Adept s650H Quattro - Manual (Page 16)

Chapter 1 - Introduction
16 Adept Quattro s650 Robot User’s Guide, Rev B
Ball Joints, Outer Arms
The inner arm motion is transmitted to the platform through the outer arms, which are
connected between the inner arms and platform with precision ball-joints. The outer arms
are carbon fiber epoxied assemblies with identical ball-joint sockets at each end. A bearing
insert at each socket accepts the ball-joint studs on the inner arms and platform, and
allows for ± 60° of relative motion. No ball-joint lubrication is required. See
Figure 1-5 .
Figure 1-5. Ball Joints between Inner and Outer Arms
Each pair of outer arms is held together with springs that pretension the ball joint
assemblies. The outer arms can be installed and removed without the need for tools.
Platform
The platform converts the motion of the four Quattro motors into Cartesian motion and
Theta rotation of the robot tool.
Platform articulation is achieved by differentially driving the four motors. Tool rotation is
implemented with either a belt-drive mechanism or with direct-drive, for applications
needing higher rotation force but less rotation range.
The Adept Quattro s650 robot currently supports two types of platforms, depending on
the amount of Theta rotation and inertia needed by the customer.
NOTE: The two platforms require different robot parameters. The 4:1
platform is the default. If you have a 1:1 platform, contact your Adept
representative.
Inner Arm
Ball Joint Socket
Ball Joint Stud
Outer
Arm
Springs
Outer
Arms
Ball Joint
Socket Insert