QB Robotics qbmove Advanced Kit User manual

Please read these instructions before use.
Do not discard: keep for future reference.
User manual
KIT

www.qbrobotics.com

www.qbrobotics.com
Dear customer
Thank you for purchasing our product. To receive more complete service, please visit our website
www.qbrobotics.com
Designed to be controlled like conventional servomotors, the qbmove can be changed in position
and stiffness and so it can substitute small conventional servomotors used for constructing any
mechanism or robotic system.
The qbmove advanced is the first affordable, muscle-like building block for constructing soft
robots. An actuator that is small and lightweight, the qbmove is unique in its ability to endow
robots with natural motion, i.e. that resembles the elegance and deftness of human motion, a
radical contrast to the traditional rigid and mechanical motion of robots built with common
servo-mechanisms.
The qbmove can be tuned to be soft or rigid, depending on the task at hand. If the robot needs
to guarantee safety during impact, the actuator can be set to be soft. While if precision is the
greater need, the actuator can be set to be more rigid. Energy or speed performance
optimization can be achieved by alternating between soft and rigid settings. These combinations
can be applied to tasks that are very complex, e.g. grasping or throwing objects, hammering,
drawing, and so on.
The product before being packed has been tested with care.
Release 2.40 28/04/2021

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Summary
1About this document ............................................................................................................ 4
1.1 Using this document ...................................................................................................... 4
1.2 Symbols and designations.............................................................................................. 4
2Safety.................................................................................................................................... 5
2.1 Safety instructions ......................................................................................................... 5
2.2 Environmental conditions .............................................................................................. 5
2.3 EC Directives on product safety ..................................................................................... 6
3Introduction to qbmove kit................................................................................................... 7
3.1 What’s in the box? ......................................................................................................... 8
3.2 Technical data ................................................................................................................ 9
3.2.1 Agonistic/Antagonistic VSA ................................................................................ 13
3.2.2 Mathematical model .......................................................................................... 15
3.3 Electrical connections .................................................................................................. 16
3.3.1 Qbally ................................................................................................................. 16
4Mechanical assembly.......................................................................................................... 18
4.1 Flat Flange assembly .................................................................................................... 20
4.1.1 Assembly sequence ............................................................................................ 21
4.1.2 ERNI cable routing in the Flat Flange.................................................................. 23
4.2 Base Flange assembly................................................................................................... 24
4.2.1 Assembly sequence ............................................................................................ 25
4.3 C Flange assembly ........................................................................................................ 26
4.3.1 Assembly sequence ............................................................................................ 27
4.3.2 ERNI cable routing in the C Flange...................................................................... 30
4.4 Double Flat Flange assembly........................................................................................ 31
4.4.1 Assembly sequence ............................................................................................ 32
4.5 Gripper assembly ......................................................................................................... 34
4.5.1 Assembly sequence ............................................................................................ 35
5qbmove accessories............................................................................................................ 38
5.1 Tool tips........................................................................................................................ 39
5.1.1 Payload evaluation and assembly examples ...................................................... 39
5.1.2 Distances between flange and actuator ............................................................. 40
5.2 Support structure 1 ...................................................................................................... 41
5.2.1 Robot assembly .................................................................................................. 41

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5.2.2 Robot example for Structure 1 ........................................................................... 43
5.3 Support structure 2 ...................................................................................................... 46
5.3.1 Structure assembly ............................................................................................. 47
5.3.2 Robot assembly .................................................................................................. 50
5.3.3 Robot examples for Structure 2 ......................................................................... 52
5.4 qb control..................................................................................................................... 54
6Software ............................................................................................................................. 55
6.1 Installing the drivers..................................................................................................... 56
6.2 qbmove GUI ................................................................................................................. 56
6.2.1 Installation procedure ........................................................................................ 56
6.2.2 Main Layout........................................................................................................ 57
6.2.3 Basic Tab............................................................................................................. 59
6.3 Simulink package.......................................................................................................... 61
6.3.1 Installation.......................................................................................................... 61
6.3.2 Using the library ................................................................................................. 61
6.3.3 Delta robot example........................................................................................... 68
6.4 qbAPI software protocol .............................................................................................. 69
6.4.1 Compiler Installation .......................................................................................... 69
6.4.2 Integrating the functions.................................................................................... 70
6.4.3 Basic Functions ................................................................................................... 70
6.4.4 Code Examples ................................................................................................... 72
6.5 ROS............................................................................................................................... 76
6.5.1 Installation.......................................................................................................... 77
6.5.2 Usage.................................................................................................................. 78
6.5.3 Delta robot and open kinematic chains examples.............................................. 86
6.5.4 qb control ........................................................................................................... 91
6.5.5 ROS packages overview ...................................................................................... 93
7Troubleshooting ................................................................................................................. 95
7.1 qbmove output shaft doesn’t move smoothly............................................................. 96
7.2 One or more qbmoves don’t activate .......................................................................... 96
7.3 Blue LED is off when the robot is powered .................................................................. 97
7.4 White LED is off when you use the robot..................................................................... 97
7.5 Clicking on “Scan Ports” on GUI results in no port shown ........................................... 97

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8Commissioning and Maintenance ...................................................................................... 99
8.1 Commissioning........................................................................................................... 100
8.2 Maintenance and warranty........................................................................................ 100
9Appendix........................................................................................................................... 101
9.1 VSA papers ................................................................................................................. 101
9.2 qbmove papers .......................................................................................................... 102
10 Record of documented revisions ...................................................................................... 103

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1About this document
This documentation serves for safety-relevant operations on and with the servo-actuators. It
contains safety instructions which must be observed.
The user should assume all responsibility for any accident caused by their careless handling of
the product. Attention must be paid to the following safety instructions.
Please read through this user's guide and make sure you fully understand all the instructions
before assembling and operating this product.
The examples and diagrams in this manual are included solely for illustrative purpose. Because
of the many variables and requirements associated with any installation, qbrobotics s.r.l. cannot
assume responsibility or liability for actual use based on the examples and diagrams.
No patent liability is assumed by qbrobotics s.r.l. with respect to use of information, circuits,
equipment, or software described in this manual.
Reproduction of the contents of this manual, in whole or in part, without written permission of
qbrobotics s.r.l., is prohibited.
1.1 Using this document
The documentation must always be complete and in a perfectly readable state.
Keep the document accessible to the operating and, if necessary, maintenance personnel at all
times.
Pass the document to any subsequent owner or user of the product.
1.2 Symbols and designations
WARNING: identifies information about practice or circumstances that can
lead to personal injury. Attentions help you identify a hazard, avoid a
hazard, and recognize the consequence.
IMPORTANT
Identifies information that is critical for successful application
and understanding of the product.

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2Safety
2.1 Safety instructions
IMPORTANT SAFETY INSTRUCTIONS –Read Before Using!
•Operational, maintenance, and service requirements are covered in the instruction
manual. Read the entire instruction manual before device use.
•Check that all the contents is intact after removing it from the packaging.
•Keep away from children and pets. Always set off or unplug when not in use.
•Never use aerosol products, petroleum-based lubricants or other flammable products
on or near the actuators.
•Do not use any damaged power cable, plug, or loose outlet. It may cause fire or
damage to people.
•Do not use if damaged or defective. Do not disassemble the actuators.
•Do not insert any objects between moving parts.
•Do not place your face too close to the robot.
•Disconnect the power supply before cleaning or maintenance.
•Disrespect of these precautions can affect safety of the device.
2.2 Environmental conditions
•Select the installation location so that clean dry air is available for cooling the motor
and has unobstructed access to flow around the drive.
•Do not keep or operate the actuators in a place of high temperature or humidity.
•Select a supply voltage that is within the defined tolerance range.
•This product is not waterproof. Never operate the product in a wet place.
•For indoor use only.

