PR2 Maintenance
Contents
1. PR2 Maintenance ROS PR2 Training Workshop PR2 Maintenance Overview PR2 overview Review electrical and ESD safety Review PR2 power system PR2 accessory kit PR2 tool kit Hands on demos See support willowgarage com to order replacement parts ROS PR2 Training Workshop 2 PR2 Overview PR2 anatomy Hands on demos Filter maintenance e Gripper tip replacement Counter balance adjustment e Points of interest e Power switch e A C breaker Run Stop button e Plug for the ESD strap ROS PR2 Training Workshop 3 PR2 Front View DEE Front Base Skirt AL Pe Bottom ER gr Panel ROS PR2 Training Workshop 4 PR2 Side View Fore Arm Upper AG ATT HoKUVO Front Panel Base Skirt TT Bottom me y gt RR Ne E q a P 4 t pra the Lega ae i aa PR A eT 08 y y 8 Tele ET REE E EN Vel Mg 4 Head Tilt Stage Panels Head Pan Stage Panels Rear Top Pa nel __ Rear Bellows Rear Bottom Panel Left Body Trim Front Bellow S Base Ske Rear ROS PR2 Training Workshop 5 PR2 Rear View Head Tilt Stage Panel Willow Garage Rear Bellows Rear Bottom Panel AUCEODOODOOIIOIIIIRINI DG Breaker ROS PR2 Training Workshop 6 Flectrical and ESD safety When performing maintenance e Tum off power even when removing covers The only exceptions are when performing co2. You will adjust your own counterbalance with help from Willow Garage engineers and technicians Notes Safety first You need two people to adjust the mechanism Observe ESD protocol wrist strap Watch for pinch points ROS PR2 Training Worksho 0 CB Check Program e We use a counterbalance adjustment check program to adjust the counterbalance The program moves the arm of the robot and measures the torque on each joint e It uses training data to recommend adjustments to for a minimum torque setting The program IS an iterative solver In some cases more than one Iteration IS required You will run the check program and determine your required adjustment ROS PR2 Training Workshop 1 CB Check Program Install Counterbalance adjustment program IS unreleased e You will have to install it from wg ros pkg trunk and build it e Tutorial e ros org wiki qualification Tutorials e Follow tutorial instructions to install and build Important Do not start the CB adjustment program until instructed to do so ROS PR2 Training Workshop 2 CB Adjustment Dem Observe safety and ESD protocols Remove top covers Doc6 N N WIN Fig 4 ROS PR2 Training Workshop 3 CB Adjustment Dem Observe safety and ESD protocols Remove shoulder covers Doc16 Szg0Lses0zZ0 zou ecca i GZ90 60700 amp E ROS PR2 Training Workshow4 CB Adjustment Demo Adjust c
3. hey show signs of damage Willow Garage will not replace damaged sensor tips See support willowgarage com for replacements a Es e Rota A Ra SE ROS PR2 Training Workshod 6 Fan Filter Demo Clean regularly every 1 4 weeks Clogged filter will cause fan speed to Increase noisy robot Vacuuming filter is not recommended since this may tear the filter Maintenance Remove the filter cover plate Wash and dry filter Having the fan on helps when placing the filter Re install the cover plate ROS PR2 Training Workshod 7 Counter Balance Review Overview PR2 counter balance CB holds up the weight of the arms using a spring and pulley system Goal The CB should balance the arm so that almost no torque IS required to maintain position of the arm Performance A well adjusted counter balance will maximize the performance of the PR2 arm controllers ROS PR2 Training Workshod8 CB Adjustment Overview With time the springs of the CB system can start to sag or give To maintain performance yous la have to adjust the mechanism e Secondary spring can be stiffened or loosened e Clockwise CW turns increases force on arm e Arm gimbal shaft controls level arm length of CB spring force e Counterclockwise CCW increases force on arm ROS PR2 Training Workshod9 CB Adjustment Demo Demonstrate checking and adjusting the counterbalance on the PR2 e We will demonstrate up front e
4. ounter balance Doc5 Re run the Check program and adjust the seal dl needed Docs Re install the covers Doc6 ROS PR2 Training Workshog5 CB Adjustment Procedure Check CB with adjustment program Clear out 2m space around your robot Turn robot off sudo pr2 shutdown Remove covers Ask your Willow Garage helper for questions Adjust CB Make adjustments check tool recommends Turn robot on Check CB with adjustment program Turn robot off Reinstall covers ROS PR2 Training Workshog6 Remember Safety First support willowgarage com Always wear an ESD wrist strap Don t be afraid to ask questions ROS PR2 Training Workshop 7 ROS PR2 Training Workshog8
