Willow Garage PR2 Guide

PR2 Maintenance
ROS + PR2 Training Workshop

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ROS + PR2 Training Workshop
PR2 Maintenance Overview
●PR2 overview
●Review electrical and ESD safety
●Review PR2 power syste
●PR2 accessory kit
●PR2 tool kit
●Hands on de os
●See support.willowgarage.com to order
replace ent parts

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ROS + PR2 Training Workshop
PR2 Overview
●PR2 “anato y”
●Hands-on de os
●Filter aintenance
●Gripper tip replace ent
●Counter balance adjust ent
●Points of interest
●Power switch
●A/C breaker
●Run-Stop button
●Plug for the ESD strap

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ROS + PR2 Training Workshop
PR2 Front View
Head Tilt Stage Panels
Gripper
Head Pan
Stage Panels
Fore Ar
Upper
Ar
Shoulde
rCovers
Center
Tri
Front
Botto
Panel
Top
Front
Panel
Base Skirt
Front
Laser
Sled
Front
Bellows

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ROS + PR2 Training Workshop
PR2 Side View
Head Tilt Stage
Panels
Grippe
r
Head Pan
Stage Panels
Fore Ar
Upper
Ar
Shoulde
r Covers
Left
Body
Tri
Front
Botto
Panel
Top
Front
Panel
Base Skirt
Front
Laser
Sled
Front
Bellow
s
Rear
Botto
Panel
Base
Skirt
Rear
Rear
Bellows
Rear Top
Panel
Hokuyo

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ROS + PR2 Training Workshop
PR2 Rear View
Head Tilt Stage
Panel
Base
Skirt
Rear
Fan
Filter
Rear
Botto
Panel
Rear
Top
Panel
Rear
Bellows
Head Pan Stage
Panel
DC
Breaker
Run – Stop
Button

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ROS + PR2 Training Workshop
Electrical and ESD safety
●When perfor ing aintenance:
●Turn off power even when re oving covers
●The only exceptions are when perfor ing
counter balance adjust ents and replacing
the fan filter
●Disconnect AC power to the PR2
●Always use an ESD strap
●ESD straps are provided in the accessory kit:
●Place strap around bare wrist
●Plug jack into accessory panel

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ROS + PR2 Training Workshop
PR2 Power Syste
PR2 internal power precautions and safety features:
●Battery power is “live” within the robot, even
when the power is off
●The power board controls all the power to the
PR2 syste s and is accessible/controllable via
the ROS pr2_power_node
●There are as any as 7 levels of protection but
you cannot assu e they will prevent da age or
injury
●Always turn off the PR2 power when perfor ing
aintenance except when specifically required
to co plete a procedure such as the counter
balance adjust ent

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ROS + PR2 Training Workshop
PR2 Power Require ents
Wall power:
●The PR2 can only be plugged into a dedicated
15A minimum circuit
●Only use the supplied power cord
●Only use the supplied self plug-in cord
●See support.willowgarage.co for ordering
replace ent cords
Battery runti e
●Approxi ately 2 hours stationary, less when
oving

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ROS + PR2 Training Workshop
PR2 Accessory Kit
Gripper tips box:
Sensor fingertips 68-03840
(x5) (use only with
boots!)
Fingertip boots 68-03347
(x20)
15 FT power cord 68-06167
Self plug-in cord 68-06153
Joystick 68-02985
Hard drive bay keys 68-03337
Wireless run-stop 68-01059
USB joystick cable 68-03533
S all Checkerboard 68-03823
Fan filters 68-02802 (x5)
ESD strap 68-03024
Base station recovery DVD
User anual

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ROS + PR2 Training Workshop
PR2 Tool Kit (1)
Counter balance adjust ent rod -
10 hex 68-07034
Counter balance adjust ent tube
68-07147
Ratchet head bits:
1.5 68-07040
2.5 68-07042
Driver bits:
1.5 68-07062
2.0 68-07063
2.5 68-07064
2.5 ball end 68-07059
3.0 68-07065
4.0 68-07066
5.0 68-07067
Needle nose pliers 68-07112
Diagonal Cutter 68-07146
Zip-ties 68-07150
1/4 sq. ale to 1/4 hex ale 68-07075
1/4 sq. drive to 1/4 hex fe ale 68-07077
3/8 sq. drive to 1/4 hex fe ale 68-07078
10 3/8 drive socket 68-07079
13 1/4 drive socket 68-07085
13 3/8 drive socket 68-07086
16 3/8 drive socket 68-07142

