We supply 2 options of encoders for our joints / joint arms.
Option 1 (our Standard before HMI 2017): Motorencoder plus Ini switch for 0-point reference on the joint output (PRT bearing)
Option 2): Output encoder on the PRT bearing of the joint. This is our own development, we use a magnetic ring plus Encoderchip on the output with an aditional magnet and Hall Sensor as reference point. Please find attached a description of the output encoder attached in GER and ENGL. Advantage: less cables, higher resolution, more accuracy for the arm.
At the HMI trade show we released our strain wave gear (RL-S) as a product in addition to our worm gears (RL-D). The smallest version of the strain wave gear (RL-S-17-N11-00-28-020K0) is used for the fifth axis in the standard joint arms RL-D-RBT-5532S-XX and RL-D-RBT-3322S-XX. The RL-S-17 gear comes in two variations, both have a transmission rate of 28:1:
1. suitable for small motors (like NEMA11 stepper motors, holding torque = 0.1 Nm), output torque max. 1 Nm
2. suitable for slightly bigger motors (like NEMA17 stepper motors, holding torque = 0.5 Nm), output torque max. 3 Nm
The biggest available joint is the RL-S-20-N23-00-38-12000 with a transmission rate of 38:1. The maximum output torque is about 5 Nm, depending on speed and usage duration. Also here you are able to choose between two versions:
1. high-end: RL-S-20-N23-00-38-12030 (with PRT-01-20)
2. standard: RL-S-20-N23-00-38-12000 (with a standard PRT-02-20-AL)
attached are CAD data and the current data sheets: RL-S-STEP+Data
All gears can be purchased with igus stepper motors, initiator kits, encoder kits or customized to be combined with your motor!
we run regular lifetime tests with our gears in our lab. Based on these tests, we did some inside changes in our gears, most important is the change of gear geometry and gear pulley material during the last months (from iglidur J to iglidur A 180). By this, we improved lifetime and friction (efficiency) in the joints. Please find attached NEW data sheets for our joints, now also including the current standard transmission ratios we can supply from stock (from 1:5 up to 1:70).
NEW Data sheet for symmetrical joints with 2 bearings (vertical installation)
NEW Data sheet for asymmetrical joints with 1 bearing (horizontal installation)
At this year’s MOTEK show in Stuttgart (GER) we will show the possibility to build 4 DOF robot arms with our motorized joints. 2 films at the end of this entry show 2 possible concepts:
1) “small” version with 4 joints size 30 – 30 -20 – 20, built with igus DC motors. No programming possible, just a joystick control.
2) “big” version with 4 joints size 50 – 50 – 30 – 20, built with igus stepper motors and a robolink gripper.
Please be aware that both arms are no sales products. They are examples of how a joint arm could look like. The connection parts are made of folded metal sheet parts. Please contact me for further questions in this issue (firstname.lastname@example.org).
Also attached our new catalogue (this version in GER with more RL-D infos and german list prices). Eng. version will follow soon.
LINK: de_robolink_08-2015 (3.80 mb)
And additionally 2 updated versions of tech. data sheets for symmetrical joints (version 101 with 2 PRT) and asymmetrical joints (version 102 with 1 PRT)
LINK: tech-data-rl-d-101_d-eng_15_11 (171.03 kb)
LINK: tech-data-rl-d-102-_d-eng_16_01 (162.11 kb)
We control the position of our RL-D joints by using the motor encoder (of our igus stepper motors). In order to define a reference point (or ZERO position), an additional inductive initiator switch (=Ini) can be installed on the joint as an option. The spec. of the Ini switch is given below, it is the same part that igus uses for drylin products. The inductive swich needs a steel part as trigger, we install a set pin in the moving part of our PRT inner ring.
The installation finally looks like this: