Reach BRAVO Use and care manual

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REACH BRAVO
INTEGRATION MANUAL | V4.0

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CONTENTS
1 Safety Information 4
1.1 CRUSH POINTS AND COLLISION HAZARDS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4
1.2 SHOCK HAZARD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4
1.3 LEAK DETECTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4
1.8.1 Operating and Storage Temperature. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5
2.1 AVAILABLE CONFIGURATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6
1.8.2 Pressure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6
1.8.3 Explosive Environments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6
2 Product Overview 6
2.2 ENDEFFECTOR OPTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
2.3 RELATED PRODUCTS AND ACCESSORIES. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
3 Specifications 7
3.1 MECHANICAL. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
3.2 DIMENSIONS, MODULES AND RANGE OF MOTION. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8
3.2.1 Bravo 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
3.2.2 Bravo 5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
3.2.3 Bravo 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.2.4 Bravo 2 (Grabber) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.3 ENVIRONMENTAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.4 ELECTRICAL AND COMMUNICATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.4.1 Power Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
3.4.2 Communication Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
3.5 KINEMATIC, DYNAMIC, DH PARAMETERS, AND OTHER PROPERTIES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
4 Interfacing and Integration 12
4.1 BRAVO 5 / BRAVO 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
4.1.1 Mechanical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
4.1.2 Electrical. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
4.1.3 Communication Protocol. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
4.2 BRAVO 2 / BRAVO 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
4.2.1 Mechanical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
4.2.2 Electrical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
4.3 INTEGRATION ELECTRICAL DIAGRAM. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
5 Control Options 16
5.1 REACH CONTROL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
5.2 EXTERNAL INPUTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
5.2.1 Gamepad. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
5.2.2 Master Arm. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
5.3 LOWLEVEL CONTROL IMPLEMENTATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
6 Bench Setup and Acceptance Test 18

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to be used in any unauthorised way. © Reach Robotics Pty Ltd 2022
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6.1 BENCH SETUP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
6.1.1 Physical Interfacing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
6.1.2 Communication Setup. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
6.1.3 Reach Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
6.2 ACCEPTANCE TEST. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
6.2.1 Range of Motion Test. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22
6.2.2 Master Arm Test (If Applicable). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23
7 Recommended Servicing Schedule 26
7.1 BRAVO SERVICING OVERVIEW. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
8 Reach Robotics Support Program 26
9 Integration Support 27
10 Priority Technical Support 27
11 Priority Access to Loans 27
12 Included Full Service 27
13 Revision History 27

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This section describes the necessary safety information and precautions relevant to the setup and operation of the Reach
Bravo manipulator system. To ensure correct and safe use of Reach Robotics manipulators, carefully read this section and
make yourself well acquainted with the contents. Follow any warnings and cautions included. In conjunction with this manual, it
is important that the users have knowledge of safety considerations and make correct judgments on safety procedures during
operation.
Reach Bravo manipulators are highly dexterous, electromechanical devices that can move with a high degree of freedom.
Failure to take necessary safety measures or mishandling due to not following the instructions in this technical supplement
may result in damage to the robot or injury to personnel.
1 SAFETY INFORMATION
1.1 CRUSH POINTS AND COLLISION HAZARDS
1.2 SHOCK HAZARD
1.3 LEAK DETECTION
There should be no attempt made to remove the external housing of the manipulator to
expose the internal circuitry. Doing so could cause injury or fatality by electrical shock.
If there is a breach in the vacuum, an error will be received and the status tab in the help
menu of Reach Control will open.
To view more details of the error, click on the product button. This will open the health
panel.
Crush hazards exist on the Reach Bravo in locations where
two limbs can compress together as well as in the jaws of the
grabber stage of the manipulator. It is important that the operator
ensures the working area of the manipulator is clear prior to
operation.

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to be used in any unauthorised way. © Reach Robotics Pty Ltd 2022
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1.4 OBSTACLE SETUP
Ensure that the manipulator is setup correctly using the bench test and platform integration procedures shown elsewhere in
this manual. In particular, care should be taken to ensure that permanent obstacles in the workspace are correctly defined to
avoid collision between the manipulator and other equipment. The manipulator arrives with a ‘floor’ obstacle installed to avoid
collision with the bench/test platform.
1.5 EMERGENCY STOP
It is strongly recommended that an ESTOP button is included in the power circuit when bench level testing the manipulator.
Additionally, a digital ESTOP is included in the Reach Control software.
1.6 ELECTRICAL INSTALLATION
For bench level testing, it is strongly recommended to use a controlled power supply with a current limiting circuit and/or a
Residual Current Device (RCD) mechanism.
1.7 PHYSICAL INSTALLATION
Prior to operation, ensure that the manipulator is firmly secured using the supplied mounting kit, or an alternative solution with
the appropriate specifications.
1.8 OPERATING ENVIRONMENT
1.8.1 Operating and Storage Temperature
The manipulator system is specified for use from -10°C to 40°C (operating) and up to 80°C storage.
Click on the expand button […] to view more details if required.

