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Discussion in 'CNC Machines and Conversions' started by emilvv, Jul 20, 2009.
Interesting CNC image BLOG ..
Interesting robot arm on there. I'd like to see the controller for it.
That looks like an XR-2 model. The XR-1 model had a rod in the hand linkage instead of the rectangular bit. Also, if I remember right, on the XR-1 there was only one chain going from shoulder to elbow. The other side was cable just like from elbow to wrist.
The XR-3 enclosed the encoders in plastic cylinders (originally milled aluminum). The reason why is because if you set the arm near a sunlit window and turned on the controller, the arm would fold into what we called the 'fetal position'. The exposed sensors were IR sensitive.
The controller for the XR-1 was an open PCB that sat on top of two 12V power supplies. One supply for +12V and the other for -12V.
The XR-2 and XR-3 used an enclosed PCB. The controller for the XR-2 used an 8748 processor. A later controller used an 80188 processor and a bunch of 8051 to control the motors.
Then came the XR-4. Instead of milled open links, it used solid plate. It was blue anodized aluminum. It used the Mark-IV controller that had the 80188 processor.
The arms were/are produced by Rhino Robots. I worked for them from 1982 to 1990. I was Chief Engineer and designed the Mark III and Mark IV controllers as well as several accessories. When I left we had just starting making small slant bed lathes. Also did a wire cutter (owner saw an opportunity) and helped on the Scorpion - a mobile robot.
At the time, they were in Champaign Illinois. You can find them on the internet but it looks like they're in Ohio now. Still selling the same units!?
I still have an XR-1 arm. The controller is long gone though.
If you remember the movie 'Short Circuit', as the move begins, you'll see an XR picking up a phone.
I thought I saw an XR-4 in the opening credits of Bill Nye's show the other day, the solid-plated, blue anodized one. Only a little of it visible above the end-effector, but I think it said Rhino...
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