Immediately following exposure to saline air conditions, contact Kinova support to schedule
maintenance by authorized Kinova technician.
Verify robot functionality if the robot is suspected to be potentially damaged following improper
manipulation of the robot or if the robot is submitted to an excessive shock or drop.
Perform a quick routine check when starting the robot to catch defects that could occur with time.
If the robot loses a part (for example a shell due to impact) or a part breaks, shut down the robot safely
and leave it off. Contact Kinova technical support.
Warranty
This section describes the Kinova warranty terms.
Subject to the terms of this clause, Kinova warrants to End User that the Products are free of
defects in materials and workmanship that materially affect their performance for a period of two
(2) years from the date Kinova ships the Products to the End User ("Delivery Date").

KINOVA® Gen3 lite robot User guide 10
Kinova agrees to repair or replace (at Kinova's option) all Products which fail to conform to the
relevant warranty provided that:
1. notification of the defect is received by Kinova within the warranty period specified above;
2. allegedly defective Products are returned to Kinova, (at the End User’s expense, with Kinova's
prior authorization) within thirty (30) days of the defect becoming apparent;
3. the Products have not been altered, modified or subject to misuse, incorrect installation,
maintenance, neglect, accident or damage caused by excessive current or used with
incompatible parts;
4. the End User is not in default under any of its obligations under this Agreement;
5. replacement Products must have the benefit of the applicable warranty for the remainder of the
applicable warranty period.
If Kinova diligently repairs or replaces the Products in accordance with this section, it will be
deemed to have no further liability for a breach of the relevant warranty.
Allegedly defective Products returned to Kinova in accordance with this contract will, if found by
Kinova on examination not to be defective, be returned to the End User. Kinova may charge a fee
for examination and testing.
The warranty cannot be assigned or transferred and is to the sole benefit of the End User.
Where the Products have been manufactured and supplied to Kinova by a third party, any warranty
granted to Kinova in respect of the Products may be passed on to the End User.
Kinova is entitled in its absolute discretion to refund the price of the defective Products in the
event that such price has already been paid.
Disclaimer
KINOVA® and the Kinova logo are registered trademarks of Kinova inc., herein referred to as
Kinova.
KORTEX™ is a trademark of Kinova inc.
All other brand and product names are trademarks or registered trademarks of their respective
owners.
The mention of a product name does not necessarily imply an endorsement by Kinova. This manual
is furnished under a lease agreement and may only be copied or used in accordance with the terms
of such lease agreement. Except as permitted by the lease agreement, no part of this publication
may be reproduced, stored in any retrieval system, or transmitted, modified in any form or by any
means, electronic, mechanical, recording, or otherwise, without prior written consent of Kinova.
The content of this user guide is furnished for informational use only and is subject to change
without notice. It should not be construed as a commitment by Kinova. Kinova assumes no
responsibility or liability for any errors or inaccuracies that may appear in this document.
Changes are periodically made to the information herein and will be incorporated into new editions
of this publication. Kinova may make improvements and/or changes to the products and/or
software programs described in this publication at any time.
Any questions or comments concerning this document, the information it contains or the
product it describes may be addressed through the support page on the Kinova website
www.kinovarobotics.com/support or via [e-mail].

KINOVA® Gen3 lite robot User guide 11
Kinova would like to thank you for your contribution, while retaining the right to use or distribute
whatever information you supply in any way it believes appropriate (without incurring any
obligations to you).
Acronyms and abbreviations
API
Application Programming Interface
CIDR
Classless Inter-Domain Routing
CISPR
Comité International Spécial des Perturbations Radioélectriques
EE
End Effector
EMI
Electromagnetic Interference
FOV
Field of View
GPIO
General-Purpose Input/Output
IC
Integrated Circuit
IEEE
Institute of Electrical and Electronics Engineers
I/O
Input / Output
IP
Ingress Protection or Internet Protocol
IT
Information Technology
ISO
International Organization for Standardization

