Output Encoder for RL-D / RL-S

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.

DOWNLOAD section:

output encoder DEU: RL-D Sensorik Doku (#3)

output encoder ENGL: RL-D Sensors Dok (E #3)

strain wave gear (RL-S) vs. cycloid gear (RL-C)

The strain wave gear is available as a product in the size RL-S-17 and RL-S-20. RL-S-30 is a prototype and still in development.

The cyclo gear can be an alternative in future and is not available as a product yet. The sizes 17 and 20 are currently in development.

Both types of gears contain a coaxial in- and output axis (different from RL-D worm gears), they consist of three similar components:

  • An outer (static) toothed ring
  • An inner toothed ring (rigid in the cycloid gear, flexible in the SWG)

  • A drive (an excentric in the case of the cycloid gear, the wave generator in the SWG)

Comparison:

 

strain wave gear with flexible inner ring                  cycloid gear with excentric ring

 

 

more data for download (Catalogue, STEP, drawings)

I want to supply more data for you to be downloaded, especially about our RL-DC “standard arms”. Our standard arms include all joints, motors, connections (=c-shaped metal sheets), cables and chains. Attached our NEW catalogue (now also available in ENG), STEP data for our 8 standard configurations and also the related drawings with part lists. We have “small arms” (up to 1 kg, based on our joints RL-D-30 and RL-D-20) as 4 or 5 DOF and “big arms” (up to 3 kg, based on our joints RL-D-50, -30 and -20).

 

Version With motorencoder and Ini switch or “output encoders” (-AE). I will explain the difference in a later entry.

DOWNLOAD SECTION:

NEW Catalogue 2017-04 in engl.:  EN_robolink_2017_2

STEP data small robots (4 versions): STEP Daten BC klein

DRAWINGS small robots (4 versions): Zeichnungen BC klein

STEP data big robots (4 versions): STEP Daten BC groß

DRAWINGS big robots (4 versions): Zeichnungen BC goß

HMI interview with Martin Raak (product manager)

As the international product manager for RL at igus I have started this blog ~5 years ago and I use it as a platform to share our experiences and NEWS with most current data (download links for STEP data, datasheets and videos in most entries). Please find today an interview statement from me about our latest HMI presentation. This might be the most comfortable way for you to get an impression of our latest developments. In my next entry I will also present our new “roboolink design tool” which is now online!

Find out more on our low cost robotics page www.low-cost-robotics.de, which includes inspiration in the form of application examples.