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2.3 EC Directives on product safety
•The following EC directives on product safety must be observed.
•If the product is being used outside the UE, international, national and regional
directives must be also observed.
Machinery Directive (2006/42/EC)
Because of their small size, no serious threats to life or physical condition can normally be
expected from electric miniature drivers. Therefore, the Machinery Directive does not apply to
our products. The products described here are not “incomplete machines”, so installation
instructions are not normally issued by qbrobotics.
Low Voltage Directive (2014/35/EU)
The Low Voltage Directive applies for all electrical equipment with a nominal voltage of 75 to
1500 V DC and 50 to 1000 V AC. The products described in this device manual do not fall within
the scope of this directive, since they are intended for lower voltages.

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3Introduction to qbmove kit
This chapter shows what the qbmove kit
includes, all the technical information about
the qbmove Advanced and its mechanical
connection.
Following, the electrical connections
between the devices.

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3.1 What’s in the box?
Figure 3-1 󰪦qbmove Advanced; 󰪧Flat Flange; 󰪨Base Flange; 󰪩C-Flange; 󰪪Handle; 󰪫qbgripper;
󰪬qbally; 󰪭ERNI cable 200mm; 󰪮ERNI cable 300mm; 󰪯ERNI cable 1500mm; 󰪰USB cable; 󰪱User
manual.
Screws and nuts are provided with each kind of flange:
•Flat Flange: n°8 screws M2x8 ISO1207; n°4 nuts M3 ISO4032 A2; n°4 screws M3x8
ISO4762;
•Base Flange: n°8 screws M2x8 ISO1207; n°4 nuts M3 ISO4032 A2; n°3 screws M3x10
ISO10642;
•C-Flange: n°16 screws M2x8 ISO1207;
•Other components: n°8 screw M3x10 ISO4762; n°8 nuts M3 ISO4032 A2.
Make sure that the following items are included in the package. If there are any items missing,
contact the supplier.
① x 4 ② x 2 ③ x 4 ④ x 4
⑤ x 1 ⑦ x 1 ⑧ x 5
⑨ x 2 ⑩ x 1 ⑪ x 1 ⑫ x 1
⑥ x 1

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3.2 Technical data
Mechanical and electrical characteristics of the qbmove Advanced:
Figure 3-2 qbmove Advanced. 󰪦output
shaft; 󰪧daisy-chain RS485; 󰪨USB port.
operating data
(quantity)
(unit)
(value)
mechanical
Continuous Output Power
[W]
33
Nominal Torque
[Nm]
5.5
Nominal Speed
[rad/s]
5.5
Peak Torque
[Nm]
6.8
Maximum Speed
[rad/s]
6.33
Maximum Stiffness
[Nm/rad]
83.5
Minimum Stiffness
[Nm/rad]
0.5
Nominal Stiffness
Variation Time
no load
[s]
0.25
max torque
[s]
0.25
Maximum Elastic Energy
[J]
0.88
Maximum Hysteresis
[°]
5
Maximum Deflection
Max stiffness
[°]
6
Min stiffness
[°]
50
Active Rotation Angle
[°]
±180
Angular Resolution
[°]
360/32768
Weight
[kg]
0.45
Electrical
Voltage Supply
[V]
24
Nominal Current
[A]
1.8
Maximum Current
[A]
3
Peak Current
[A]
13
control data
Nominal current (USB)
[A]
0.26
Electrical protocol
RS485/USB
-
Figure 3-3 Sensors references.
①
③
②

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operating data
(quantity)
(unit)
(value)
Sensor a –Motor 1 Position
Resolution
[°]
360/32768
Range
[°]
0-360
Sensor b –Motor 2 Position
Resolution
[°]
360/32768
Range
[°]
0-360
Sensor c –Motor 1 Current
Resolution
[A]
5/1638
Range
[A]
5
Sensor d –Motor 2 Current
Resolution
[A]
5/1638
Range
[A]
5
Sensor e –Input Voltage
Resolution
[V]
25/1638
Range
[V]
0-25
Figure 3-4 qbmove Advanced dimensions.
The qbmove is a back drivable actuator. When the robot is off, a
sufficiently high external load can move the output shaft.
Do not use the Peak torque more than few seconds.