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ROS + PR2 Training Workshop
PR2 Tool Kit (2)
1/4 drive flex joint, 68-07141
1/4 drive ratchet wrench, 68-07138
3/8 drive ratchet wrench, 68-07139
Needle Nose pliers, 68-07112
Mountz wrench and driver tools:
Fixed 0.34N wrench, with 1.5 right
angle Allen, 68-07025
Fixed 0.68N wrench, 68-07028
Fixed 2.0N wrench, 68-07029
1/4 hex ratchet head, 68-07033 (for use
with 0.68 ans 2.0 N wrenches)
0.20 – 1.20 N torque tool, 68-07014
(s all)
1 – 6 N Torque tool, 68-07015 (large)
Titan250I 5.6 – 28 N Torque wrench,
7/32 1/4 drive socket 68-07090
3/8 drive short extension, 68-07116
3/8 drive wobble extension, 68-07118
1/4 drive quick release extension,
68-07140

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ROS + PR2 Training Workshop
Using Torque Tools
S all and large driver
Special stack-ups
See support.willowgarage.co :
PR2 Toolkit: Setting Torque Driver
1.36 N (1.4)
Red Adjust ent
Nob – Large
Torque Driver
Blue Adjust ent
Nob – S all
Torque Driver
0.34 N
Rotate to
adjust torque 11.0 N
Adjust ent
Rotate

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ROS + PR2 Training Workshop
Using Loctite
●Use Loctite to retain
fasteners and keep
the fro vibrating
loose
●There is no need to
clean the old Loctite
●The fresh Loctite will
integrate with the old
Only a s all
“patch” of Loctite
is needed.
Old Loctite.

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ROS + PR2 Training Workshop
Today's De os
See support.willowgarage.com for all aintenance procedures
Video of gripper tip
replace ent
Live demo of fan filter
repair/replace ent
Hands-on demo of
counterbalance
adjust ent

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ROS + PR2 Training Workshop
Gripper Tip R/R Video
Turn off power
Wear ESD strap
Always cover sensors with boots
Replace boots as soon as they show signs of da age
Willow Garage will not replace da aged sensor tips
See support.willowgarage.co for replace ents
Fig 7 Fig 10
Fig 6

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ROS + PR2 Training Workshop
Fan Filter De o
Clean regularly every 1-4 weeks
Clogged filter will cause fan speed to increase
(noisy robot)
Vacuu ing filter is not reco ended since this
ay tear the filter
Maintenance:
Re ove the filter cover plate
Wash and dry filter
Having the fan on helps when placing the filter
Re-install the cover plate

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ROS + PR2 Training Workshop
Counter Balance Review
Overview: PR2 counter balance (CB) holds
up the weight of the ar s using a spring
and pulley syste
Goal: The CB should balance the ar so
that al ost no torque is required to
aintain position of the ar
Performance: A well adjusted counter
balance will axi ize the perfor ance of
the PR2 ar controllers

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ROS + PR2 Training Workshop
CB Adjust ent Overview
With ti e, the springs of the CB syste can start to
sag or give. To aintain perfor ance, you will have
to adjust the echanis . Fig 1
Ar Gi bal Shaft
Right
Secondary Spring
●Secondary spring can be
stiffened or loosened
●Clockwise (CW) turns
increases force on ar
●“Ar gi bal shaft” controls
level ar length of CB spring
force
●Counterclockwise (CCW)
increases force on ar

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ROS + PR2 Training Workshop
CB Adjust ent De o
●De onstrate checking and adjusting the
counterbalance on the PR2
●We will de onstrate up front
●You will adjust your own counterbalance with
help fro Willow Garage engineers and
technicians
Notes:
Safety first
You need two people to adjust the echanis
Observe ESD protocol (wrist strap)
Watch for pinch points