For the series connection of joints, the 4 draw wires of the second (or upper) joint should be conducted through the first (or lower) joint. This feedthrough must be done in such a way that a movement of the lower joint does not alter the wire lengths of the feedthrough, which means Bowden cables are needed.
In the pictures you can see the schematic and actual feedthrough of the 4 draw wires by means of igus® plastic Bowden cables.
In the connecting rods of the joints (“skeleton”), the wires and cables are free in contrast. In total, a maximum of the following elements can be routed through an RL-50 joint:
4 draw wires plus 2 sensor cables (joint 1 and 2) plus 2 additional cables max. d4 (compressed air or electric).
We build demonstration plants time and again for our own trade shows and of course for our igus® subsidiaries all over the world. Such systems are then shown, for example at the Hannover Messe or Motek, as well as in many smaller or the so-called house shows of customers.
For some time we’ve been equipping our demo installations with pneumatic grippers. But what if the exhibition site does not have a compressed air supply? Then the gripper cannot be used and thus forego a part of the show?
NO. The video shows how our igus® Poland team has solved this problem:
robolink® wires were tested for tensile strength on the ZWICK tractor (nominal tensile strength > 3600 N).
The nipple connection was fixed with different adhesives (see installation instructions for the wires). The experiments were carried out at room temperature and at 80°C.
| Wire with brass nipples
|| Section of the mounted nipple
|Wire fixed with:
||Breaking strength at RT
||Breaking strength at 80°C
|1) Loctite 401
||> 1.400 N
||> 800 N
|2) Loctite 406 with primer
||> 1.300 N
||> 700 N
|3) Loctite 4204
||> 1.900 N
||> 1.400 N
|4) Loctite 4204 with primer
||> 1.400 N
||> 1.000 N
igus® recommends the use of Loctite 4204 for installation of the wire nipple, especially because the use of wires/joints results in increased temperatures.
Polytechnico di Torino in Italy uses a robolink® 4-axis arm with drive unit and angle sensors.
Movement with voice control
Wroclaw University of Technology (Poland) has equipped its robot “Flash” now with the latest version of robolink® arms. Whereas only one arm was mounted in the first version, now both arms are used. The robot was unveiled in this version for the first time at the Robotville Festival in the London Science Museum in early December.
Robotville Festival in the London Science Museum