8/9/2019 PR2 Overview

1/8

Toolkit Doc1 OverviewMay 19, 2010

8/9/2019 PR2 Overview

2/8

2

Robot OverviewFront View

Head Tilt Stage Panels

Gripper

Head Pan Stage

Panels

Fore Arm

Upper Arm

Shoulder

Covers

Center

Trim

FrontBottom

Panel

Top Front

Panel

Base Skirt

Front

Laser

Sled

Front

Bellows

8/9/2019 PR2 Overview

3/8

3

Robot OverviewRear View

Head Tilt Stage Panel

Base Skirt

Rear

Fan Filter

Rear

Bottom

Panel

Rear Top

Panel

Rear

Bellows

Head Pan Stage

Panel

DC Breaker

Run Stop

Button

8/9/2019 PR2 Overview

4/8

4

Robot OverviewSide View

Head Tilt Stage Panels

Gripper

Head Pan Stage

Panels

Fore Arm

Upper Arm

Shoulder

Covers

Left

Body

Trim

Front

Bottom

Panel

Top Front

Panel

Base Skirt

Front

Laser

Sled

Front

Bellows

Rear

Bottom

Panel

Base

Skirt

Rear

Rear

Bellows

Rear Top

Panel

Hokuyo

8/9/2019 PR2 Overview

5/8

5

Robot OverviewTorque Drivers

1.36 Nm (1.4)

Red Adjustment

Nob Large

Torque Driver

Blue Adjustment

Nob Small

Torque Driver

0.34 Nm

1.58 Nm (1.6)0.68 Nm

To unlock Driver

and enable torqu

adjustment

Rotate to adjust

torque

8/9/2019 PR2 Overview

6/8

6

Robot OverviewTorque Drivers

6.34 Nm (6.3)

2.0 Nm0.8 Nm

3.17 Nm (3.2)

8/9/2019 PR2 Overview

7/8

7

Robot OverviewTitan Torque Wrench

Adjustment

locked

11.0 Nm

Adjustmentunlocked

Rotate

8/9/2019 PR2 Overview

8/8

8

Robot OverviewLoctite

Only a small

Patch of Loctite

is needed.

Old Loctite.