Robotic Manipulator Subsystem - Carleton-SRCL/SPOT GitHub Wiki

Robotic Manipulator Electrical Connections

The robotic manipulator is connected to the platform using the RS485 standard. There are two required parts for the electrical connections of the manipulator:

You'll also need RS485 passthrough cables, like these. Lastly, the arm needs 12V to be powered. The platforms all support passing 12V. The SMPS2DYNAMIXEL uses a 5.5x2.5 mm barrel jack port. The final assembled board is shown below:

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The other end of the USB cable is connected directly to the platform computer - any USB port will do. The RS485 connector coming out of the SMPS2DYNAMIXEL goes to the shoulder actuator for the robotic manipulator.

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Installation of the Robotic Manipulator

A video guide for this wiki is available here: https://youtu.be/ZjW5lB-b85M

To install the robotic manipulator, you need to collect the required tools. The robotic manipulator is located in the same cabinet as the compressed air tanks, and the socket screws are located in the tools drawer. There should be four socket screws which are used to install the arm:

Compressor Diagram

The arm will also require something to support it during installation. If you are performing the installation alone, there is a cylindrical container in the same cabinet as the arm that is the perfect height; otherwise, work with your experiment partner to install the arm.

  1. Align the male connector on the arm-side with the female connector on the face of the platform, and push until the arm is well seated.

Compressor Diagram

  1. Using the four socket screws, fasten the arm to the platform.

Compressor Diagram

  1. Once all screws have been inserted, the arm should be secure. To safely transport the arm, fold it around the platform as shown:

Compressor Diagram

  1. In order to collect data from the arm, you may use the internal encoders or the LEDs installed. To use the LEDs, simply plug in the arm LED connectors. As of writing this, the LED connectors are unlabeled, so there may be some trial and error involved.

For additional information about using the arm software, refer to the arm-specific software section. To remove the arm, follow the instructions in reverse, or refer to this video demonstration: https://youtu.be/DBf80lnoqBc