Support & Service

Here you will find an overview of all of robolink® downloads.

1) What joint versions are available from igus® from stock?

2) What angular positions are possible? Dead weights? Torque?

The following list provides more basic information. This table can also be found in our catalogue.

3) How can joints be combined?

Each individual joint is equipped with draw wires. These must be guided through the joint respectively located underneath. This requirement restricts the available joint combinations. However, it is possible to combine individual articulated arms with 1 to 6 DOF, and to render a variety of kinematics. We will gladly advise you. The following diagram shows a possible combination - countless other options are available with the new RL-50-003 and RL-90-BL1 joint types!

4) What is meant by "Construction kit system"?

The underlying idea behind the robolink® construction kit is that our customers have access to individual (mechanical) components that can be used to build a robotic system. Depending on complexity and requirements, articulated arms can be configured and ordered with a range of complexities. igus® builds the arms as per customer specification and delivers ready-to-connect units. However, connecting individual joints ("as with LEGO®") is not possible.

5) Why is it not possible to simply reconfigure articulated arms without assistance?

All joints are operated with draw wires. 2 wires are needed per degree of freedom (antagonistic principle). If the wires from the upper joint (2) were to be routed through the lower joint without a guide (1), the motion of the two joints would no longer be independent from each other. In order to achieve this independence, it is necessary to decouple the wire tension of the upper joint (2) from the motions of the lower joint (1). This is accomplished with a special Bowden cable system in the opening of the lower joint (see Figure). The wires then travel independently next to each other in the connecting tubes between the joints.
When ordering multi-axis systems from igus®, all Bowden cable system elements are preassembled, and the complete system is always delivered ready to install with all wires and tubes in the specified configuration.

6) What wire travel / forces are needed to move the joints?

The point of attack of the wires in the interior of the joint is defined by the size specification:
RL-50: Effective diameter: 50 mm (Rotating and pivot motion)
RL-90: Effective diameter: 90 mm (pivot motion), or 120 mm (rotating motion)
 
The wire travel on a RL-50 joint is therefore calculated as
π x d/4 ≈ 39 mm for an angular motion of 90°
π x d/2 ≈ 79 mm for an angular motion of 180°
 
The draw wire forces (depending on the applied torque) can be up to 600 N.

7) What is included in the delivered scope for a joint?

8) What is included in the delivered scope for an articulated arm?

9) What is included in the delivered scope for a "complete system"?

Articulated joints as described in question 6), but with additional MIT drive unit, consisting of:

10) What angle sensors are in use?

The joints are equipped (as option) with incremental angle sensors from Austriamicrosystems (AS5304A). Absolute encoders are currently not technically possible. The home position is defined with a Hall sensor that is respectively located in the center of the pivot or rotational range of the joint. This means that each joint must first be "homed" when power is supplied. More information about the sensor configuration and the cable routing can be found in our documentation.
 
The encoder resolution is (different between the joints!):

11) Can articulated arms also be used in water?

Yes, the components consist primarily of plastics (PA2200), anodised aluminium, stainless steel (screws), Dyneema wires (PE), brass nipples. The sensors can be ordered in a sealed version (-SE = sealed encoder).

13) How are robolink® articulated arms controlled or manipulated?

igus® does not develop, build, and sell control components. The available extent of a robolink® system is either the articulated arm or the articulated arm with "drive unit".
Control components must be provided or procured by the customer.

14) What do I need to do to use the open source software IME (igus motion editor) from igus®?

The software is available as a free download. It is a graphical user interface that can be used to program and store simple motions. A contour control (or inverse kinematics) is not included.

15) What materials are in use?

Joints: Polyamide PA 2200 components, V2A screws, bearing rings made from hard anodised aluminium, alternatively: iglidur® J or VA.
 
Connecting tubes: Anodised aluminium, alternatively: FGC or CFC.
 
Ropes:Dyneema® wires, brass end nipples.

16) What grippers can be used?

"Any conceivable" gripper can be combined with our articulated arms. Due to the relatively low total load-bearing capacity of the system, the grippers should be as light as possible. A wide range of light-weight pneumatic grippers are available, e.g. from SCHUNK, FESTO or FIPA. Frequently, the use of pneumatics is not desirable. Electrical grippers need to be used in this case Very light weight electrical grippers are available from GIMATIC, SCHUNK or SOMMER (however, these are all significantly more costly than simple pneumatic grippers). Since 2013, igus® has been offering simple plastic grippers, where the electrical motor is positioned in the robolink® tube. Gripper pads can also be optionally customised in this case.

17) What do joints or "systems" cost?

All prices for individual joints and systems can be found in our catalogue. As a rule of thumb: a "complete system" with motors, gears, housing, joints, and sensors costs a little more than EUR 1,000.00 per axis. E.g. approx. EUR 6,000.00 for a 6 DOF system. An articulated arm WITHOUT motors (but with sensors) is approximately half (e.g. EUR 500.00 / axis). Example:

18) Where can I get more information?