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ROSbot XL Manipulation Pro Package Assembly

This is an assembly instructions for Husarion ROSbot XL Manipulation PRO Package. After assembly, please refer to our OpenMANIPULATOR-X tutorial for a guide on how to run the software.

To make the process easy, please follow the instructions below for assembly and perform the operations in the order described.

The ROSbot XL purchased with Manipulation PRO Package is delivered in parts for assembly. One cardboard box contains ROSbot XL and its standard equipment and the other cardboard box includes the arm and camera and all the necessary components to mount the arm on the robot.

note

To perform the steps described below, you will need basic tools such as Allen keys. These keys are supplied with the manipulator and the platform.

Assembling the arm​

  1. Follow the instructions provided by the arm manufacturer. Stop before point 9.

  2. Slide the Top cap onto the DYNAMIXEL(ID 12) and fix it with 4x M2.5x8 panhead bolts.

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  3. Place the Thrust bearing on DYNAMIXEL(ID 11).

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  4. Insert X-SP into the bolt holes of DYNAMIXEL(ID 12) and assemble to FR12-S102K using FHS-M2.5x14. Pay attention to the Horn Align Marking. Referring to the image below, rotate the yoke FR12-S102K in the given position to reach the bolts with a key. Rotate it again by 180° to fix other side.

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  5. Connect DYNAMIXEL(ID 12) and DYNAMIXEL(ID 11) using CABLE-X3P-240.

  6. Slide the DYNAMIXEL(ID 11) into the Arm base. Pay attention to the cable routing inside the element and its exit from the housing through the notch under the bearing. Try to position the wires, so none is pinched. Fix these parts together with 4x M2.5x21 countersunk bolts.

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  7. Continue the manufacturer's instructions from step 10 to step 12.

  8. Assemble ZED Mini to Camera Bracket.

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  9. Assemble Camera Bracket to manipulator.

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  10. Continue the manufacturer's instructions from step 14.

Mounting on the ROSbot XL​

  1. Unscrew the Cover.

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  2. Mount Parking Bay Assembly and Slamtec RPlidar S3 on the Cover.

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  3. Connect the CABLE-X3P-380 to the DYNAMIXEL(ID 11)

  4. Install the Arm base on the Cover.

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  5. Connect USB-C Cable to USB-A to Zed Mini.

  6. Using 1x M3x4 panhead bolt connect and mount ROSbot XL Arm Board to the ROSbot XL Power Board.

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  7. Connect ROSbot XL Arm Board (CON1) to ROSbot XL Digital Board (CON15) using CABLE-JST-5-240.

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  8. Insert RPlidar USB Adapter into it's mount.

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  9. Connect Micro-USB to USB-A Cable between Nvidia Jetson and RPlidar USB Adapter.

  10. Connect CABLE-X3P-380 to the Arm Board.

  11. Connect USB-C Cable to USB-A to the Nvidia Jetson.

  12. Connect RPlidar S3 to RPlidar USB Adapter

  13. Mount the Cover on the ROSbot XL.

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