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Pololu-Romi-Arm-Assembler (voir la source)
Version du 5 octobre 2020 à 09:21
, 5 octobre 2020 à 09:21→Robot Arm Kit for Romi assembly
{{POLImage|Pololu-Romi-Arm-Assembler-113.png|480px|Romi-Arm}}
{{POLImage|Pololu-Romi-Arm-Assembler-113.png|480px|Romi-Arm}}
14. Attach the completed gripper sub-assembly to the end of the arm using a 20 mm nylon spacer, 1″ #2-56 screw, a washer, and a #2 nut for each joint. To keep the servo wires tidy, you can snake them back along the main arm through the holes down the spine.
{{POLImage|Pololu-Romi-Arm-Assembler-114.png|480px|Romi-Arm}}
The assembly of your Robot Arm Kit for the Romi is now complete!
{{POLImage|Pololu-Romi-Arm-Assembler-115.png|480px|Romi-Arm}}
The micro gripper can also be flipped around and used in an alternative orientation as shown below.
{{POLImage|Pololu-Romi-Arm-Assembler-116.png|480px|Romi-Arm}}
== Installing on Romi ==
To install the arm accessory on the Romi chassis, align the rear aluminum standoffs with the mounting holes on the rear of the Romi Chassis. and the aluminum standoffs on the front of the arm assembly to the mounting holes nearest to the motors on the Romi chassis, as shown. Insert a 1/4″ #2-56 screw through each mounting hole from the bottom of the chassis, threading it into the standoff above.
{{POLImage|Pololu-Romi-Arm-Assembler-20.png|480px|Romi-Arm}}
The Robot Arm accessory is now installed on the Romi chassis. You can tidy up the wiring for the gripper servo by running the wires along the main arm, passing the wire through the openings along the way, just be sure to leave the servo enough wire to accommodate the gripper’s full range of motion. Additionally, the two rear-most slots on the Romi expansion plate are large enough to pass the servo wires through so they can be routed down to the first level without leaving the profile of the chassis.
{{POLImage|Pololu-Romi-Arm-Assembler-21.png|480px|Romi-Arm}}
{{ambox|text=Note: Lifting an object will generally cause the Romi to tilt forward, so we highly recommend using the {{pl|1529|optional second ball caster attachment}}. The front ball caster is supported by a flexible arm that acts as a suspension system. You can wrap a rubber band around the two hooks located on either side of the ball caster on the top side of the chassis to increase the stiffness of the suspension and help keep the robot stable.}}