Barrett WAM Arm - List of Figures

WAM Arm – User’s Manual support@barrett.com www.barrett.com
© 2008 Barrett Technology®, Inc. Document: D1001, Version: AH.00 4 of 80
List of Figures
FIGURE 1 - WAM ARM ..................................................................................................................... 7
FIGURE 2 - BLANK OUTER LINK ........................................................................................................ 8
FIGURE 3 - END PLATES OF WRIST AND OUTER LINK........................................................................ 8
FIGURE 4 – HAPTIC BALL .................................................................................................................. 9
FIGURE 5 – TOOL PLATE ................................................................................................................... 9
FIGURE 6 – CAN TERMINATION ........................................................................................................ 9
FIGURE 7 – POWER SUPPLY ............................................................................................................. 10
FIGURE 8 – SAFETY PENDANTS ....................................................................................................... 10
FIGURE 9 – ELECTRICAL CABLES .................................................................................................... 11
FIGURE 10 – MAINTENANCE KIT ..................................................................................................... 12
FIGURE 11 – WAM WRIST .............................................................................................................. 13
FIGURE 12 – WRIST MAINTENANCE KIT.......................................................................................... 14
FIGURE 13 – GIMBALS OPTION........................................................................................................ 15
FIGURE 14 – EXTERNAL WAM PC.................................................................................................. 15
FIGURE 15 – BACK OF EXTERNAL WAM PC................................................................................... 15
FIGURE 16 – WAM WORKSPACE .................................................................................................... 16
FIGURE 17 – WAM RESPONSES TO ERRORS AND REQUESTS ........................................................... 19
FIGURE 18 – SCREW-HOLE LOCATIONS ........................................................................................... 19
FIGURE 19 – MOUNTING-HOLE MEASUREMENTS............................................................................ 19
FIGURE 20 – WRIST CONNECTOR .................................................................................................... 21
FIGURE 21 – SEPARATING THE OUTER LINK.................................................................................... 21
FIGURE 22: CLOSE-UP OF OUTER LINK CONNECTION ...................................................................... 21
FIGURE 23 – SAFETY BOARD SWITCHES.......................................................................................... 22
FIGURE 26 – DC POWER CABLE (BLUE) .......................................................................................... 23
FIGURE 27 – PENDANT CABLES....................................................................................................... 23
FIGURE 28 – WIRELESS ACCESS POINT ON WAM BACKPLATE ....................................................... 24
FIGURE 29 – CAN CABLE (PURPLE)................................................................................................. 24
FIGURE 30 – SAFETY BOARD COVER............................................................................................... 29
FIGURE 31 – SERIAL CABLE ............................................................................................................ 29
FIGURE 32 – SERIAL CONNECTION WITH SWITCH IN “ON” POSITION .............................................. 29
FIGURE 33 – WAM SYSTEM COMPONENTS ..................................................................................... 56
FIGURE 34 – WAM SYSTEM SCHEMATIC ........................................................................................ 57
FIGURE 35 – WAM 4-DOF DIMENSIONS AND D-H FRAMES ............................................................ 58
FIGURE 36 – WAM 7-DOF DIMENSIONS AND D-H FRAMES ............................................................ 59
FIGURE 37 – WAM ARM JOINT 1 FRAMES AND LIMITS................................................................... 60
FIGURE 38 – WAM ARM JOINT 2 FRAMES AND LIMITS................................................................... 60
FIGURE 39 – WAM ARM JOINT 3 FRAMES AND LIMITS................................................................... 61
FIGURE 40 – WAM ARM JOINT 4 FRAMES AND LIMITS................................................................... 61
FIGURE 41 – WAM ARM JOINT 5 FRAMES AND LIMITS................................................................... 62
FIGURE 42 – WAM ARM JOINT 6 FRAMES AND LIMITS................................................................... 62
FIGURE 43 – WAM ARM JOINT 7 FRAMES AND LIMITS................................................................... 63
FIGURE 44 – DENAVIT-HARTENBERG FRAMES – 4-DOF + GIMBALS .............................................. 66
FIGURE 45 – WAM DIMENSIONS .................................................................................................... 72
FIGURE 46 – TOOL PLATE DIMENSIONS........................................................................................... 73
FIGURE 47 – CABLE DIFFERENTIAL ................................................................................................. 74
FIGURE 48 – PUCKS™ – MINIATURE BRUSHLESS MOTOR CONTROLLERS....................................... 74