Robokits Robotic Arm 6 DOF User manual

http://www.robokits.co.in
http://www.robokitsworld.com Page 1
Robotic Arm 6 DOF Assembly Guide
Robotic Arm 6 DOF
Assembly Guide
Robokits India
http://www.robokits.co.in
[email protected].in
Robokits World
http://www.robokitsworld.com

http://www.robokits.co.in
http://www.robokitsworld.com Page 2
Robotic Arm 6 DOF Assembly Guide
Overview :
6 DOF Robotic Arm from Robokits is a robotic arm with 4 degrees of freedom joints and a
Gripper. Its act ated sing 6 Standard size servos o t of which 4 are normal Nylon gears
standard and 2 are Metal Gear High Torq e servo motors.
This robotic arm is controlled by USB (optional wireless Bl etooth) Servo Controller. It and be
controlled by PC or other microcontrollers.
The power req irement for this robotic arm is 5 to 6V DC 10 Amp power s pply. It co ld be
either battery or a AC power s pply rated at 5-6VDC. Yo can also se a modified comp ter
SMPS s pply, it is available for sale on Robokits website and yo can also modify it yo rself if
yo have one. There are many t torials available for these modifications on internet.
Before starting the assembly we recommend to read the doc mentation of Servo Controller so
that it will be easy to nderstand all electric connections and controls. If yo have this
doc ment on CD then it sho ld be in the same folder as this doc ment otherwise yo can
download it from here:
http://www.robokits.co.in/doc mentation/USB%2016%20Servo%20Controller.pdf
After assembling the robotic arm yo will be able to control it from a Windows PC. However if
yo want to control it with a microcontroller yo can directly generate C code for it from servo
controller software. This generated code is directly programmable to o r Rhino Robot Control
Board or Ard ino, if yo want to se other microcontroller or compiler it co ld be translated
easily if yo are good at C lang age and embedded programming.
Let’s start with the basic assembly of robotic Arm. Some basic tools like screw drivers,
pliers, small spanners, soldering iron, wire c tter, nipper, stripper are req ired to complete the
assembly.
The notations sed in this doc ment for screws, n ts & bolts are like these.
1. 3x6 mm cap screw – 3mm small screw
2. 3x8 mm cap screw – 3 mm mid screw
3. 3x10 mm cap screw – 3 mm big screw
4. 3x8 mm CSK head screw – CSK screw
5. 3 mm Nylock N t – Lock n t
6. 3 mm n t – n t

http://www.robokits.co.in
http://www.robokitsworld.com Page 3
Robotic Arm 6 DOF Assembly Guide
Fix fo r 10 mm st ds to base with fo r csk screws. Yo may have to p sh hard the screw from
bottom.

http://www.robokits.co.in
http://www.robokitsworld.com Page 4
Robotic Arm 6 DOF Assembly Guide
Fix six 50 mm spacers to the base with csk screws j st as before.

http://www.robokits.co.in
http://www.robokitsworld.com Page 5
Robotic Arm 6 DOF Assembly Guide
This is how the base will look after fixing all the st ds.

http://www.robokits.co.in
http://www.robokitsworld.com Page 6
Robotic Arm 6 DOF Assembly Guide
Now take a circle plate with holes for servo and castor wheels, 9 lockn ts and 9 M3 long
screws.

http://www.robokits.co.in
http://www.robokitsworld.com Page 7
Robotic Arm 6 DOF Assembly Guide
Fix three castors on the base as shown in above pict re. Now take a servo, 4 M3 Long screws,
and 4 lock n ts.

http://www.robokits.co.in
http://www.robokitsworld.com Page 8
Robotic Arm 6 DOF Assembly Guide
Fix the servo motor to the base as shown. The final assembly will look like the pict re above.

http://www.robokits.co.in
http://www.robokitsworld.com Page
Robotic Arm 6 DOF Assembly Guide
Take assembled plate with servo and castors and six M3 small screws.

http://www.robokits.co.in
http://www.robokitsworld.com Page 10
Robotic Arm 6 DOF Assembly Guide
Fix the plate and servo controller pcb to the base as shown. The base assembly is now
complete.

http://www.robokits.co.in
http://www.robokitsworld.com Page 11
Robotic Arm 6 DOF Assembly Guide
Optionally yo can also mo nt castor plate inverted.

http://www.robokits.co.in
http://www.robokitsworld.com Page 12
Robotic Arm 6 DOF Assembly Guide
Fix the servo horns to the plates as shown in above pict re. Take preca tion while fixing them
to the ro nd plate. The ro nd plate has 2 co nters nk holes towards the edge. The horn sho ld
be fixed to the co nters nk holes side only. Yo may receive servo horn screw in silver or
black color.

http://www.robokits.co.in
http://www.robokitsworld.com Page 13
Robotic Arm 6 DOF Assembly Guide
When these parts are seen from top , they will look like the pict re above.

http://www.robokits.co.in
http://www.robokitsworld.com Page 14
Robotic Arm 6 DOF Assembly Guide
Attach 2 L clamps on the ro nd plate. Note that 2 M3 Long screws are inserted from top and
lockn t is fixed from bottom, for the holes on the edge side 2 csk screws are inserted from
bottom and lockn t is on top side. See next pict re for bottom view.

http://www.robokits.co.in
http://www.robokitsworld.com Page 15
Robotic Arm 6 DOF Assembly Guide
Note that 2 CSK screws are inserted from bottom and n t is on top side. This is important
otherwise the castor will to ch the screw and restrict the movement of base rotation.

http://www.robokits.co.in
http://www.robokitsworld.com Page 16
Robotic Arm 6 DOF Assembly Guide
Now connect the base servo to servo controller as shown in pict re. Power p servo controller
with 5 to 6VDC power s pply and connect to pc software with USB or Bl etooth connection.
Ne tralize the servo (P t the servo to centre position) sing software. Mo nt the ro nd plate
with horn and clamps to the base as shown in pict re. Tighten with the self tapping screw
provided in servo accessory pack. Make s re that plate is not too loose or tight. Test with
moving slider in software.
*Note : Please read man al of servo controller first before performing this step.

http://www.robokits.co.in
http://www.robokitsworld.com Page 17
Robotic Arm 6 DOF Assembly Guide
Mo nt a metal gear servo with back attached to the clamp with M3 Long screws and lockn ts
as shown in pict re.

http://www.robokits.co.in
http://www.robokitsworld.com Page 18
Robotic Arm 6 DOF Assembly Guide
Take o t part with 2 servos and top mo nt for it. Also take 2 20mm st ds and 4 M3 Small
screws.

http://www.robokits.co.in
http://www.robokitsworld.com Page 1
Robotic Arm 6 DOF Assembly Guide
Fix two 20 mm st ds in holes with 2 M3 small screws as shown. Also fix 4 r bber mo nts
available in metal gear servo accessory pack to metal gear servo as shown above. Take o t
eight M3 Long screws and lockn ts for next assembly step.

http://www.robokits.co.in
http://www.robokitsworld.com Page 20
Robotic Arm 6 DOF Assembly Guide
Mo nt servos to the plate with 4 M3 Long screws and lockn ts. Fix the top plate with bottom
thro gh 20 mm st ds with 2 M3 Small screws.