XR-2 Robotic Arm
Additional Technical Information
| Some of
the XR-2 parameters are
the same or very similar to
the XR-3 Robot. The Rhino website has some specifications of the XR-3
Robot under “FAQ” and XR-3. |
| The
approximate measurements of
the XR-2 Robot are as follows: Bottom plate 0.750 to 1.000 inches thick. Base height 6 inches, (F motor) motor gear ratio either 66.1 to 1 or 65.5 to 1. Base pulley to motor pulley 120 to 18. Six encoder wheel slots. Shoulder axis height 3.75 inches from top of base. Shoulder axis to elbow axis 9 inches. (E motor) motor gear ratio either 66.1 to 1 or 65.5 to 1. Shoulder sprocket to motor sprocket ratio 72 to 9. Six encoder wheel slots. Shoulder angle set according to homing cam which actuates shoulder microswitch. The angle set at factory is approximately 45 to 55 degrees, however this should be measured. Elbow axis to wrist axis is 9 inches. (D motor) motor gear ratio either 66.1 to 1 or 65.5 to 1. Elbow sprocket to motor sprocket ratio 72 to 9. Six encoder wheel slots. Elbow angle set according to homing cam which actuates elbow microswitch. The angle set at factory is approximately horizontal, however this should be measured. |
| Wrist flex
is offset 0.375
inches from the center of the
gripper open/close shaft.(C motor) motor gear ratio either 66.1 to 1 or
65.5 to 1. Wrist flex sprocket to motor sprocket ratio 72 to 9. Most
common XR-2 wrist flex connection has a slip wire connection to the
wrist axis. Six encoder wheel slots. Wrist flex angle is set according
to homing cam which actuates Wrist flex microswitch. The angle set at
factory is approximately for a vertical hand which is 90 degrees from
the horizontal elbow axis, however this should be measured as the slip
wire allows for slip if the Robot crashes into something. The Wrist rotate and Gripper center are offset 0.375 inches from the wrist flex axis. Wrist rotate (B motor) motor gear ratio is probably 187 to 1 gear ratio. Newer motors have 96 to 1 gear ratios. Wrist rotate sprocket to motor sprocket is 64 to 16. Two encoder wheel slots. Wrist rotate angle is set according to homing cam which actuates Wrist rotate microswitch. The most common setting is for on of the finger tips to be at the front of the Robot so the finger links are parallel with the side of the hand. The other common setting is 90 degrees from that position. |
| The XR-2
mostly had the one
inch long finger tips with the
0.250 inch thick finger tips. For this finger assembly, the wrist flex
axis to finger tip bottom was 5.5 inches. The gripper (A motor) motor
gear ratio is probably 187 to 1 gear ratio. Newer motors have 96 to 1
gear ratios. Two encoder wheel slots. The grippers are set to be
powered when closed to keep their grip. They were usual set for 60
encoder counts to close. The XR-2 was tested lifting approximately 2
lbs. The four larger body motors were either 65.5 to 1 gear ratio Pittman motors or 66.1 to 1 gear ratio Brevel motors. Both motors were permanent magnet 12 volt DC brush motors. The Pittman motors had a maximum output shaft speed of about 85 rpm. The motor was rated at 3.2 oz-in (22.6 x 10-3 N-M) continuous torque and 13.8 oz-in (110.2 x 10-3 N-M) intermittent peak stall torque. This is reduced however by the Controller’s Stall routine which cuts motor power on detecting a crash or stall. The maximum rated load on the gear box was 175 oz-in (1.24 N-M). The no load current for the 12 volt armature was about 0.20 amp and peak stall current about 4.5 amp. The Brevel motors had a maximum output shaft speed of about 40 rpm and a no load current of about 0.40 amp. They were rated at 12.6 lbs-in-min at 20 rpm. The smaller hand motors were either 12 volt or 24 volt Pittman motors. Most of the older Robots had small motors with a 187 to 1 gear ratio. The newer Robots had a 96 to 1 gear ratio. The Pittman motors had a maximum output shaft speed of about 85 rpm. The motor was rated at 1.3 oz-in (8.9 x 10-3 N-M) continuous torque and 5.1 oz-in (35.7 x 10-3 N-M) intermittent peak stall torque. This is reduced however by the Controller’s Stall routine which cuts motor power on detecting a crash or stall. The maximum rated load on the gear box was 100 oz-in (0.7 N-M). The no load current for the 12 volt armature was about 0.20 amp and peak stall current about 2.7 amp. The no load current for the 24 volt armature was about 0.10 amp and peak stall current about 1.4 amp. |
|
The XR-2 Robotic Arm is
obsolete. This information is furnished for reference only. |
 |
5928 State Route 128 Miamitown, OH 45041-0230 Telephone: 513-353-9772 Fax: 513-353-4040  |