robolink
®
Joint kit – Documentation (#4; 2016-12)
igus
®
GmbH | Martin Raak | Tel. +49 (0)2203 9649 409 | mraak@igus.de 16
All draw wire components are available for reorder from igus
®
GmbH as replacement
parts or as individual components. The article numbers are:
Wire: RL-SD02-01-xxxx xxxx = desired wire length in mm
Nipple : RL-SD02-SN01 2 parts, brass
Bowden cable: RL-SD02-BZ01-xxxx xxxx = Bowden cable length in mm
Tensionable
drive wheel RL-ZA011-0250-xx xx = shaft diameter of the drive
The following instructions for feeding robolink
®
wires must be observed:
• wires must never travel across sharp edges,
• surfaces that are in contact with moving wires should as flat as possible,
• maintain a bending radius of 30mm for wire deflections,
• always slightly pretension wires in robolink
®
systems (approx. 10N),
• inadequately tensioned wires result in undesirable play in the joint,
• excessively tensioned wires cause increased friction and wear,
• igus
®
GmbH recommends using tensionable drive wheels, RL-ZA011-0250-xx,
• igus
®
GmbH recommends using the igus
®
Bowden cable RL-SD02—BZ01 to feed
wires on sections that are not straight,
• whenever possible, feed wires in a straight line and in a free-floating manner
(minimize the use of Bowden cables),
• using deflection pulleys is only recommended for systems with low loads.
When multiple joints are arranged in series, the draw wires of the upper joint are fed
through the lower joint. In this case, the motion of the upper joint must be independent
from the motion of the lower joint. The 4 draw wires of the second joint are therefore fed
through the first joint in a Bowden cable.
In the current configuration, a maximum of 4 wires can be fed through the lower joint. This
is the reason for the limitation of the number of joints that can be arranged in series.
The following figures show how the wires are fed through a lower joint. This feed-through
is pre-assembled by igus
®
and is not assembled by the customer.
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