3.1 Manipulator
The Manipulator can in one version be used for either floor mounting or inverted
sustpension.
Exeptional for this design is:
• small pedestal turning radius
* slender arm system.
Serviceability
Extensive effort has been put into making the robot easily serviceable and therefore
fault can be done in minutes by service personnel. Only a few special tools are
required.
Drive system
All motors are servo-controlled, brushless AC motors, specially adapted for each axis.
Both the motors and the feedback units are maintenance free.
Brakes
The robot is supplied with brakes on all axes. The robot is automatically braked at
emergency stops, power failure or when the system is taken down to MOTOR OFF If
the robot are in MOTOR ON mode, brakes are activated after 10 seconds (automatic
operation) or after 5 minutes (manual operation).
The brakes can, individually, be manually released by switched located on the side of
the robot. The brakes require no maintenance.
When the brakes are released, the arm system may collapse! Arm can make
a sudden, uncontrolled movement.
Gearboxes
All gearboxes are made with very high accuracy and are specially adapted for each
axis function.
All gears are lubricated, with liquid grease and oil.
Cabling
The cabling is highly modularised and therefore easy to replace as complete units.
The cables are arranged for maximum life time.
Measurement system and accumulator unit
The measurement system consists of one resolver on each motor shaft and a
measurement board mounted on the robot.
The resolver is used for gathering speed and position data.The measurement board
reads the resolver feedback signals and generates position information for each axis.
The rechargable battery is used for supply back up to the measurement board
during power off. This prevents the data regarding the number of turns each
resolver has made to be erased due to power failure. The battery is charged
continously at power on.
This means that the robot may be restarted directly from its present position after a
system shut down.
Description 1KB 2000
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