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Description

This tutorial describes the unpacking and assembly process of a Baxter Manufacturing Robot and any purchased accessories.

Required Hardware

Required Tools

  • Pallet jack
  • 1/2-in wrench
  • 17-mm wrench
  • 27-mm wrench (pedestal only)
  • Flat-head screwdriver

Optional Hardware

  • Electric Parallel Gripper Kit (EPG)
  • Vacuum Gripper Kit (VG)
  • Mobile pedestal
  • Hoist/lift (with chain) capable of lifting 165 lb

Choose Appropriate Workspace

It is important to choose an appropriate location for Baxter to reside where the arms can fully stretch without risk of collision.

Please see Baxter's reachable workspace documentation: Baxter's workspace guidelines for help choosing a location.

Unpack Contents

  • Using a pallet jack, move the robot, pedestal and all accessories to an area close to the workspace. Ensure that there is adequate room to open all boxes and crates and unpack the contents.
  • Open the robot crate first in order to gain access to the Start Here box. Use a flathead screwdriver to open the metal tabs on the crate. Remove the top of the crate first followed by the sides.
  • Cut the straps on the pedestal crate and remove the lid.
  • Locate the power cable and E-Stop in the Start Here box and ensure they are accessible. See the section below for a list of contents included in the Start Here box.
  • Unpack the pedestal first if one was purchased with the robot. See the next section for the complete pedestal unpacking and setup instructions.
Note: Please confirm all parts ordered are include in the shipment, and all packaging is intact.  
Note: The pedestal weighs 134 lb, and Baxter weighs 165 lb. Follow proper lift guidelines 
and restrictions for these weights.

"Start Here" Box Contents

Included in the crate with Baxter is a box labeled "Start Here". This box includes the basic user guide for Baxter along with the items listed below.

  • US Power Cord
  • E-Stop Button with 10-foot Cable
  • Two Carabiners (Used for Assembling Baxter with a Lift)
  • 4 Piece Landmark Kit
  • EULA and Warranty Documentation
  • Alternate Mounting Information Document

Below is an image of the "Start Here" box contents:

Start Here Box.png

Landmarks

The Robot Positioning System uses landmarks placed in the workspace. A landmark is a design or mark placed in the field of view of an imaging system to be used as a point of reference. It’s similar in some ways to a registration mark used in printing to keep the different images aligned. Rethink Robotics currently supplies landmarks on anodized aluminum with an adhesive backing. These landmarks are placed on the surface of modules in the work area.

Landmark 1.jpg

  Note:Landmark numbers 1-4 are included with the purchase of a robot and 5-16 can be purchased as an additional accessory.

Pedestal Setup

(Optional) Applicable if using the standard Baxter pedestal.


Please follow the pedestal installation guide which provides instructions for unpacking, choosing a pedestal height, and assembly.

Mounting Baxter

Pedestal: If mounting Baxter on a pedestal, please follow the mounting Baxter on a pedestal instructions


Alternative Surface: If mounting Baxter on another surface, please follow the mounting Baxter on an alternative surface

Connect E-Stop/Power

The E-Stop and Power cord can be found in the "Start Here" Box.

Connect panel bare.png


Plug E-Stop into connector on robot waist (I/O Port). Use flat head screwdriver to fasten.

  NOTE: E-Stop MUST be plugged into the robot and disabled for robot to work.


Plug Baxter into a voltage supply source. The operating voltage range for the Baxter robot is 100-240 VAC, 50-60 Hz, 6A.


Manage cords using cable channel and snap cable cover in place.

Leveling Baxter

After Baxter is assembled and mounted, please follow the Leveling Baxter Procedure prior to calibration in order to achieve optimal robot performance during task operation.

Power On

Congratulations! You have now set up your Baxter Manufacturing Robot Hardware.


Please power on the robot by pressing the power button on Baxter's back panel. You'll know that Baxter is fully booted when you see the green "halo" lights on Baxter's head and the Baxter's face on the screen:

Face.png

Note: At this point Baxter will be enabled and the arms will have come out of their 'tucked' position and into their 'Welcome Home' position.

Video

Description

This tutorial describes the unpacking and assembly process of a Sawyer Manufacturing Robot and any purchased accessories.

Required Hardware

Required Tools

  • Pallet jack
  • Flat-head screwdriver (pedestal only)
  • 24mm Socket wrench (pedestal only)
  • 6mm Hex key

Optional Hardware

  • Electric Parallel Gripper Kit (EPG)
  • Vacuum Gripper Kit (VG)
  • Mobile pedestal
  • Mounting plate

Choose Appropriate Workspace

It is important to choose an appropriate location for Sawyer to reside where the arms can fully stretch without risk of collision.

Please see Sawyer's reachable workspace documentation: Sawyer's workspace guidelines for help choosing a location.