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MAIN PRODUCT FEATURES:
• Master Arm Enabled
• 450m Depth Rated
• All-Electric, Zero Oil
• Accessory Port for Camera, Lights, and other Sensors/Tools
• Embedded NVIDIA TX2 (5/7F Only) for Real-Time Perception
and Control
Bravo 7 | Seven-Function Manipulator
RB-7001
Bravo 2 (Grabber) | Two-Function Manipulator
RB-2001
Bravo 3 | Three-Function Manipulator
RB-3001
Bravo 5 | Five-Function Manipulator
RB-5001
• Adjustable Grab Force
• On-board Kinematics
• Workspace Obstacles
• Collision Protection
• One-click deploy/stow position
1.8.2 Pressure
The Reach Bravo is Depth Rated to operate at the equivalent of 300MSW.
1.8.3 Explosive Environments
Reach Bravo manipulators are not designed to meet explosion-proof specifications. Do not use the robot and controller in
environments containing inflammable gas, gasoline, or solvent. Explosions or fire may otherwise result.
2 PRODUCT OVERVIEW
The Reach Bravo is an advanced electric manipulator system that opens a new set of compact inspection and intervention
opportunities for militaries, service providers, researchers, and other operators. Designed originally for the harsh subsea
environment, and with an operating depth of 300m, the Reach Bravo is also suitable for austere out-of-water applications.
With a highly modular design, the Reach Bravo is available in configurations ranging from a single-function grabber (linear) or
rotate actuator up to the seven-function Bravo 7. The Reach Bravo range is a one-stop-shop for multiplying the manipulation
capability of your inspection class vehicle or other platform.
2.1 AVAILABLE CONFIGURATIONS

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to be used in any unauthorised way. © Reach Robotics Pty Ltd 2022
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Bravo 7 Bravo 5 Bravo 3 Bravo 2
Functions 7 5 3 2
Degrees-of-Freedom 6 4 2 1
Full-Extension Reach 900mm 750mm 410mm 320mm (static)
Dynamic Full-Extension Lift 10kg 12kg 15kg N/A
Base Joint Torque 110Nm 50Nm N/A
Max Dynamic Lift 15kg 20kg N/A
Max Axial Load 100kg 200kg
Wrist Torque 20Nm
Linear/Grabber Force 1000N
Weight (in Air) 9kg 7.5kg 3.8Kg 2.7Kg
Weight (in Water) 4.5kg 4kg 2.6kg 1.6kg
Joint Speed (24-48V) 45 - 80 deg/s
End-eector Repeatability < 1cm N/A
Bravo 3 | Three-Function Manipulator
RB-3001
2.2 END-EFFECTOR OPTIONS
RB-1055 RB-1041 RB-1043 RB-1044 SS RB-1042 RB-1034RB-1025
2.3 RELATED PRODUCTS AND ACCESSORIES
Master Arms
RM-5201 and RM-7201
Reach Control Pro
RC-2000
3 SPECIFICATIONS
3.1 MECHANICAL
See respective manuals of related products for details.

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3.2 DIMENSIONS, MODULES AND RANGE OF MOTION
J1
J2
J3
J4
J5
J6
J7
A: 365mm
B: 160mm
C: 292mm
D: 159mm
Max OD (E): 92mm
Min OD (F): 82mm
J1: 118mm
J2: Continuous (360°+)
J3: 180
J4 Continuous (360°+)
J5: 180
J6: 180
J7: Continuous (360°+)
F (ø)
B
C
DA
E (ø)
Bravo 7 – Dimensions and rotational capacity.
Bravo 7 – Module breakdown. Bravo 7 – Range of Motion side view.
3.2.1 Bravo 7

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to be used in any unauthorised way. © Reach Robotics Pty Ltd 2022
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Bravo 5 – Dimensions and rotational capacity.
Bravo 5 – Module breakdown. Bravo 5 – Range of Motion side view.
3.2.2 Bravo 5
J1: 0 to 118mm (standard)
J2: Continuous (360°+)
J3: 180°
J4: 180°
J5: Continuous (360°+)
A: 291mm
B: 364mm
C: 159mm
OD (D): 92mm
OD (E): 92mm
OD (F): 81.6mm
D (ø)
E (ø)
A
B
C
F (ø)
J3
J4
J2
J5
J1

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410mm Max Reach
206mm258mm 87mm Continuous (360°+)
Open &
close
180°
Continuous Rotate
(360°+)
Open and close
180mm 138mm142mm
137mm
3.2.3 Bravo 3
3.2.4 Bravo 2 (Grabber)
Bravo 2 – Module breakdown.
Bravo 3 – Module breakdown.Bravo 3 – Range of Motion side view.
Bravo 3 – Dimensions and rotational capacity.
Bravo 2 – Dimensions and rotational capacity.