7 ROBOT ARM MR-999E ame we a S a (© EK JAPAN CO.LTD.1999@ Contents @ ROBOT ARM Product Information -- | A Story About Robots 1. What is a robot? 2.History of robots 3. Robots- Present and Future Il Assembly 1.Necessary Tools 2, Before Assembly 3.Parts List --~ 4, Assembly of Mechanical Parts - 5. Movement and usage of each section 6.Final Check - 7.How to play -- Ill. Mechanism of ROBOT ARM 1,.Mechanism of Body - 2.Mechanism of Parts ~ 3.How Power Units works 4.Electronic Circuit Schematic IV. Spare Parts List -- _Z\ PRECAUTION Read this instruction manual carefully before goiting started. Have your parents or someone who can help you read the instruction manual with you. Keep this instruction manual for future reference. Be careful when handling the tools such as a penknife and a diagonal cutter. @ Handle the small and sharp parts carefully, # keep the product out of reach of small children. Do not assemble the product where small children can reach and touch it. They may get injured or put the parts / small vinyl bags into their mouth. Im- mediately dispose of the packaging materials and the left over parts sensibly. Do not short-circuit the printed circuit board, electronic parts, or power supply lerminals. It will result in overheating of the parts and batteries, causing injury and fire. Do not insert the wires into socket outlets. It will cause damage and injury. ‘@ieep fingers out of the moving sections, such as wheels, legs, gears and motor shafts. ‘@Do not hinder the movement of moving sections by force. Remove the hindrances in the moving sec- tions, such as a piece of thread, before operating, Otherwise, the motor will overheat, causing injury and fire he specifications and forms of this product are subject to change without prior notice@ ROBOT ARM (MR-999E) mdm l2 (lA Leet LL) 8) ROBOT ARM has five separate movements to grab / release, lift / lower, rotate wrist and piv- ot sideways controlled by five switches of wired controller. ROBOT ARM introduces the fun- damentals of robotic sensing and the basic principles of mechanics. The transparent arm and LED lights allow you to observe gear mechanism and its movement. The manual con- tains detailed description of its components and instructions on assembling ROBOT ARM to- gether with an explanation of the mechanism involved and a brief history of robots. Specifications Five axis of motion: Base to rotato left and right : 350 degrees Shoulder moving range: 120. degrees. Elbow moving range 195 degrees Wristrotats CW & CCW: 240 degrees Gripper open and close: 0-50 mm. Product Dimensions: Maximum length outwards = 360 mm Maximum heights upwards : 510 mm Maximum liting capacity: 130g (4.6 02. Control Box: 5 switch controller Power Source: 1D" battery X dpes (not included) Do not mix old and new batteries. Do not maha sina aronsn or i | faenevorsbls (ena saaeaey heairie: - — =I-A Story-About-Robots 1. What is a robot? po wold "ower is Use imenglOURSANAE wet MEturN thing: The feliteusaNA satsal axIctanee a! Yotrus InmaKy ECW, al live paul n various Niels: eanaeally iy mdwenes Bat | Pot este ely to ves Hard ime qin a ver Hh Qube welly’sre Hey Nf ‘io " DV RIA FARE al i eas deserinee Alliriiee Hessaptins tare l= rivh q of getting tid of 1! = uncertainty. eu wNble lyn captins al applications. Settity aside strict tg oe chmight give sy 0 re detinition of robots: Se relax and vend ihe bob Sieg @ The definition of robot @ th wats, the deli Jol altobot le ger sed to mean an Unninined system or automation, a8 offen so Ip invu | aouiuutlons, deeo-sea ahd planbtary probes: Mistoveally speaking, a robol used-to-be shaped ike humans, and roferred to as, \onires yoelaeing systems that were capable at parfarming similar actions as humans, It is hese robote thal play active rolas, end sulenice fhglon. Because they aro aitificially ereated, they ae called *astiical man” Arc sive they Gok Me humains in appedt rige: they aré often called “androids” oF "humanoids." A’ “cyborg,” created by com Jeriemsnnd machines. can he oalier/a robot na broad sense, “Automata” and other similarities could be. cansidere stage: 1 of the word “robot ls derived trom a drarnaRUR" (1920) by Czech dramatist Karel Capek. Acharactor in the =) rificia| men, andl they replace numans in the workplace. It was the frat time that the word “Hotot’ press this ait | meri The vost Robot" originally came from aword *obata” moanhig “forced labar™ in the Cr rT sn thi pono! View: perhaps the 3 clase serge of meaning toward the industrial robot today. The “ct jth s orama is not a mechanical man, but an organic composite man. Fo Giodh Bort Eurepe2. History of robots = aa (1) Developing imagination in literature , play and ideology Itwas in 1920 thatthe word robot was created. Enthusiasm of humans forrebots sti lve inthe history, myths an itratue from olen times Betore Chris, Humans had awish to produce tools and device that would work and operate in place of peo: ple. Humane created things, tartingwit a gold beutiul gr, who appar in a Gr ‘myth @.C. ath eantuy), anda bronze devil “TALOS" (8.C. dd eatury). Haron inan- clent Greece worked out a device sina toan automate door fourd today, was a ke Bee hey ee al ‘shrine door, which automatically opened when a fire at an altar in the shrine burned, Up and closed when the fire went down. An automatic device was also invented by ‘im, from which holy water came out when @ coin was thrown into the deve. In the 18th contury, a French man, Beaukerson, cieated an artical duck. This duck was. able to take a bath, eat, cry and produce excrement. There were many other people includng engineers and inventors, who created various kinds of dolls which could wnte, draw pictures and blow a bugle These automatic dols and devices were made by engineers simply to satisfy thelr pleasure, and were said to be successtul tools in the sense that they were usefut for decorations and surprising people. However, they