Adept Quattro s650H Robot

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Chapter 1 - Introduction Ball Joints, Outer Arms The inner arm motion is transmitted to the platform through the outer arms, which are connected between the inner arms and platform with precision ball-joints. The outer arms are carbon fiber epoxied assemblies with identical ball-joint sockets at each end. A bearing insert at each socket accepts the ball-joint studs on the inner arms and platform, and allows for ± 60° of relative motion. No ball-joint lubrication is required. See the following figure. Refer also to “Ball Joints” on page 112. Ball Joint Socket Ball Joint Socket Insert Inner Arm Outer Arm Springs Outer Arms Ball Joint Stud Figure 1-5. Ball Joints between Inner and Outer Arms Each pair of outer arms is held together with springs that pre-tension the ball joint assemblies. The outer arms can be installed and removed without tools. Platform The platform converts the motion of the four Quattro motors into Cartesian motion and Theta rotation of the robot tool. Platform articulation is achieved by differentially driving the four motors. Tool rotation is implemented with either a gear-drive mechanism, or with direct-drive, for applications needing higher rotation force but less rotation range. The Adept Quattro s650H robot currently supports two types of platforms, depending on the amount of Theta rotation and inertia needed. NOTE: The two platforms require different robot parameters. The 185° platform is the default. If you have a 60° platform, contact your Adept representative. 16 Adept Quattro s650H Robot User’s Guide, Rev A
Product Description The 185° platform (P/N 09068-000) has a rotation range of ±185°, achieved with a gear drive. This is illustrated in Figure 1-6 and Figure 1-7. The 60° platform (P/N 09023-000 ) has a rotation range of ± 60°. The tool flange is mounted directly to the pivot link. It does not rotate in relation to the pivot link, so there are no gears involved. This is illustrated in Figure 1-8 and Figure 1-9. NOTE: The 60° platform flange is 27.1 mm higher, in Z, than the previous 1:1 and 4:1 platform flanges. An optional spacer of this thickness is available, from Adept, as P/N 02906-000. The 185° platform is 9.78 mm higher, in Z. The optional spacer for it is P/N 09266-000. Refer to “Torque and Rotation Limits” on page 90 for details on rotation and inertial loading of the platforms. Both platforms are constructed such that the clocking of the platform relative to the robot base is critical. This is detailed in “Clocking the Platform to the Base” on page 45. Adept Quattro s650H Robot User’s Guide, Rev A 17
Page 1: Adept Quattro s650H Robot User’s
Page 4 and 5: The information contained herein is
Page 6 and 7: Table of Contents 2.11 Working Area
Page 8 and 9: Table of Contents 6 Optional Equipm
Page 11 and 12: List of Figures Figure 1-1. Adept Q
Page 13 and 14: Introduction 1 1.1 Product Descript
Page 15: Product Description Figure 1-3. Ade
Page 19 and 20: Product Description Figure 1-8. 60
Page 21 and 22: Manufacturer’s Declaration Table
Page 23 and 24: Safety 2 2.1 Warnings, Cautions, an
Page 25 and 26: Precautions and Required Safeguards
Page 27 and 28: Risk Assessment 2.4 Risk Assessment
Page 29 and 30: Intended Use of the Robots The stan
Page 31 and 32: Transport 2.7 Transport Always use
Page 33 and 34: Safety Equipment for Operators All
Page 35 and 36: Robot Installation 3 3.1 Transport
Page 37 and 38: Repacking for Relocation Upon Unpac
Page 39 and 40: Mounting Frame NOTE: More specifica
Page 41 and 42: Mounting the Robot Base Robot Orien
Page 43 and 44: Mounting the Robot Base 4. Slowly l
Page 45 and 46: Attaching the Outer Arms and Platfo
Page 47 and 48: Attaching the Outer Arms and Platfo
Page 49: Attaching the Outer Arms and Platfo
Page 52 and 53: Chapter 4 - System Installation 4.2
Page 54 and 55: Chapter 4 - System Installation 4.5
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Page 58 and 59: Chapter 4 - System Installation DAN
Page 60 and 61: Chapter 4 - System Installation 8.
Page 63 and 64: System Operation 5 5.1 Robot Status
Page 65 and 66: Connecting Digital I/O to the Syste
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Using Digital I/O on Robot XIO Conn
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Commissioning the System Table 5-8.
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Commissioning the System System Sta
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Quattro Motions Containment Obstacl
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Learning to Program the Adept Quatt
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Chapter 6 - Optional Equipment Inst
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Chapter 7 - Technical Specification
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Chapter 8 - Maintenance Inspect Rob
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Chapter 8 - Maintenance 8.3 Checkin
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Chapter 8 - Maintenance 9. Using a
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Chapter 8 - Maintenance Installing
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Chapter 8 - Maintenance 8. Remove t
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Chapter 8 - Maintenance Configurati
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Chapter 8 - Maintenance To use the
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Chapter 9 - Robot Cleaning/ Environ
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Index C cable creating 200-240 VAC
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Index modifications 30 acceptable 3
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Index U unacceptable modifications
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Adept Quattro s650H Robot

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