Reach Alpha Integration Manual | V006
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Contents
1. Introduction .................................................................................................................................................................................... 4
2. Safety information ........................................................................................................................................................................ 5
2.1. Hazard classification ......................................................................................................................................................... 5
2.1. Personal safety ................................................................................................................................................................... 5
2.2. Product safety ..................................................................................................................................................................... 6
2.2.1. Leak detection ........................................................................................................................................................... 6
2.2.2. Obstacle setup ........................................................................................................................................................... 7
2.2.3. Physical installation ................................................................................................................................................... 7
2.2.4. Operating environment ........................................................................................................................................... 7
2.2.5. Backdriving ................................................................................................................................................................. 8
3. Product overview ......................................................................................................................................................................... 8
4. Specifications ................................................................................................................................................................................ 8
4.1. Mechanical .......................................................................................................................................................................... 10
4.2. Environmental ..................................................................................................................................................................... 11
4.3. Electrical............................................................................................................................................................................... 12
4.4. Communication .................................................................................................................................................................. 12
4.5. Kinematic, dynamic, DH parameters, and other properties .................................................................................. 12
5. Interfacing and integration ....................................................................................................................................................... 13
5.1. Mechanical .......................................................................................................................................................................... 13
5.2. Electrical............................................................................................................................................................................... 14
6. Control options ............................................................................................................................................................................ 17
6.1. Reach Control software ................................................................................................................................................... 17
6.2. Hand-held controllers ...................................................................................................................................................... 17
6.2.1. Master Arm ................................................................................................................................................................ 17
6.2.2. Third party controllers ............................................................................................................................................ 17
6.3. Custom-built programs .................................................................................................................................................... 17
7. Bench setup and acceptance test ......................................................................................................................................... 18
7.1. Bench test ........................................................................................................................................................................... 18
1.1.1. Physical interfacing ................................................................................................................................................. 18
1.1.2. Software interfacing ................................................................................................................................................ 19
7.2. Acceptance tests ............................................................................................................................................................... 21
1.1.3. Range of motion test .............................................................................................................................................. 21
1.1.4. Master Arm test (if applicable) ............................................................................................................................ 22
8. Manipulator maintenance ........................................................................................................................................................ 25
8.1. General manipulator care .............................................................................................................................................. 25
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