were not appliceble for direct pro- ‘duction in the industry. t should be roted that the people, who designed and pro- duced the automatic dolis and devices, were not dedicating themselves only to the ‘creation of such tools. Beaukerson manutactured looms which made it possible to. weave pattems. But, it is not certain how much effect the manufacturing techniques used inthe automatic dolls had on the making of the looms, Inthe 19th century, llerary works were publshed onthe subject othe robots, The: Works can be seen as a sign ofthe beginning of orthotox robot literature, such as those that use a quasi-sciontfic style of writng and that depict man-made creatures rebeling against humans, ‘The windup dot to serve a toa made In Japan in 1775, (2) Development of science, technology, and robots {In the 20th century, with the progress of science and technology, the automatic dolls were developed into more sophisticated mechaniems. Though differing in quality rom today’s robots, the robots in those days started using mechanical and electrical technologies in combination (not identical to mechatrones of today). For instance, at the werld exposition held in New York in 1927,a U.S. company called Westinghouse displayed a robot named “WILLY.” The robot was capable of walking, speaking, winking and identifying colors, They were constructed to somehow manage to reproduce functions endowed by humans, but their actions were limited in motion, faling a stage short of practical application, {In the early part of 1940 when a problem arose to develop robats as a result of the progress of science and technology. Isaac Asi- mov presentad his “Three Principles for Robot Engineering.” This eliminated abstraction and contradiction in the robot SF and ‘exhibited clear logic, ‘Those three principles were Robots must not hurt humans or neglect humans when they are being hurt @ Rovote must obey orders given by humans, as long 8 such directions do not go against tem ©. @ Rodots must protect themselves as long as they do rot go against tem @and ®. “These principles convey an ideal image of the technological products2 & (G) Progress up-to-date ‘Tediy no robots can exis without the development of computer systems and control technology. Computers and control technology de c nt-day robot technok However. atthe stage where Vaculim tutes ivete employed in computer, t was not possibie to pr T @ are many requirements being mace for robots. On Is that they should nak funk y ut 10 allow easy replacenent of progres for sil yeles. 7 ay ri that machines can be co ivi compute cup a on rotor, -chnological ove! of computer system da great in ce nest © npessible a produce n i mn 7 by qT te ote the wea ¥ wa of and siodas, Transistors can jake the place of unetions that vacuum tubo provide. ant they emt inte haat, They can be miniaturized in size to be much Smaler in compar ison withthe sizeof vacuum tubes. With al thes® technologi Jets have beth rapa miniatuied, increasing thelr recailty Inthe 1960s, integrated circuits 2) wn therist time. 4 IC chip nas functions equivalent to several dozens of transistors, ‘Those naw products made it poss! a s conta futhar enhancing ter roiabilty bout nen tul-scale ndustr ma auto manulacturers in the U with th era 1 sion sped ot the computers was cre utr f 5 helped ypmant and later posed the nw ss bt technology, i he Search fordevices equipped with functions corresponding o the tive human senses t0 see, heal an aslo” ~ namely, "sensors. ‘eoned above, the word “robot” was creaied by Capek inhis drama callod “RUR,” You may netice something interesting in cevel 1oments between imaginary robots and science anid technology, For examples. develop tween a bronzé casting technique ot in en a bronze wateh ha Grek Times and the devil TALOS,” and bet king te 19 modern times and a beautiful clockwork operated doll (inthe frst ballet played in 1870) nei ilustrate the relationship between technology and imagination, The robat by Capak cilecis atheory ofthe times, indicating hat fe originate from mud inthe seadea. Imaginary bots and & nucieat fusion reactor, includ ; supercomputer loaded SF robots as seen today. tenging fom the mythical era to the present time, have been al imagined based on sst advanced science andtachnology ofthe im: ogy ata particular time in history, nother words, looking a the robots, you can leam about the level ofthe m3. Robots - Present and Future @Present-day robots Robols originating from an idea were brought ino a really through technical de- vvelopments, There are some robols which resamblo humans, but ine robots available at present appear to be aitferent from humans in nature. “The flowing are descriptions of some currentrobots Rican Adio och Ae (1) Industrial robots Industria! obote, in gone ‘are machine eystoms that provide servicas taking the place of humans in the industrial worl, but which are still vague in their defin~ tion and scope. Iwas from the 1980s to 1960s when industrial robots started, to be produced full scale for commercial applications, Technically speaking, the operating mech= anisms with robotic arms are now available from sim lato highly sophisticated rmultijoint stuctures, They are available (rom large-sizes which can carry heavy weights to small-sizos similar to human arms and tne upper hat of ine boay. The controllers are now loaded with microprocessors as a standard, and various do- velopment f6 In progress for robot languages and cortrol sotware, (2) Other types of industrial robots In addition te factories, various typos of robots are being dovoloped, cuch as lim. ited-sarvice robots for the use in sevore working conditions. such as space, deep sea and nuclear reactors. Robots for applications in agriculture and fisheries are being used. In the commercial and service industries, robots are being studied for the use in washing windows and cleaning floors in buildings (3) Intelligent robots {nteligent robots are those which ean conduct work in pace of humans, and are Incorporated with successful resus, The research on the intetigont robots seek Ing “To what extent the intelligent robots can be lechnologically realized,” was started with the first international conference on the intelligent robots, which was held in the United States in 1969, But, the fact remains, no one has yet put a full flodged inteligent robot into practical use. (4) Other types of robots ‘Some robots are already working closely in our lite, not only in the industria! ‘world, One of these robotsis called a “plastic training organism simulator.” They ae robots inthe form of a human body, which aro designed to train artificial breathing and heart massage. These robots have internal sensors using pressure ‘gauges and magnetism to give indications of ie and deatn, There are robots de> veloped for medical studerts which give pulse rata, blood pressure for training anesthetic technique, respratory sounds, and make it possible to provide train- ing for injections and intravenous dripsaS etic There are many other robots being produced. Toy robots, for instance, have been made since old times. They were produced to work using mechanical parts such a5 gears. But in the 1980s, programmable robots with bull in computers began eppear on the market, A varity of ypos of robots have been developed such as !apable of walking on thelr own feet ike humans, performing highly sophis: ticated hand, finger and snake type movements In 1996, HONDA MOTOR CO.,LTD introduced “P2 ta ike humans and can walk not only on level ground but on a bumpy or steep ‘ad and, can even go up and down the stairs. “P2"is one of the most human type of wobots ever preduced. SONY CORPORATION alco announced a pet ro. tot in 1997, Differing om the usual practical robot, ithas been developed as the entertaining robot which can communicate with a human. i gives suggestions for the new relationship between robots and people On the other hand, comparedto these large rabots, small ;obets are also being devalopad whieh ean mave smaathly ike ereaturos with sensors and actuators @ Future of robots ‘There ave strong expectations for the realization of many new robot applications 4 tew examples are: robots involved in weltare sewvices assisting handicapped Peonte, escorting visually handicapped people, anc helping bed-riddan people However, whatwe should not forget in the development of weltare-related robots 's that robots are only aiding devices. Robots do not have the warmth and com: . passion of humans and living things. Emotions ata something that woulé be diff cult to produce. — Also, robots are éxnected to be pul into practical use, tor example. to save lives in.a fire. They include robots, which are equipped with functions to go inte raging ‘lames and polsonous gases, find the origin ofa tre, put itout, and guide peaple left behind to a sate location As described above, robots are increasingly expected to work in éangercus ar 25, but no compromise should be made for their safety. Thinking lightly at the safety of workers, we should not use robots eniy as means of pursuing cost ef Fectiveness. instead of seeking effectiveness in the industy, we ought not 10 minimize the relationship between technology and humans, and culture and tech- nology. bring about unstable factors to the world, along with efficiency and convenience. Is necessary to recognize that rapid progress In robot technology will Development and utilization of robots should be mado to materially and mentally enrich the lives of humans, labor and society Printed with permission, - %* 1: TOYOTA MOTOR CO.,LTD * 24% 5 *9 : YASKAWA ELECTRIC CORPORATION % 3 : "Future Machines in Motion” written by Syuji Kajita / published by POPURA;CO. % 6 %7: HONDA MOTOR CO..LTD % 8: SONY CORP@ chronological Table of Robots @ “Marked with © in the following list indicate robots appearing in literature and movies, and @ indicate robots which have been actually designed and manufactured. BhC. BO: CO Gold Fretty Git (Gresk myths; Epic of Homeros: “LIAS” ) SthC. B.C: © Machenical God (Greek tragedy; HIPPOLYTOS” , “ORESTES” by Euripides) AMC. B.C: © Bronze devil “TALOS” (Greek myths; Epic of Apollonios Rhodios "ARGONAUTIKA" ) 1s1C. BC @ "BACCHUS TEMPLE” by Heron (Designed by Heron, who was an engineer in Alexandria) 1300's @ Flapping chicken (Watch technology empiayed from Switzerland) 1508 ‘Auto artificial ion (Designec by Leonardo Da Vinnci/taly) 1600 © @_ Mechanical doll by Brusselly (Brussely 1600 @ _Giridoll "FRANSINE” by Descartes (DescartesiFrance) 1627 5 Original industrial robot in THE NEW ATLANTIS ( “THE NEW ATLANTIS” by Francis Bacon) 1052 @ TAKEDA KARAKURI (KARAKUAI puppet show by TakedaoumisJapan) 1716 © Mud giant “GOLEM” (Legend of Judaism) 1738 @ Duck by Beaukerson (Made by Jack De Beaukerson/France) 1770 Biochemical android “HOMMNCULUS” (Appearing in the second section of “FAUST” by J W.V. Goethe /Germany) 1773 @ _Fourauto dol by father and his son Dras (by Jake Dros & Henri Louis/France) 1775 @ _Cup-dalivering doll (By Nobuchika Wakai/Japan) 1796 @ _Tea-delivering doll KARAKURIZUI” created by Nobuchika Wakal, witten by Yorinao Hosokawa/Japan) 13815 ‘Auta cancing doll “ORINPIA” ( “DER SANDMAN” witten by Emst T. A. Hoffman/Germany) 1818 ©. Monster by FRANKENSTEIN ( “FRANKENSTEIN” written by Mary. W. Shelly/England) rats © Superman robot by Edger A. Poe (written by Edoer A. Poe) 1800's @__Funnyauto doll of Laubel Undom (Creates by Laubel Undom/ Franc 1858 ‘Steam engine bullin robot ("Steam Man in the Plain” writen by E. S. Elis) 1833 Wooden doll “PINOCCHIO” ( “PINOCCHIO” wntten by Catto Collod)) 1896 Aword “andtoid” was first used,( °L’ Eve future” writen by Vilies de L’ Isle-Adam/France) 1893 © @ _ Steam man (George More/Canada) 1899 ©. Chessdoll ( “Maxims Dol” wnitten by Ambrose G. Bierce/USA) 1920 ‘Aimighty robot ( “R.ULR.” witten by Karel Capel/Czechoslovakia, “ Aword of robot was first used) 1926 MARIA ( "METRO POLIS” written by Thea V. Herbous/Germany) 1927 @ Robot “TELEBOX" (Manutactured by Westinghouse Elactranics Co. Ltd./Exnibited at the New York Exposition in the USA) 1927 @ Robot. "GAKUTENSOKU” (Made by Makoto NishimuralJapan, Expressions on the face are changed using alr pressure.) 1928 © @ Robot “ERIC” (W.H. Richards/England) 1932 @ Robot “Alpha” (Haley May/Englend) 1933 @ Instructor robot (Appearing atthe advanced century exposition held in Chicago) 4904 © Robot "WILLY" (Manufactured by Westinghouse Electronics Co,, Ltd /Exhibted along with many oth- er robots at the expositions in San Francisco and New York.) 1937 @ Robot “Saveir IV” (Hoover/Switzeriana) 1942 ‘Three principles of robot ( “I. ROBOT” by Isaac Asimov) 1952 Flobot which protects human cultura inheritance | “City” written by Ciford D. SimakiRbots and dogs, which protect human cultural inheritance, lve in a pastoral community le on the earth where hu mans ceasedto exis.) 1958 @ _Patenis for industria robots (G, DevolUSA) 1958 @ _Dovol's playback robots were commercialized 1950's @_Ful-zcale industrial bots were placed on market, promoting thelr use in the US aulo manufacturers 1970's @ Autonomous mobile robot (In recognition of environments, studies launched on autonomous mobile ro- bots) Wet Propulsion Laboratory, Stanfora UniversityiUSA) 1980-1981 @ All-out research & development on direct drive rebots (Carnegie, Melon University/USA) 1936 @ Announcement of "P2” which has two arms and two legs like humans (HONDA MOTOR CO.,LTD), 1997 @ Announcement of a Pet Robot (SONY COAP). BLA Ae OCh attfess ad Il. Assembly 1. Necesarry Tools #2 Screwdriver(+) Long Nose Plier Penknite Marking Pen Transparent “D" Alkaline Batteries Tape (notincludad) —4pes i 2. Before Assembly A good way of tightening the tapping screws. Tapping Screws ‘The tapping screw has the same property as a wood screw, that is, the tapping screw can make “thread cutting” and screw at the same time. Compared with normal screw, the thread of the tapping screw is coarse and the pointed end is split, thus making it + 4. Serew in easier for “thread cutting.” « ete Be careful not to screw and unscrew too often as this will ' see agate, enlarge the hole. ie Tightening of Nuts and Screws Tighten all the nuts and screws firmly or they may come loose. After tightening nuts, apply a small drop of fingernail polish onto the nut and screw to keep them trom coming loose. This will also allow removal of the nuts and screws if needed DO NOT USE “LOCKTITE.” Use of “Loctite” or other ma- terial that permanently locks the nuts and screws will void any warranty. \ Molded Parts Molded Plastic Parts may have the unnecessary projec- tions called “Gate,” the refuse made by pouring plastic into a mold , or “Burr” formed by the joint of a mold. ‘They are awkward not only in appearance but also in tunc- tion so please scrape them off thoroughly with a penknife ora file 0Entire Structure Figure Zo Bese C2 ee Blowien Geara — AT Bxepecer(anal) —A 5 GL Bserew—" BFngeruink <2) ‘DFinger Base A} a x [Breve Am rewer Unt P2 ‘Finger Linx wie Sa Berm SY Cle tenn . AR) A prude BupperarmB | Biscrew at Barun ps EiBase side Pane 8 Bi screw PN hee Bciutch disk Ks Se ~/_Bicwren rag che SO tagcntch Gear 8 ™ Btoesing nut (PY Bese “ iotch Disk! af, Bleisten disk " (Large) Oy i ~ 4 en) Saat Blowien dee Steker D-Bacwueh Pas | > 23 Feuer Gear 8 Bscren 2m, Lf = [H)MediationGear 3 i2 screw [5 Aiba site Panel Bsice Pate = Barower Uni Ps | ~| ~ Bssow Beanery Box Y Conte Pane Battery Cover Lock: - VPS BBscvew <%_Bicontrot Lover POND Aiswon ST _ BMetat Switeh Parts r [Battery Terminal» Plate No.2 SS Bsanery wre Rea £ Qr5 ry Terminate! Plate No.3 Bosattery Wire Bl Terminal Connector” ~) Unit 7 SKYY "ect hg — 3. Parts List (Mediation Gear 2pcs & [@ Clutch Disk (Metal) 4pes [3)Clutch Gear B 2pes [Clutch stopper {8)Clutch Plate - Ipe 1pe @ © Ge © ce a [)Rotor Stopper tpe er «A cs Bosses provided. No boss provide. inger —(ajFinger —_—_[lUpper Finger Upper Finger filFinger ‘Finger Base A Ipc Base B 1pc Base A ipc BaseB pc Link X 2pcs Link Y 2pes tei) Green(~) Brown(+) Green) Lame — 3 Power Unit P-1 1pe [Power Unit P-3 Ipe ~ [Power Unit P-2 pe Power Units have been oiled. Be Ue Orange(-+)Green(—) Lane — Re se (Power Unit P-4 ipe {ful not to get any on your hands. i Battery Terminal Plate No.1 tpe S [Battery Terminal Plate No.2 tpe Plate No.3. 1pc @iClutch Gear A ipe Os Control Lever 5pes @ Battery Cover Lock tpe @ BW Spacer (Large /Biack Plastic) 2pcs Spacer (Smail/ Black Plastic) 1pe Wrist Cover B tpoer BiFore Arm A ip tpe Arm Base Se Upper ArmA ipe Base Side Panel A tpc Gi Base Side Panel B 1pce Main Gear pe fajControl Pane! pc 2 {Control Panel Base 1pc Terminal Connector Unit 1pe Control PC Board pe M3 X 12 Tapping Screw 29pcs (Extra sciows are ineides a8 sare pats) Omxx=ID ims X25 Screw 2pes @ FB Lock Nut 2pcs [Clutch Disk Sticker 1pc Clutch Pad (Felt) pes <> Metal Switch Parts Specs {§3Green each 1pc g& WI aSlide Plate pcs 13 PSEAcocaine 4. Assembly of Mechanical Parts Paris to use © Assemble Finger, Upper Finger Base A, and Finger Link X onto Finger Base A and Finger Link Y as illustrated. Finger Link X 1pe__ * as Finger Link ¥ 4 \ , 3 [B)Upper Finger Base A theassembls nor fonction | ithe projections get Finger yroken when separating | Links and Bases. i Le J é BBFinger toe BB Finger Link Y | BB Rack Gear 1pe @ Fit the Rack Gear into the Finger Base A. | — Rack Gear x + assembled Unit in step D Assembled finger section instep ©. HiFinger Link x @ Assemble Finger, Upper Finger Base B and Finger Link Y into we op Finger Base B and Finger Link X as illustrated. EF GBFinger Line ¥ pe } Os] Upper Finger Base 8 ‘pe [Bringer Base 8 —_ tee foe Please note BBFinger tpe[power unit P-1 tpe @ Insert the Light Bulb as illustrated. | Light Bub —_5 Bulb Bracket Whitel+) Green) : | 7 SBA Fe: & NG white * fe Green Hook the wires of the Bulb so as to secure it, © install the Clutch Gear A and Spacer (Small) to the Drive Axle on Eauexte Teppig Serem, the P-1 with the tapping screw (M3 X 12). i pe Do not fully tighten the screw at this point. © Bo nontuly santa o= fis x 12 Tapping — @s ‘Screw aa pacer aa (Small BlackPiastic) 1p Eee caveats Cf) © BAcuten Gear A pe + Assembied Unit in step @ White © Install the assembled finger section in step @ to the + Assembied Uni in step @ assembled P-1 in step ©). Make sure to engage the teeth of the Rack Gear with the Clutch Gear. + Assembied Unit in step @) (Once Rack Gear is in place, tighten the M3 X 12 Tapping Screw (Inst.8), Tighten only to the point that the Rack Gear can move smoothly en- gaged with the Clutch Gear. OS ‘ “If the Rack Gear can not be inserted smoothly, loosen slightly oo the M3 X 12 Tapping Screw fixed in instruction ©). 15 Ss fa fA Ha ~ s BsWit GoeerA’ pe @® Mount the assembied section of instruction © onto the Wrist Cover A. io hole + Assembled Unitin step ©) feist 2 Insert P-1 onto the small posts as shown, 23 Wrist Cover A ® Install the other assembled finger section in instruction @ to the Wrist Cover A. Make certain to engage the teeth of the gear with the other finger gear as illustrated, | + Assembled Unit in step @) + Assembled Unit in step @ Engage 16(3% 12 Tapping Screw © Join Wrist Cover B together with assembled wrist section of apes instruction ® and fasten with the Tapping Screws (M3 X12) as = illustrated, 3 [max 12 Tapping ("OS “= Screw wrist Cover 8 BOwrist Cover’ tpe as hole - Ee . Be certain not to pinch the es wirsavviksthe Wreeeosen, ||) e Assembiod Untin step ® : FI & Bien | M3 X 12 Tapping White. Screw ind @ Connect a dry cell to the P-1, and adjust the clutch. Cheok to see if the Fingers open and close and the light turns on. + Assembled wrist * The Fingers will close when the green wire is connected to (-) and the white wire (+); they will open when the wires are re- versed. + Screw Driver (4) + Ifthe Fingers do not move smoothly when the motor is running, try to tighten the Adjustment screw by smalll increments. + When they start to move, complete by adjusting the screw to Assembied Unit in stop @ Marking Pen © Install the Clutch Stopper and Rotor Stopper to the assembled wrist Wrist section of instruction ij-@ as illustrated. % Align 4 mark of Wrist and & shaped dent of Cluteh Stopper when installing, [)Rotor > fy Stopper “ Clutch ae errant Stopper Brett eee ee Las positioned an the bottom. Hy nor fue f assembling. | @ tum over the Wrist . Fasten the Clutch Stopper and the FY Wrist with a Tapping Screw. + Serew in the tapping serew M3X12 completely 2 ed the lead of the screw fs slightly below the stepping screl! surface of the Clutch Stopper so that it will not interfere With the movement of the g Wrist. Be certain there are no wires below the screw when tight- ening the serew. @ Mark on both of the two wires of the Wrist at approx.Som from the base with a marking pen. Wrist Approx.5em BZ ‘Simplified Scale 0 Sem =ForeAmA spe @® Lay the wires of the Wrist on the Fore Arm A as illustrated in the order as follows, ee @ Fit the marked point of the wires in the slits of the tib (section A in the illustration) in the Fore Arm A. | @ Putthe wires through the opening in section B in the illustration 2 fi, oe and pull them a little to remove the slack. © Fit the wires in the slits at the section C in the illustration. + Assembled Unitin stap(@) PSI E SSA © instal the Clutch Plate to the Wrist section as illustrated LL Eejcwenrine spc and put the Lock Nut in the hexagonal hole of the Fore Arm Ay ADs Position it right nel a a w Block nat tpe @ + Assembled Unitin step @ ~ 3 Be certain to put the wires around the Clutch Plate as illustrated.Brower unitP-2 tpe © Fit the P-2 and the Wrist into the Fore Arm A. Busts) Green) @ with the P-2 and the Wrist oriented as shown, align the gear on P-2 with the gear on the Clutch Plate so that they engage properly. @ P-2 is secured by the hooks in the Fore Arm A. Align and en- gage the gears. + Assembled Unit in step ©) = _> Wrist ised (ape Install P-2 onto the small posts as shown. © insert the Light Bulb into the Fore Arm A as shown. Assembled Unit in stop ©) Light Bub I the wires of the Light Bulb are too ong, tape them on the motor of the P-2 ° xBroreams pe © Mount the Fore Arm B as illustrated and fasten with three Tapping ‘Screws. Align all parts so that the Cover fits tightly. Ms 12 Tapping Screns —H Fore AmB (9 12 Tapping Screw ones o> PSE ES\ an Assembled Unitin step @ +8 Be certain the Wires are not pinched by the Fore Arms, + Assembled fore arm © Connect a dry cell battery (Size D) to the P-2 wires and check to see if it makes the correct movements. * The Arm will turn right when the P-2 Motor Wire Blue is con- nected to (+) and the Motor Wire Green (-); the Arm will turn left when they are connected in reverse. + If the movement is stopped by the inside stopper or the outside **D" battery 1p¢ (not included) influence P-2 will click and run idle by the action of the clutch. Wrist will turn and the Light Bulb will light up. Points to check in case it fails to move + See whether the P-2 Gear and the Clutch Plate Gear are properly engaged. 2Tesch Een kee sce [B)cluteh Disk (Metal) apes © insert the screw (M3 X25) through the Clutch Disc, Clutch Pad ~ and Clutch Gear 8 as illustrated. Biciutcn Pas (Fot) apes Ce) — Clutch Disk Blown GearB tpe itera { Bima x25 Screw @ Install the assembled Clutch of instruction ©, Mediation Gear to Upper Arm A as illustrated. Do not tighten the screw of the Clutch completely. Engage the teeth of smaller upper gear of the Mediation Gear with the Clutch Gear. @ lnsiall the Mediation Gear to the Upper Arm A and the Clutch Gear to the Fore Arm as keeping their teeth in mesh. ‘Assembled Clutch eet eet Corer eet [Mediation Gear Bciucn Disk sucker 1pe a Fore Arm ‘= Assembled fore arm \ SBupper Arm A = é : , +8 Stick the Clutch Disk Sticker on the surface of ssembled Unit instep @ assailed ten @) | Cluteh Disk. | B§ Clutch Disk ™ Sticker@ Fasten the Spacer (Large) to the Upper Arm A with the Tapping Spacer ‘Screw (M3 X 12) and tighten the screw. g (Large / Black Plastic). 