5. rge ROS PR2 Training Workshod 2 sing Toraue Tools Small and large driver Special stack ups See support willowgarage com PR2 Toolkit Setting Torque Driver Adiustment Red Adjustment Nob Large Torque Driver Blue Adjustment Nob Small Torque Driver 0 34 Nm 1 36 Nm 1 4 Rotate to adjust torque ROS PR2 Training Workshod3 Using Loctite Use Loctite to retain fasteners and keep them from vibrating loose e There IS no need to clean the old Loctite e The fresh Loctite will integrate with the old Only a small patch of Loctite is needed Old Loctite ROS PR2 Training Workshod 4 Today s Demos Video of g p pe r ti D Gar amp g8 Willow Garage Support Willow Garage Support penn to cardos ee Support Melkor Apr 21 Announcement Live demo of fan filter rsr repair replacement Repair and Replacement ma qa Modularity Specification Hands on demo of mupur A B NO C O U A te rb Q Q nN C e Mailing Lists amp Tickets adjustment ROS PR2 fl Want to ask a question ut Want to ask a questio Are you PAZ admin looking for Ha prege r PAZ ROS Sign up for the ma kan PR2 Sign erte ema came ves help har up for the mailing list ke een owe ca ripe See support willowgarage com for all maintenance procedures ROS PR2 Training Workshod5 Gripper Tip R R Video Turn off power Wear ESD strap Always cover sensors with boots Replace boots as soon as t
6. unter balance adjustments and replacing the fan filter Disconnect AC power to the PR2 Always use an ESD strap ESD straps are provided In the accessory kit e Place strap around bare wrist e Plug jack into accessory panel ROS PR2 Training Workshop 7 PR2 Power System PR2 internal power precautions and safety features Battery power is live within the robot even when the power IS off The power board controls all the power to the PR2 systems and Is accessible controllable via the ROS pr2 power node There are as many as 7 levels of protection but you cannot assume they will prevent damage or Injury Always turn off the PR2 power when performing maintenance except when specifically required to complete a procedure such as the counter balance adjustment ROS PR2 Training Workshop 8 PR2 Power Requirements Wall power The PR2 can only be plugged into a dedicated 15A minimum circuit Only use the supplied power cord Only use the supplied self plug in cord e See support willowgarage com for ordering replacement cords Battery runtime Approximately 2 hours stationary less when moving ROS PR2 Training Workshop 9 PR2 Accessory Kit 15 FT power cord 68 06167 Gripper tips box Self plug in cord 68 06153 Sensor fingertips 68 03840 x5 use only with Joystick 68 02985 boots Hard drive bay keys 68 03337 Fingertip boots 68 03347 Wireless run stop 68 01059 X20 USB jo
7. ystick cable 68 03533 RA Small Checkerboard 68 03823 M a li E Fan filters 68 02802 x5 VA nag Soe ESD strap 68 03024 Base station recovery DVD User manual ROS PR2 Training Workshod0 PR2 Tool Kit 1 1 4 sq male to 1 4 hex male 68 07075 1 4 sq drive to 1 4 hex female 68 07077 3 8 sq drive to 1 4 hex female 68 07078 LOmm 3 8 drive socket 68 07079 13mm 1 4 drive socket 68 07085 13mm 3 8 drive socket 68 07086 Counter balance adjustment rod 10mm hex 68 07034 Counter balance adjustment tube 68 07147 Ratchet head blits 1 5mm 68 07040 2 5mm 68 07042 Driver bits 1 5mm 68 07062 2 0mm 68 07063 2 5mm 68 07064 2 5mm ball end 68 07059 3 0mm 68 07065 4 0mm 68 07066 5 0mm 68 07067 Needle nose pliers 68 07112 Diagonal Cutter 68 07146 Zip ties 68 07150 ROS PR2 Training Workshod I PR2 Tool Kit 2 7 32 1 4 drive socket 68 07090 3 8 drive short extension 68 07116 3 8 drive wobble extension 68 07118 1 4 drive quick release extension 68 07140 1 4 drive flex joint 68 07141 1 4 drive ratchet wrench 68 07138 3 8 drive ratchet wrench 68 07139 Needle Nose pliers 68 07112 Mountz wrench and driver tools Fixed 0 34Nm wrench with 1 5mm right angle Allen 68 07025 Fixed 0 68Nm wrench 68 07028 Fixed 2 0Nm wrench 68 07029 1 4 hex ratchet head 68 07033 for use with 0 68 ans 2 0 Nm wrenches 0 20 1 20 Nm torque tool 68 07014 small 1 6 Nm Torque tool 68 07015 la
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