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.
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
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:
We have been involved in the development of a new open source teen size soccer robot for 2 years now (and the improvement still goes on!). The main development was done by the University of Bonn, institute AIS, Professor Sven Behnke, who also developped our open source robolink software IME (igus motion editor), igus contrubuted the design and technology of the outer shell parts (made by 3D printing / SLS). In the next stage we will improve the cabeling inside the robot with our chainflex know-how for often bending cables.
This youtube video shows the current state of the software development (thanks to Philipp Allgeuer for sharing it).
since October 2015, the standard version of RL-D-50 (-101 and -102) is also available from stock. The missing PRT-02-50 version was the reason for the delay. Please find attached here the STEP data for our joints for all variants and sizes, as well as for a collection of motor kits (with igus stepper motors).
These STEP data will soon be available via our main igus download center too! It is only a question of a few more days……
The Basic idea of our NEW RL-D Joints is, that every Joint can be composed out of several components (Joint kit). Main differentiations are:
# Rotary sliding bearing igus PRT-01 (aluminum table with iglidur J sliding elements) or PRT-02-AL (aluminum ring with compact plastic ring made of iglidur J4) or PRT-02-LC (outer aluminum ring replaced by moulded outer ring => low cost solution).
# worm shaft made of hard anodized aluminum, or as injection moulded plastic part (iglidur RN33), additional materials as an Option.
# axial bearings of the worm shaft as roller bearings or thrust washer made of iglidur J.
# worm wheel currently made of iglidur J, additional materials will be offered in the future.
We have pre defined 3 general Solutions. Standard will make use of PRT-02-AL, hard anodized aluminum worm shaft with roller bearings. For the “high-end” solution, PRT-02-AL will be replaced by PRT-01, the low cost solution will contain PRT-02-LC, worm shaft made of iglidur RN33 and thrust washers as axial bearings => see Pictures. STEP data of all Solutions for 3 sizes attached.
Annotation: RL-D-50-xxx is currently only possible as high-end solution. PRT-02-AL or -LC are not yet available at igus.
RL-D-xx-101 (symmetric Version with 2 PRT (used in our trade Show robots)
RL-D-xx-102 (asymmetric Version with 1 PRT (used as first axis or for horizontal applications)