1pe 3 BMS X 12 Tapping Screw — Bispacer as (Large / Black Plastic)“ MaX12 Tapping Screw ln + Assembled Unitin stop @) PSEnE ial @ Lay the wires from P-1, 2 as shown. + Assembled Unitin step @) % Put wires through between the Boss and the re Po Seer Upper Arm A. PB)Powerunite-2 1pe Yolow(s) —— Groen(-) Be certain the gear on the P-3 is engaged with the Mediation Gear. + Assembled Unitin step @) P-3 is locked by the hooks in the Upper Arm A.> Fa = ry A a 4 + Assembied Unit in step ©) BLock Nut 1pe @ + Assembled Unit in step ©) Supper Ame tpe Bi Mox 12 Tapping Sew pes o> + Assembled Unit instep @) © Set the Light Bulb as illustrated. (Insert the Bulb under the small projection of P-3.) Light Bulb: [3Upper arma To put inthe Light Bulb smoothly, insert the wires of the Light Bulb before- hand and then pull them. Hook the slack wires of the Bulb itnecessary. Ya @ Put the Lock Nut into the hexagonal hole of the Upper Arm A, Position it right as figjLock Nut —_@ illustrated. © © Mount the Upper Arm Bas illustrated, Then fasien them with the three Tapping Screws (M3 X 12). i 8 3 GF _-B4 Upper Arm B M3 X 12 Tapping = a: Screws / | q — \ pA i 28+ Assembled upper arm © Connect a dry cell batiery (Size D) to the P-3 wires and check to see that it makes the correct movements. + The Fore Arm will stretch when the Green wire is connected to (+), and the Yellow (-): it will | bend when the wires are connected in reverse. - If the Fore Arm does not move smoothly al- though the motor is running, try tightening the Adjusting screw by small increments, fr # Be careful not to tighten the screw too much, e + Screw Driver (+) =D’ battery tpc (not inctuded) | Wires from Wrist and Fore Arm. Perey al .\ The Fore Arm will ) move up and down and the Light Bulb { will fight up. Points to check in ease it fails to move + See whether the gears are en- gaged properly with each other. Assembling the Armbase Power Unit P-4 tpe @ Store the Light Bulb of P-4,5 as illustrated. oranges Light Bulb te-« “by fps [HjPower unit P-5 tpe Bulb Bracket Orange(P-4) = = Biown(s) Geen) Brown(P-5) We e Hook the wires of the Bulb so as to secure it , Green(P-4,5) 8ekg jAmm Base 1pe * Assembled Power Unit P-5 instep (Color ot wite: Brown and Green) Bijpese Sice Panel@ tp Markod as 5 BG ax 12 Tapping Seren ‘pes ee + Assembied Unit in step @ @ attach the Power Unit P-5 to the Arm Base. @ insert the Motor Wires through the round opening and down through round tube and out the bottom. @ Install P-5 onto the small pegs to hold the Power Unit in place. Found Opening Fes} Arm Base /Approx.5em o Simplified Scale £ 0 ‘Som i @ Attach the Base Side Panel B to the Arm Base with dt the Tapping Screws (M3X 12). Base Side Panel B I M3 X12 Tapping Screws a+ Assembled Power Unt P-4 instep (Color ot wre; Orange and Green) Assembled Unt in steo @) + Assembled upper arm * Assembied Unit in stop @) @ Insert the P-4 Motor wires through the pointed opening and then pass them through the round tube in the center of the Arm Base from the top. Orange _ ¢ ~ 5 fBp-4 — 0 SSS ‘Opening _# Tape the wires ‘5 together. + aporox.Sem| 16 ‘Simplified Scale Sem ® Insert the completed Arm (Wrist to Upper Arm) to the Arm Base. @ Pass all the Motor Wires through the round tube in the center of the Arm Base. @ Gently separate the sides slightly and slide the Assembled upper arm in until the boss snaps into the round opening. a iu Ly Top side of Arm. AT8WASSY "ILEl Spacer (Large /siack Plast © insert the screw (M3 X 25) through the Clutch Dise, the tpe Clutch Pad, the Clutch Gear B and the Spacer as illustrated. Bi Spacer(Lange / Black Plastic) a [Blciutch disk (Metal) 2p oe BOciuch Pag (Feit) ape 2 — {B] Clutch Disk Clutch oo (Metal) Gear B ac ze Ti] cen Gear tpe Clutch Pad (Felt) cand tie Himox2s serew —tpe === F ims x25 Screw [E]Mediation Gear tpe @ Attach the assembled Clutch and Mediation Gear to the Arm 2 Base, Do not tighten the screw of the Clutch completely. és © Join the assembied Clutch and Mediation Gears by putting the ess metal Clutch Disk in between the large and small Mediation Gears. PB clutch Disk Sticker pe @ Then install both together onto the Arm Base. Assembled Unit instop @) SS Assembled Unit in step ©) Position the cut Parra Dany Stick the Cluteh Disk Stickers ‘on the surface of Clutch Disk. Engage the teeth of each gears properly. Mediation Gear [i Clutch Disk - LI StickerAssembled Unitinstep@® © Attach the P-4 to the Arm Base. ‘The center of this gear fits onto the Dost by the media- tion gear. fdp-4 >| # Insert P-4 onto the > small pegs to hold the Power Unit in place. PSEECSV ale Be certain the gear on the P-4 is engaged Z with the Mediation Gear. @ Attach the Base Side Panel A to the Arm Base with the Tapping Screws (M3 X 12). Base Side Panel A” Ipc Upper Arm | Markodas 3) t M3 X 12 Tapping Screw PE + Assembled Unitin step @) | @ Turn over the Arm Base and insert the Slide Plates as shown. Assembled Unitin step @ fi Slide Plates BA)siide Piste 2pes (se The Nat surtace ; i faces inside. G |— = z = i 3 2 PES kod Bg Man Gear tpe BB eatery Box Ipc + Assembled arm base + Assembled Uniti stop D ‘Assembled Unitin step @) Mount the Main Gear to the Battery Box. BO Main Gear 8 Make certain the Main Gear is seated firmly and evenly on the Battery Box. SBeattery Box @ insert the Wires(P-1 ~ P-5 Motor Wires) through the round tube opening as illustrated. Assembled Arm Base. @ Mount the Arm Base to the Batlery Box.Hala x 12 Tapping Screw cs = + Assembled Unitin step @) (m3 x 12 Tapping Screw tpe + Assembled Unitin step @) @ insert all wires through the Stopper and screw it on. GAM xX 12 Tapping Screws ‘Tighten Serew Fully: Wires Be certain to po- sition the Stopper as illustrated. © Fit th the Battery Cover Lock into the Battery Box as illustrated and fasten with the Tapping Screw (M3 X 12). of Set the Battery Cover Lock in a right i S —> "| Position the cut 83.3 x 12 Tapping side outward of Screw the Battery Box. Battery Cover Lock Battery Box at erat»® — © Connect a cry coll battery (Size D) 10 P-4, and check to see that it makes the correct movement. The Upper Arm will move up and | + Screw Driver (4) Scrow Driver (+) down and the Light Bulb will light up. **D" battery pe (not included) * The Upper Arm will move up when the Green wire is connected to (-) and the Orange wire (+); it will move down when the wires are connected in reverse, + If the Upper Arm dose not move smoothly although the motor is run- ning, try to tighten the Adjusting screw of the Shoulder Clutch by small increments. BSc iag *#% Do not tighten up too much, 4 Remove the adhesive tape on the orange and green wires after the test. Points ta check in case it fails to move + See whether the gears are engaged properly with each other, ® Connect a dry cell battery (Size D) to P-5, and check to see that it makes the correct movements. ‘Assembled Unit in stop @) + Serow Driver (+) ~The Arm Base will turn counterclockwise when the Green wire is connected to (-) and the Brown wire (+); it will turn clockwise when the wires are connected in reverse. **D° battery pe (not included) The Arm Base will make a 350 rotation and the Light Bulb will light up. a Remove the adhesive tape on the blown, and green wires after the test. Points to check in ease it fails to move + Is the gear on P-5 properly seated on the Main Gear so that the gears en- gage properly 7 32Insert the wires thr the tt - st on the Battery Box. + Assembled Unit instep ©) Ores aes — 1e Battery 2° Make certain that the slotted side is fucing up. ‘The reverse side of Battery Box. P-1 Motor Wire White P-2 Motor P-4 Motor Wire Orange (Round terminals) P-1 Motor Wire Green . <#— P-3 Motor Wire Yellow P-5 Motor Wire Brown ‘ (Round terminals) £> lotor Wires eed P-2-P-5 = (Fiat terminals) a [BBatery Termin © Connect each wires as shown. —% See the wiring list. Ee PiateNot pe e 7 Fa ee How to insert into the terminal Le f + Flat type Terminal Round type Terminal [Eg Battery Termin PiateNo2 tpe i Hold the terminal by the tong. Eg Battery Terminal nose plier and push it on, PateNo3 tpe Insert straight CAUTION ———— Be careful with edges of the nestor P-1 Motor Balconneetor area Wite Grean ormpoaleUat fd Connector Terminal Unit Z toc 2 YeLeN | P-2 Motor Wire Blue Battory Wire Black tpe a Bloieen 1c : P-5 Motor Wire Brown. P-4 Motor it] Wire Orange P-1 Motor | Battery Wire White Terminal ee No.1 Battery Terminal Plate No.3 EqjBattery Wire Black Green Motor Wires P-2 ~ P-5 (does not have 8 BaBattery Wire Red to be in sequence.) Battery Terminal Plate No.2 Wiring list Battery Wire Black — P-2 Motor Wire Green Battery Wire Red P-3Motor Wire Green Battery Terminal | | Battery Wire Green P-4 Motor Wire Green |Plate No.1 P-1 Motor Wire Green Somnecoy ‘erminal Unit P-5 Motor Wire Green Pt Motor Wire White Viewed directly Baitery Wire Red Battery Terminal (eter Wire Blue corn Batery Ta P.2Motor Wire Bh from top Ballery Wire Black [Battery Terminal | | F-Motor Wire Yellow < Plate No.8 P-5 Motor Wire Brown Battery Wire Green [Battery Terminal | | P-4 Motor Wire Orange Plate No.1 = 3Z a fl HA 3 + Assembled Unitin step @ Clip + Assembled Unit instep © Giip on the Battery Terminals to the Battery Box as shown, The Battery Box has notches to place the clips. Battery Terminal Pate hee Clip Battery Terminal Terminal 10.3 Insert. Battery Box Clip @ Insert the Terminal Connector Unit into the Battery Box as illustrated. Terminal Connector Unit Me {o | @ ing, arrange the wires as shown. ## Make certain that the wires are arranged neatly so that they do not in- terfere with the batteries . P-1 Motor Wire Green \ P-5 Motor Wire Brown Battery Wire Black \ P-4 Motor Wire Orange + Assembled Unit in stop |_-P-2 Motor Wire Blue Toarrange the wires neat- 4y, bind them with me vinyl birids usod for securing the parts. (Do-both sides) P-1 Motor Wire White = Battery Wire Green S | P-3 Motor Wire Yeliow a = 8 Battery Wire Red ag Es vg 5 £ Be seat oie ¥ ag 4 u Ze ge Battery St Wire Red ae Battery Terminal Piate No.9 Battery AA Terminal | es + Plate No.1 6s Battery Terminal Plate No.2 \ @ Add batteries before attaching the Battery Box Cover onto the Battery Box in order of @ to @. Turn the Battery Cover Lock 90° clockwise to lock the Cover. °D" Alkaline Batteries ## Be sure to check the polarity of the battery. 5 Do not mix old and new batteries. Do not mix alkaline, standards (carbon-zine) or rechargeable (nickel-cadmium) batteries. oe Se battery 4pes (not included) 88 Battery Cover re Bend the Connectors on the Battery Termi- nal Plate so that the wires do not interfere ‘with the clips of the Battery Cover. @ Put the Battery Cover slantwise to slide the tabs into the respective slots @ciose tho Battory Cover as gently pushing it toward the slotsASSEMBLY 6. Assembling the Control Box FQ control Pane! Base 1po © insta the Control PC Board on the Control Panel Base, fitting both holes onto the posts. 4 Control PC Board {4 Control PC Board ipe ( Control Panel Base @ Secure the Metal Switch Parts on@ by Tapping Screws. BG Metal Switch Pants Spc COT) BB M3 x 12 Tapping Screws s AR Ite tng tire a eon i Oy res starts to run idle. TN ‘Thus. the mechanism which disables transmission of mo 7 \ than limited to pravant excessive force is called a torque lh wa slr, ©@P-2: Operation of the Wrist ‘The power for rotating the wrist is transrited from tho crown oe fed at the ip of he Power Unit P-2. The rotavon at this crown gear = in cicect ralaton to he rotation of the wins, But, or protnction ofthe ‘wing tothe Motor P-, tho crown gear is stopped trom further zation bya stopper alter making some rotations HY the wrist vas kept trom rotating by the stopper the mater would | continue to run. Therefore, the torn listo is alo sl to piotoct : them tom breakage by excessive free. Hate, a curch plate is playing an important role. In the normal rotation af the wrist, the clutch pate 13 from rotating due to applied force trom outside. the clutch plate is. eal mo eeenine :EB = fy 3 2 i @ Link (Four-joint mechanism) ‘Spit pin A ink refers to something inthe shape ofa stick, Its quite Sal to callit a stick bbutin machinery, a link is a well-known name, so well use he name here. Itwould be mush easier to understand by ackally creating and operalng @ de- vice. So, if possible, ptepare a piace of thinl-cut cardboard and a spt pin Connect the end ofthe link wit & pin. + Four pcos ot links “This link is caled “tink mechanism,” and a combination of four links s called “four.jint mechanism or "Quadric chain,” Inthe link mechanism, fnks having ifferentlenath, width and shepe provide different operations. Mere well take Lp length, which isthe most basic tothe lnk 7 Fourjnt \ By the way, why do we need four links? The reason is that three links could in j} waciacion Ro way be operated. And five or more links Could work somehow, but in an i= regula’ movement, Al these are out of principle of the machine that should have a requiar movement, therefore being impossible to incorporate inthe ma- _° TMree pieces of Inks Cardbosrd ‘chine for components, Pantagraphs in trains, and a steeiing mechanism Iieular (Ackermann mechanism) installed inthe front wheels in automobiles, all en // tnacive ploy tink mechanism, SS —S @P-3:0peration of the Elbow / (Figure 13) P-4:Operation of the Shoulder The operation of both Elbow and Shoulder is a part of rotating move- ‘ment so that itis transmitted from the rotation of Power Unit. However, [Gear Mechanism of the Elbow and the Shoulder] ‘as the Power Unt is not powerful enough and the ratating speed is 190, hgh, adsitional gears are used to reduce the speed, The gear which comes trom Power Unit has 8cogs, Mediation Gear 24cogs and ‘€c098, and the clutch gear which drives the arm diectly 45cogs. ne aay, Therefore, the rotating speed is reduced 10 8!24=1/3 between Power Unit ~ the one of Mediation Gear, and o 16/45=1/2.8125 between the other Mediation Gear - the cluteh gear. Its calculated to 1/3 1/2.8125=1/8.4375 between Power Unit ~ the clutch gear, and thus, the Meaision Gear torque (the power which makes a rotation) is increased by 8.4975. ‘The torque limiter, whieh makes the clutch gear run dla, le aleo used here. Power Unit ‘@P-5; Operation of the Base The movement ot the Base is produced by the engegement of @ 15- 09 Flat Gear (which comes out of Power Unt P-6) end a 74-cags tema! Gear (on tne Main Gear). In P-1~ P-4,the Power Units fixed (Figure 14) stationary, and mechanism in me subsequent process is operated. In P-5, however, the Main Gears fixed stationary and P-S itself travels. AAs many 35 10 cords are running through the rotating section so that a stopper is installed fo hold rotation not to make more than one. In the previous section, the Main Gear was described as stationary. To be more exact, the Main Gear is smply placed on the Battery Box (tunc- tioning asa bench in this case), When the P-5 reaches a point, where its father traveling is limited by the Stopper. the Main Gear makes iding to prevent excessive force Irom being agplied tothe Pewer Unt. 46eee Pasa Besspten [o07902M | PenerUniP-2 [eovoeau Power unt DraTEiN Fige Baee& [oo7soaMPenor unte-s |sornosw Pewor unites (070200 | Contoi Levee oorao7Nt cuten Gowrs [oovaene wstcaver® eorioelt | Cuieh wk vata | [ooreaai Forearm & | 0 | | aro Sace Cas) —| 7a Figs Jooraait Uses Ams THIEN | Figo’ Lin [eoast7i Finger Linky JoorstaM cuter Gear DO7040N Rien Gor OOTDTaN | Upper Fnge Base DDTOTENI” Upper Png Base 8 Baty Bax Cover n70oent Canto! are Paria [oon lcorost | Bator Terminal Baty T Pate No2 i Tern Capea at Cental PC Board ‘97048 V3 ~ 12 Tapping Serew 705 i Barer Wee (lac ‘170538 Batlory Wire (Greet ‘00257 [a «25 Sew yo0a9 Lae Ni (0570500 vata Swich Pans] | TOTOG| Con! Panel Bava on7odou SisaPate | When ordering parts, please include the following: 1. Name, adress and phone number. 2. Model name and Model number. 3. Part number, descripton, and quantity. For spare part prices, lease contact us, (Our Company details are on front of this manual.) Manutactatea by EX Japan Co 0a FURUOKA JAPAN, NOTICE (MOVIT and ELEKIT a slstered trademarks of EK Japan Co. Lt. (All rights reserved. Reprinting any of his Instuction manual without our parmission is prohbited, @The specifications, fom, and contents ofthis product are subjact fo change without prior notice, Gwe are not liabe for dsadvantage or damage caused by improper use of assembly ES Recycled paper isused forthisinstuction manual EK JAPAN CO, Lt,- - 4. Electronic Circuit Schematic (Figure 15) cae movunen Soe ee Inthe direct-current matar. the rotational direction can be changed by reversing the polarty (+ and -) on the battery (con- nected to the terminals). As shown in Figure 15, this robot employs a method in which two-system batteries, which are ori ‘ented in an opposite direction, are used to connect the motor to elther one of the balteries by using a switch. Figure 17 ‘shows a pasture of selting the switen to the A side. This makes the motor connected to the A-bleck. When the switch is lurmed to the B side, the motor is connected 10 the B-block as in Figure 18, The current comes out ofthe plus side of the battery and returrs to the minus side, as seen in Figure 17 and Figure 18 that the direction of the current flowing in the mo- toris reverse. ‘The robot is equipped with & motors, and accordingly 5 pairs of switches are instaled, 4 me r= ba = See met! 2] eal fF ? a!) Lig P suites L¢ 8 3 BF ‘saTTERY aL0Ce 8 ‘aTTERT ator 8 (Figure 16) (Figure 17) (Figure 18) a7