Kinova Jaco Rehab Edition User manual

Installation guide
V1.0.9

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TABLE OF CONTENTS
ABOUT THIS DOCUMENT ....................................................................................................... 1
Symbols, definitions and acronyms .......................................................................................................... 1
General Information ................................................................................................................................ 1
DISCLAIMER ................................................................................................................................ 2
MECHANICAL INTEGRATION................................................................................................. 3
Bolt Fastening Requirements ................................................................................................................... 3
Wheelchair Interface ...............................................................................................................................
Main base ................................................................................................................................................ 7
Bracket system ........................................................................................................................................ 8
Mechanical Integration Assembly Validation ......................................................................................... 12
ELECTRICAL INTEGRATION ................................................................................................ 13
CONTROL INTEGRATION ..................................................................................................... 14
Kinova standard joystick ........................................................................................................................ 14
Through the wheelchair controller ......................................................................................................... 1
CONTACT SUPPORT .............................................................................................................. 17
APPENDIX 1: MECHANICAL INTEGRATION – PARTS DESCRIPTION ..................... 18
APPENDIX 2: ASSEMBLING TWO SQUARE EXTRUSION ............................................ 22
APPENDIX 3: CABLE PRO IDED FOR WHEELCHAIR ELECTRICAL INTEGRATION
......................................................................................................................................................... 1
APPENDIX 4: BOLT PATTERN FOR KINO A STANDARD JOYSTICK ......................... 1

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APPENDIX 5: CONTROL INTERFACE FOR HMC ............................................................... 2
The HMC wheelchair controller ............................................................................................................... 2
Connection schematic of the JACO arm.................................................................................................... 3
Accessing the JACO arm control ............................................................................................................... 4

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TABLE OF FIGURES
Figure 1 – Global s hemati of a me hani al integration ............................................................... 3
Figure 2 – Re ommended s rew, Nord-Lo k and torque ................................................................ 4
Figure 3 - Nord-Lo k Assembly ........................................................................................................ 5
Figure 4 - Nord-Lo k Outer Diameter Spe ifi ations ....................................................................... 5
Figure 5 - Tubular seat frame .......................................................................................................... 6
Figure 6- Rail type seat frame ......................................................................................................... 6
Figure 7 - Installation of the tubular adapter .................................................................................. 7
Figure 8 - Main base final assembly ................................................................................................ 8
Figure 9 - Main bra ket spe ifi ations ............................................................................................. 9
Figure 10 - Bra ket system assembly (part I) ................................................................................ 10
Figure 11 - Bra ket system assembly (part II) ............................................................................... 11
Figure 12 - Universal Interfa e Conne tion ................................................................................... 15
Figure 13 - Assembling two square extrusions .............................................................................. 22
Figure 14 - Bolt pattern for Kinova standard joysti k...................................................................... 1
Figure 15 – HMC system, part identifi ation ................................................................................... 2
Figure 16 - Conne tion s hemati with HMC system (part I) .......................................................... 3
Figure 17 - Conne tion s hemati with HMC system (part II) ......................................................... 3

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ABOUT THIS DOCUMENT
Read all instru tions before installing this produ t.
This do ument ontains information regarding the installation of Kinova’s JACO arm. It is
intended for:
Authorized distributor of the JACO arm and their qualified te hni ian field servi e
experts.
For more information about the JACO arm, its use and operating prin iples, please refer the
JACO arm user guide.
Symbols, definitions and acronyms
Important information regarding safe operation of JACO arm.
General Information
The installation of the JACO arm must be se ure and adequately integrated onto the wheel hair.
Do not attempt installation if any of the JACO arm hardware omponent in the part kit
is missing or damaged. Conta t Kinova to report the damage and request a repla ement
kit.
The installation of the JACO arm to the wheel hair in ludes three prin ipal ategories of
integration:
1) Me hani al integration
2) Ele tri al integration
3) Control integration
The information given in this do ument is for a non-intrusive installation, meaning that the
wheel hair omponents are not altered in any way.
The system des ribed in this do ument is subje t to modifi ations. All the figures are not
ne essarily in a ordan e with the latest version of every omponent.

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DISCLAIMER
Kinova, JACO, and Kinova’s logo are trademarks of Kinova in . All other brand and produ t
names are trademarks or registered trademarks of their respe tive orporations.
The mention of any produ t does not onstitute an endorsement by Kinova In . This manual is
furnished under a lease agreement and may only be opied or used within a ordan e with the
terms of su h lease agreement. Ex ept as permitted by su h lease agreement, no part of this
publi ation may be reprodu ed, stored in any retrieval system, or transmitted, in any form or by
any means, ele troni , me hani al, re ording, or otherwise, without prior written onsent of
Kinova.
The ontent of this manual is furnished for informational use only, is subje t to hange without
noti e, and should not be onstrued as a ommitment by Kinova. Kinova assumes no
responsibility or liability for any errors or ina ura ies that may appear in this do ument.
Changes are periodi ally made to the information herein; these hanges will be in orporated
into new editions of this publi ation. Kinova may make improvements and/or hanges in the
produ ts and/or software programs des ribed in this publi ation at any time.
If you have omments on this manual or the produ ts it des ribes, address them to:
Kinova’s publi ation: Publi ations@KinovaRoboti s. om
Kinova may use or distribute whatever information you supply in any way it believes
appropriate without in urring any obligations to you.
Copyright © 2011 Kinova. All rights reserved.

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MECHANICAL INTEGRATION
The me hani al integration of JACO on a motorized wheel hair is divided into three phases:
1) Installing the wheel hair interfa e;
2) Building the main base;
3) Joining both with the bra ket system.
Ea h phase is des ribed individually in this se tion. The different parts and items used for to
assure the me hani al integration suggested by Kinova are detailed in Appendix 1. The following
figure presents an overview of an adequate me hani al integration and the required phases.
Figure 1 – Global schematic of a mechanical integration
Bolt Fastening Requirements
To assure the me hani al integrity of the me hani al integration assembly, the following
requirement should be followed.
Ea h s rew should be fastened using the adequate Nord-Lo k.
Ea h s rew should be fastened with two drops of lubri ating oil applied on the s rew’s
threads and the re ommended torque.
For ea h s rew, a minimum of 4 threads should assure the fastening and, when s rewed
to the re ommended torque, there shall be no lose in the assembly.

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The following figure presents the torque and Nord-Lo k re ommendations.
Product Name PN Screw Nord-Lock Torque (Nm)
Angle Bra ket MH 0843 0001 M8x20 NL8 38
1
Slide Plate MH 3575 0001 M8x15 NL8 38
1
Rail Adapter MF 7519 0001 M6 NL6 15.8
Rail Adapter MF 7515 0003 M6 NL6 15.8
Rail Adapter MF 8010 0001 M5 NL5 9.1
Tubular Adapter
2
1000FSMIP M6 NL6 15.9
Tubular Adapter
3
1000FSMIP M6 n/a 11.9
Figure 2 – Recommended screw, Nord-Lock and torque
MAIN BASE
No grade is spe ified for the main base assembly s rews.
The M8x15 s rews shall be used to fasten the slide plate to the main base assembly.
The M8x20 s rews shall be used to fasten the angle bra ket to the main base assembly.
BRACKET SYSTEM
Every bolt used in the bra ket system assembly must be of grade 12.9.
The length of ea h s rew will depend on the spa er onfigurations.
NORD-LOCK FASTENING SYSTEM
The Nord-Lo k fastening system is omprised of a pair of washers that has ams on one side
(inside) and radial teeth on the opposite side (outside). The pre-assembled washers are installed
in pairs, am fa e to am fa e. They are reusable when no signs of wear are visible.
1
Note that the torque applied is defined with the use of the Nord-Lo k system. If standard washers and
lo k washers are used, please revise the torque adequately.
2
Refers to the installation of the main bra ket (with or without spa ers) on the tubular adapter.
3
Refers to the assembly of the tubular adapter unit.

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Figure 3 - Nord-Lock Assembly
Kinova re ommends the use of stainless steel (ss) Nord-Lo k. For one hole size (e.g. NL6ss), you
may have two different flange sizes. Kinova re ommends the use of enlarged outer diameter
(NL6spss) for the assembly of the bra ket system and regular outer diameter (NL6ss) for the
assembly of every other system. The large flange optimises the load distribution.
Figure 4 - Nord-Lock Outer Diameter Specifications
Wheelchair Interface
The me hani al integration of the JACO arm onto the wheel hair is done through the wheel hair
seat frame. To install the wheel hair interfa e, you must:
1) Identify the seat frame type;
2) Identify and install the adequate adapter;
SEAT FRAME TYPE.
Generally, one may en ounter two different type of wheel hair seat frame (tubular or rail type)
whi h are illustrated in the following figures.

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Figure 5 - Tubular seat frame
Figure 6- Rail type seat frame
SEAT FRAME TUBULAR ADAPTER
For a tubular type seat frame, Kinova suggests the use of the tubular adapter (1000FSMIP). The
tubular adapter must be installed around the tubular seat frame with the opened side up and
the large golden part (5 holes visible) fa ing outside. The installation of the tubular adapter
normally won’t require the uninstallation on any wheel hair a essory. If it does, please refer to
the relevant do ument supplied by the wheel hair manufa turer.
To install the tubular adapter, you must:
1) Remove all s rews that are part of the tubular adapter assembly;
2) Pla e the small, narrow part (3 holes visible) on the inner side of the wheel hair seat frame
with the open tubular side up as shown in the following figure;
3) Pla e the large golden part on the outer side of the wheel hair seat frame, with the open
tubular side up as shown in the following figure;
4) Insert two M6x35 in the 2 horizontal outer holes as shown in the following figure and
tighten to the required torque. Please note that those s rews are the only one whi h will
not require the installation of Nord-Lo k washers.