Dane.Kouttron
[1.2.10] IBM 7575 Arm Development
[In Progress]
| What? Aquired an IBM 7575 Robotic arm, sans controller. Its awesome, but far from operational. The following page documents building controllers and feedback systems to get the arm connected via parallel to Linux CNC (EMC2) There are two thetas and one z axis, all of which will be driven by EMC2 for the purposes of small scale model milling |
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| DISASSEMBLY
DOCUMENTATION |
STEPPER MOTOR INSTALL | DRIVER HARDWARE | EMC2 INTERFACE | IMAGE DIRECTORY |
Disassembly Documentation
| Descriptor | Image | |
| Image
from IBM 7575 manual excerpt,
borrowed from (LINK) Arm disassembly and motor position data. |
 (click
to enlarge)
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| Front
z axis assembly image. Arm is
driven by Brush DC motor thru wormgear setup. Optical encoder is used
for positioning feedback. IR diode is visible on optical encoder. |
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| Dc Motor for Z axis and encased optical encoder assembly in case. Brush points are encased by outer black covers. Red / Blk wires are directly wired to brush DC motor |  |
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| Z
Axis dc brush motor and encoder assembly. Motor removed, encoder
assembly to be replaced onto newer stepper motor drive. Note optical disk assembly and visible LED for optic feedback. Motor assembly is attached via belt to worm-drive for z axis movement. Damping device appeared damaged and was removed. Stepper motor 'locking' will be used instead |
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| Theta 2 drive point, including drive motor (far right) belt assembly for harmonic drive. |  |
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| DISASSEMBLY
DOCUMENTATION |
STEPPER MOTOR INSTALL | DRIVER HARDWARE | EMC2 INTERFACE | IMAGE DIRECTORY |
Dane.Kouttron
Rensselaer Polytechnic Institute
Electrical & Electrical Power
631.978.1650