KINOVA® Gen3 lite robot User guide 12
LED
Light-Emitting Diode
NVRAM
Non-Volatile Random-Access Memory
PC
Personal Computer
ROS
Robot Operating System
RPC
Remote Procedure Call
RPM
Revolutions Per Minute
RS
Recommended Standard
SSID
Service Set IDentifier
TCP
Transmission Control Protocol
UART
Universal Asynchronous Receiver-Transmitter
UDP
User Datagram Protocol
UL
Underwriters Laboratory
UV
Ultraviolet light
VLAN
Virtual Local Area Network
WEEE
Waste of Electrical and Electronic Equipment

KINOVA® Gen3 lite robot User guide 13
Robot components
Overview
This section describes the main components of the KINOVA® Gen3 lite robot.
The robot consists of:
• base with controller
• actuators
• robot structure and skin
• wrist and gripper
The following image shows the main components of the robot.
Figure 1: Robot main components
Base
The robot base provides for physical mounting of the robot and for power and communication /
control. The base is the brains of the robot and contains a number of important internal
components.
The robot robot base includes a built-in the controller for the robot. The base also includes a
connector panel at the rear for connecting to power and external devices. The base has four
mounting holes on its underside.
The internal components of the controller include:
• CPU

KINOVA® Gen3 lite robot User guide 14
• Wi-Fi / Bluetooth adapter (Only Wi-Fi is enabled at present)
• Ethernet switch and Ethernet interface
• USB interface
• piezoelectric buzzer for audio warnings and alarms
• accelerometer/gyroscope
A Linux web server runs on the controller and manages connectivity between the controller and the
arm devices, and between the controller and an external computer. The base also includes a DHCP
server.
Base connector panel
The base connector panel is located on the back of the controller part of the robot base. This
provides a connection point for the power supply and various cables. It also contains the power on/
off switch and an LED indicator.
The base connector panel is located at the rear of the base. It features the following elements:
• On / Off power switch
• blue / green / red / amber LED indicator
• Micro USB B
• USB 2.0, type A
• 14-pin mini D ribbon joystick / expansion connector
• Lumberg 0317 08 (power and RNET connector)
Note: Cables connected to the base controller must be less than 3 m in length. If not, you must
perform a risk analysis. Cables longer than 3 m can potentially have an effect on radio frequency
emissions and the immunity of the product.
Figure 2: Controller connector panel
Base joystick / expansion connector pinout
This section describes the pinout details for the base joystick / expansion connector.
Joystick / expansion 14-pin connector
The base joystick / expansion connector pin assignment is described in the table below.
Table 4: Connector pinout
Pin Name Description
1 JOY_UP_SPEED Joystick up input

KINOVA® Gen3 lite robot User guide 15
Pin Name Description
2 GND Ground
3 GND Ground
4 EXP_GPI1_STOP Expansion GPI 1 or E-Stop
5 JOY_DOWN_DRI Joystick down input
6 JOY_LEFT_REF Joystick left input
7 24 V output (500mA) 24 V output at 500 mA
8 GND Ground
9 EXP_GPI2 Expansion GPI 2
10 JOY_RIGHT Joystick right input
11 JOY_BTN1_DET Joystick button 1 input
12 EXP_GPI3 Expansion GPI 3
13 JOY_BTN2_SS Joystick button 2 input
14 EXP_GPI4 Expansion GPI 4
Base LED indications
This section describes LED indicators on the base.
Introduction
The base connector panel includes a multi-color LED indicator. The following table explains the
interpretation of the base LED indicator.
Figure 3: LED indicator

KINOVA® Gen3 lite robot User guide 16
Table 5: LEDs interpretation
Color Meaning
Blue The robot is booting
Green The robot is ready to be used and
there are no alarms and no faults
Amber The robot is in an alarm condition
Red The robot is in a fault condition
Base mounting accessories
The robot includes a number of accessories used to help with mounting the robot in different ways
on a horizontal surface.
For the robot, there are different options for mounting the robot on a horizontal surface for use.
The robot package includes mounting accessories to make it easier to mount the robot. Some of
these come standard with the robot, while others are optional.
• Quick connect system
º Quick connect base
º Mounting knob (pre-installed on the bottom of the robot base)
• Mounting plate
• Table mounting clamp (optional)
The robot base also includes four mounting holes on the bottom of the base that allow the robot to
be mounted directly to a surface.
Quick connect system
The quick connect base is a two-part structure. This allows a quick connect base to be mounted in
one place while allowing the robot to be quickly attached and detached.
The base of the robot is equipped with a quick connect system that allows for simple connect /
disconnect of the robot base from the mounting point. This allows the robot to be quickly detached
from the mounting site. This can be useful for:
• transport
• removal of the arm for servicing, or
• convenient re-siting of the arm between multiple installation sites
The quick connect system is supported out of the box and is the simplest and quickest way to get set
up with the robot.

