Changes between Version 3 and Version 4 of WAM/SystemComponentList


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Timestamp:
Jan 19, 2012, 11:09:58 PM (13 years ago)
Author:
kpm
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  • WAM/SystemComponentList

    v3 v4  
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    1313
    14 The standard WAM Arm comes with an internal computer and a blank outer link (shown attached to the end of the elbow in Figure 1 and shown in full in Figure 2). However, several options (see Section 1.2) such as an external computer and the WAM Wrist (Figure 11) are available to replace these (though both standard options will still be included so that you may always switch between configurations at any time).
     14The standard WAM Arm comes with an internal computer and a blank outer link which is shown attached to the end of the elbow in Figure 1 and shown in full in Figure 2. However, several options such as an external computer and the WAM Wrist (Figure 11) are available to replace these. Regardless of your chosen options, the standard components will be included so that you may always switch between configurations at any time.
    1515
    1616{{{
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    2323The WAM’s internal computer has the following specifications:
    2424Mainboard: PFM-540I
    25 Processor Type: AMD Geode LX800 x86 @ ~500MHz
    26 Memory: 256MB (4MB of that is used as a video framebuffer).
    27 Hard drive: 2GB, !CompactFlash
    28 Kernel: Linux 2.6.16.57 patched with Xenomai 2.4-rc5
    29 Distro: Slax 5.1.8
     25Processor Type: AMD Geode LX800 x86 @ 500MHz
     26Memory: 1GB (4MB of that is used as a video framebuffer).
     27Hard drive: 8GB, !CompactFlash
     28Kernel: Linux 2.6.31.4 patched with Xenomai 2.5.5.2
     29Distro: Ubuntu 9.10
    3030Expansion Card: PEAK-System PC/104 CAN Card, 2 ports
    31 Wireless: Wi-Fi 802.11 b/g
     31Wireless: Wi-Fi 802.11 b/g (using an external wireless access point, included)
    3232Ethernet: 10/100 Base-T
    3333
    3434=== Tool-End Attachments ===
    35 The WAM™ comes with three endpoint (tool-end) attachments that can be used to change the setup and shape of the WAM™ Arm: the Haptic Ball, the Tool Plate, and the CAN Termination. These items in general will be attached to either the Outer Link (Figure 2) or WAM Wrist (Figure 11). Figure 3 shows the end plates of both the Wrist and Outer Link. The wires and connector coming out of the centers are for running the optional Barrett Hand. If using the Outer Link without the Barrett Hand, the wiring can simply be pushed inside the large open cavity. If using the Wrist without the Barrett Hand, the wires should be coiled neatly in the small cavity and the Wrist Plug installed to keep the wires from getting pinched.
     35The WAM™ comes with three endpoint (tool-end) attachments that can be used to change the setup and shape of the WAM™ Arm: the Haptic Ball, the Tool Plate, and the CAN Termination. These items in general will be attached to either the Outer Link (Figure 2) or WAM Wrist (Figure 11). Figure 3 shows the end plates of both the Wrist and Outer Link. The wires and connector coming out of the centers are for running the optional !BarrettHand. If using the Outer Link without the Barrett Hand, the wiring can simply be pushed inside the large open cavity. If using the Wrist without the !BarrettHand, the wires should be coiled neatly in the small cavity and the Wrist Plug installed to keep the wires from getting pinched.
    3636
    3737{{{
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    4444The Haptic Ball (see Figure 4) can be attached to the end of the Outer Link or the Wrist. It is used to assist in haptic scenes by providing an easy-to-grasp, definable endpoint for the user. Systems are generally shipped with the Haptic Ball pre-installed.
    4545
    46 The Tool Plate (see Figure 5) can be installed on the end of the Outer Link, Wrist, or Elbow Plate (if neither the Outer Link nor Wrist modules are installed). It provides a flat base that can be used to attach parts other than the ones designed by Barrett.  The Tool Plate has four M6 tapped holes, evenly distributed in a circle, a 6-mm diameter dowel-pin hole, a quick-connect pin hole and slot, and two holes to connect the CAN Termination (see 9.2.3 for Tool Plate hole labels and dimensions).
     46The Tool Plate (see Figure 5) can be installed on the end of the Outer Link, Wrist, or Elbow Plate (if neither the Outer Link nor Wrist modules are installed). It provides a flat base that can be used to attach parts other than the ones designed by Barrett. The Tool Plate has four M6 tapped holes, a 6-mm diameter dowel-pin hole, a quick-connect pin hole and slot, and two holes to connect the CAN Termination. You are free to modify your Tool Plate without voiding your warranty.
    4747
    4848The CAN Termination (see Figure 6) must be used if neither the Outer Link nor the Wrist is attached at the end of the elbow.  The CANbus must be terminated at each end with a 120 Ohm resistor to minimize signal reflections. The termination can be attached to either the end plate of the elbow or to the Tool Plate (if attached to the elbow) by the two small holes, which are the same distance apart as the holes on the Termination.
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    6464
    6565=== Power Supply ===
    66 The WAM system generally requires an input voltage of 48 VDC. However, if you require an alternate input voltage, contact Barrett Technology. The power requirements for both 4-DOF and 7-DOF WAMs are summarized in Section 3.6.1. Any DC power sources may be connected directly to the WAM.  Improper grounding can cause severe damage to the WAM electronics. If you are concerned that your voltage source may damage the WAM electronics, do not hesitate to contact Barrett for technical guidance.
     66The WAM system is supplied with a 48 VDC power supply. If you require an alternate input voltage, contact Barrett Technology. You may use your own power supply, but improper grounding can cause severe damage to the WAM electronics. If you are concerned that your voltage source may damage the WAM electronics, do not hesitate to contact Barrett for technical guidance.
    6767
    68 The Power Supply that ships with the WAM, shown in Figure 7, can be plugged into any regular AC power source. It provides up to 10A of direct current at 48V. This Power Supply switches automatically to local voltage standards (100-120 & 200-240 VAC at 50-60Hz) around the globe and contains built-in surge protection.
     68The Power Supply that ships with the WAM, shown in Figure 7, can be plugged into any regular AC power source. It provides up to 6A of direct current at 48V. This Power Supply switches automatically to local voltage standards (100-120 & 200-240 VAC at 50-60Hz) around the globe and contains built-in surge protection.
    6969
    7070{{{
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    9999
    100100Included with a copy of the source code in electronic form are:
    101         1. User’s Manual (this manual)
    102101        1. Quick Start Guide
    103102        1. Cable Maintenance Guide
    … …  
    105104        1. Support Resources Reference Sheet
    106105
    107 For more information about software and firmware, please see Section 4.
    108 
    109 
    110106== Maintenance Kit ==
    111 Included in each WAM package is a maintenance kit (shown in Figure 10). Use the maintenance kit in accordance with the instructions in Section 3 and the Cable Maintenance Guide. The maintenance kit includes the following:
     107Included in each WAM package is a maintenance kit (shown in Figure 10). The maintenance kit includes the following:
    112108
    113109        * 1 Tool Plate (normally shipped attached to the Outer Link (or Wrist if purchased))
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    168164Hard drive: 80GB
    169165Optical: DVD Drive
    170 Kernel: Linux 2.6.24.2 patched with Xenomai
    171 Distro: Ubuntu 7.10
     166Kernel: Linux 2.6.31.4 patched with Xenomai 2.5.5.2
     167Distro: Ubuntu 9.10
    172168Expansion Card: PEAK-System PCI ISO dual-port CAN card
    173169Ethernet: 10/100/1000 Base-T