Unpack Contents

See the Setting Up Sawyer video at the bottom of this page for more information and video instructions. Refer also to the Sawyer Setup Guide located in the accessories box.

  • Using a pallet jack, move the robot, pedestal and all accessories to an area close to the workspace. Ensure that there is adequate room to open all boxes and the crate and unpack the contents.
  • Open the accessories box in order to obtain the Setup Guide.
  • Open the robot and controller boxes and set them aside in preparation for mounting the robot and controller.
  • Locate the power, communication, and display cables in the accessories box and ensure they are accessible. See the section below for a list of contents included in the accessories box.
  • Unpack the pedestal first if one was purchased with the robot. See the next section for the complete pedestal unpacking and setup instructions.
Note: Please confirm all parts ordered are include in the shipment, and all packaging is intact.
Note: The pedestal base weighs 169 lbs., and Sawyer weighs 42 lbs.. Follow proper lifting guidelines 
and restrictions for these weights.

Accessories Box Contents

Content List

More information coming soon!

Landmarks

The Robot Positioning System uses landmarks placed in the workspace. A landmark is a design or mark placed in the field of view of an imaging system to be used as a point of reference. It is similar in some ways to a registration mark used in printing to keep the different images aligned. Rethink Robotics currently supplies landmarks on anodized aluminum with an adhesive backing. These landmarks are placed on the surface of modules in the work area.

Landmark 1.jpg

  Note:Landmark numbers 1-4 are included with the purchase of a robot and 5-20 can be purchased as an additional accessory.

Pedestal Setup

(Optional) Applicable when using the standard Sawyer pedestal.

Refer to the Sawyer Setup Guide located in the accessories box and the video at the bottom of this page for more information.

  Note:  Please contact Rethink Robotics Support for a PDF copy of the Sawyer Setup Guide.

Instructions

Required Tools:

  • 24mm Socket Wrench
  • Flathead Screwdriver

Instructions:

  1. Using a flathead screwdriver, pry up each of the metal tabs on top edge of the pedestal crate and remove the cover from the crate.
  2. Using the same technique, remove one of the longer sides of the pedestal crate.
  3. Raise the leveling feet until they clear the supports, about 3 cm (1 in).
  4. Roll out the pedestal base. Pedestal weighs 77 kg (169 lbs.)
  5. Lock wheels at he back of the pedestal.
  6. Open the largest of the three cardboard boxes in the pedestal crate and remove the 2 threaded rods.
  7. Remove the column from the box and place the column on the base while aligning the notch.
  8. Open the second largest of the three cardboard boxes and remove the handlebar.
  9. Place the handlebar on top of the column with the flat side away from the notch in the column and base.
  10. Insert the threaded robs into the two large holes in the handlebar while ensuring the washer remains in place.
  11. Tighten the rods using the 24mm socket wrench.

Mounting Sawyer

Standard Pedestal

Sawyer Mounting to Handlebar.PNG

  1. Carefully lift the robot arm out of box 1. Avoid lifting Sawyer by the head. Arm weighs 19 kg (42 lbs).
  2. At the base of the arm are 7 screw holes and 1 dowel hole. Place the arm on the pedestal, aligning the dowel pin hole first.
  3. Hold the arm in place and insert the screws into the holes at the base of the arm.
  4. Use a 6mm hex key to tighten the 7 screws to 16 Nm.

Alternate Surface

Please see the Alternate Mounting page for more information.

Controller Setup

 Notes:
 Power Requirements: 100-240 VAC, 47-63 Hz, 4A MAX
 Pneumatic Line Requirement: 60-90 PSI
 Air Must be Filtered and Oil-Free
  1. Remove the controller from box 2 and place upside down while keeping the foam on the top of the controller for protection.
  2. Obtain the controller and power cables from the accessories box.
  3. If mounting to the standard pedestal, feed the controller cable and display cable through the back of the controller stand.
  4. Plug the cables into the controller and ensure they are secure.
  5. Plug the power cord into the controller and ensure that the cable is secure and latched. Determine which direction the power cord will be fed in order to be routed to the nearest outlet. Feed the power cable through one of the controller stands if necessary.
  6. If mounting to the standard pedestal, set the controller upright on the back of the pedestal with the door facing away from the pedestal column. Using a 5mm hex key, insert and tighten the 4 provided mounting screws.
  7. Connect and secure the controller and display cables to the robot. If using a standard pedestal, remove the cable cover from the column, tuck in the cables, and replace the cover to keep the cables in place.

Power On

Congratulations! You have now set up your Sawyer Manufacturing Robot Hardware. Power on the robot by pressing the power button on Sawyer's controller. Sawyer is fully booted when the green condition light appears on Sawyer's head and the eyes on the screen are awake. At this point Sawyer will be enabled. The arm will require manual or automatic homing prior to operation.

Sawyer Head with Awake Eyese.PNG


Video

Next Step

Calibration