KINOVA® Gen3 lite robot User guide 17
Figure 4: Quick connect - table screw mounting (left) and table clamp (right) mounting
A mounting plate attaches firmly to the mounting surface, either semi-permanently with screws
or temporarily using a table mounting clamp. A quick connect base attached to the mounting plate
provides an easily detachable docking point for the robot.
A (removable) mounting knob affixed to the bottom of the robot slides into a corresponding hole on
the quick connect base, and a quick connect clamp locks the mounting knob to secure the robot in
place. The robot ships with the mounting knob pre-installed by default.

KINOVA® Gen3 lite robot User guide 18
Figure 5: Quick connect (closeup)
To remove the robot from the quick connect base, flip open the quick connect clamp, detach any
connected cables, and slide the robot out of the quick connect base.
Mounting plate
The mounting plate is useful for mounting the robot in different configurations.
The mounting plate provides a foundation for mounting the robot onto a horizontal surface. The
mounting plate attaches to the surface, and the robot can be mounted on top of it.
The mounting plate can be secured to the surface using either screws or the table mounting clamp.
The table mounting clamp option allows for faster set up and removal, and is a good option for
initial setup of the robot, for setting up demos, and in general for any temporary installation.
Securing the mounting plate to a surface using screws provides a more durable solution, but
requires extra set-up time to drill holes into the surface according to the mounting plate holes
pattern.
The mounting plate has a number of holes drilled through it to support various mounting options:
• 4 mounting holes for mounting on table or aluminum extrusion

KINOVA® Gen3 lite robot User guide 19
• 24 mounting holes to attach quick connect base (3 holes x 8 different possible orientations)
• 4 mounting holes to mount robot base without quick connect
• 2 M8 threaded mounting holes to attach table mounting clamp
Figure 6: Mounting plate mounting holes patterns (dimensions in mm)
Table mounting clamp (optional)
The table mounting clamp provides a quick way to secure the mounting plate on a table top.
The clamp attaches to the bottom of the mounting plate with screws. The clamp can then be
secured onto the table using a tightening knob on the clamp.
Figure 7: Table mounting clamp and mounting plate

KINOVA® Gen3 lite robot User guide 20
Actuators
The robot contains actuators which power the rotational movement at the robot joints. The robot
contains three sizes of actuators with distinct performance capabilities. The actuators contain
sensors.
The rotational motion at each of the joints of the robot is powered by rotary actuators. There is one
actuator for each joint.
There are three types of actuator:
• small
• medium
• large
Each actuator is equipped with the following:
• current sensing
• temperature sensing (motor)
• temperature sensing (CPU)
• relative position and velocity sensing
• absolute position sensing
Wrist joints (joints 4 to 6) use small actuators. Medium actuators are used for joints 1 and 3. A
single large actuators is used for the shoulder joint (joint 2).
Actuators use either high-efficiency planetary gearboxes (small and medium actuators) or low-
backlash strain wave gearing (large actuator).
The actuators are connected to each other using a series of internal cables. These cables convey:
• power
• Ethernet data transmission
Robot structure and skin
The robot is held together by a structural skeleton serving as a mounting point for actuators and
providing passages for internal wiring. The robot is covered by outer skin panels.
The robot structure is made up of two main elements:
1. Robot skeleton - provides structural integrity for the robot, mounting interface for actuators
and control boards, and passage for internal wiring
2. Robot skin - protects the inner components of the robot while giving an appealing look to the
robot
Note: In normal operations, there is no need or reason to remove skin panels.
Wrist and Gripper
The wrist is made up of the last three actuators of the robot and includes buttons. A two finger
gripper is attached allowing a range of different grip options.