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Dimensions of the flanges.
Figure 3-5 C-Flange dimensions.
Figure 3-6 Base flange dimensions.

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Figure 3-7 Snap-on mechanism.
Figure 3-8 Examples of connection.

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3.2.1 Agonistic/Antagonistic VSA
The qbmove Advanced embeds the features of a servo motor and, moreover, the possibility of
adjusting the output shaft stiffness.
The Figure 3-9 shows a scheme of the agonistic/antagonistic VSA principle, implemented in our
actuator. Basically, there are two motors connected at the output shaft by non-linear springs, so
the output position “x” and the stiffness “σ” depend on the motors’ positions “q1” and “q2”, on
the torque “τ” and on the mathematical model of the system.
Figure 3-9 Agonist/Antagonistic VSA model.
All these quantities are each other connected, then, to evaluate a proper mathematical model
experimental data are needed.
Using a pendulum structure, a sinusoidal movement with different frequencies, and different
stiffness presets, the obtained results can be synthetized in the graphic below; where the
deflection “δ” is the difference between the angular position of the output shaft δ = x - (q1+q2)/2
and the stiffness preset is (q1- q2)/2.
Figure 3-10 Experimental Torque Deflection Characteristic.

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Using fitting functions (see the next paragraph) the relations between deflection, torque and
stiffness are represented by the following graphics.
Figure 3-11 Torque - Deflection characteristic.
Figure 3-12 Torque - Stiffness characteristic.

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Moreover, also considering the motors’ speed, our actuator has a 3d workspace. The figures
below show the Torque –Speed characteristic (Figure 3-13) and the VSA workspace (Figure
3-14).
Figure 3-13 Torque - Speed characteristic.
Figure 3-14 Torque - Speed - Stiffness Workspace.
3.2.2 Mathematical model
The following mathematical functions and their parameters describe the mathematical model of
our agonistic/antagonistic VSA.
equilibrium point
󰇛 󰇜

output stiffness
  󰇛 󰇜  󰇛󰇛 󰇜󰇜
output torque
  󰇛 󰇜  󰇛  󰇜
elastic energy
  󰇛  󰇜  
󰇛  󰇜   
value
Unit
k1
0,0026
[Nm]
a1
8.9995
[1/rad]
k2
0.0011
[Nm]
a2
8.9989
[1/rad]

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3.3 Electrical connections
In this guide you will find explanation regarding power connection of a single qbmove units as
well as qbmove chains. Power connection is made using the qbally component (seeFigure 3-15).
The supply voltage must be 24V!
3.3.1 Qbally
The qbally is the simplest qbally available. It provides a handy
interface between your power supply and the 6 poles ERNI
cable used to create daisy chain connection between qbmove
units. With the qbally you can power a single qbmove unit
(Figure 3-16) or a short chain (up to 5) of qbmoves as shown in
Figure 3-17
The qbmove is provided of two LEDs:
•White LED: it indicates that the logic circuit is
powered;
•Blue LED: it indicates that the power circuit is
powered.
Figure 3-15: qbally1
Figure 3-16: Connection to a
qbMove

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IMPORTANT
If you connect the qbmove to the power supply and the USB cable isn’t
connected, both LEDs are on.
IMPORTANT
Each qbmove you connect to your system must have a unique ID.
It is advisable to not to connect more than four qbmoves for each chain, due to the current
capacity of the ERNI cable.
Figure 3-17: Serial connection of four qbmoves using a qbally1