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KIT_004 iCub upper arm covers preventing skin breakage

Upgrade Kit

Warning

The 3D taxels points are not yet available for both left_arm and right_arm limbs of iCub robots mounting this UKit (iCub HW version 2.7). For this reason, skinManager may not work as expected. This information will be added in the near future. Instead, the 2D positions of the new patches have been defined such that iCubSkinGui can work just fine.

IIT alias (used as ordering reference) KIT_004
Applicable to iCub
Available onboard since iCub SN 043 (August 2020)
# Cod Alias Rev UM Qta Description
1 14589 MKIT_004 Pieces 1 iCub, Upper arms, fix skin breaking
2 14767 WKIT_004 Pieces 1 iCub2, Upperarms, fix skin breaking (wiring parts)
3 14768 EKIT_004 Pieces 1 iCub2, Upperarms, fix skin breaking (electronics)

Content material MKIT_004

Pieces Alias Description Cod. Wgst
1 RC_IIT_017_P_023 Right UA UPPER COVER iCub2.5 5253
1 RC_IIT_017_P_022 Left UA UPPER COVER iCub2.5 5252
4 V2-8--_-_ISO7045_CZ CROSS RECESSED SCREW ISO7045 M2X8 Z 2444
2 V2-6--_-_ISO7045_CZ CROSS RECESSED SCREW ISO7045 M2X6 Z 2439
2 V2-6--_-_ISO7046-1_CH CROSS RECESSED SCREW ISO7046-1 M2X6 H 2440
4 V3-10--_-_ISO7046-1_CH CROSS RECESSED SCREW ISO7046-1 M3X10 H 3461

Content material WKIT_004

Pieces Alias REV Description Cod. Wgst
1 10301 iCub2.5, subassembly - Right Upperarm Skin Harness, wiring materials 10301
1 10273 iCub2.5, subassembly - Left Upperarm Skin Harness, wiring materials 10273

Content material EKIT_004

Pieces Alias REV Description Cod. Wgst
1 13475 iCubSkin 2.5, Right Upper Arm Skin, RUGGED Electronic boards 13475
1 13476 iCubSkin 2.5, Left Upper Arm Skin, RUGGED Electronic boards 13476

Historical review:

In previous revisions of the covers, the mini cards were organized in the shape of hexagons. This largely caused the skin patch PCB to flex and break, because the patches took the high curvature of the cover (see image).

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imagine view

To solve this problem, we reduced the number of PCBs by arranging a strip with 5 PCBs (skin patch) on the flat surface of the cover. (see image)

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imagine view

Assembly instruction.

First of all, it must be said that the electronic part of the upper arm covers is already supplied, that is, the MTB4 cards and the hexagon shape (skin) are mounted, glued and connected together. Before starting assembly, check the orientation of the covers.

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imagine view

Assembly sequence :

Perform the assembly sequence as shown in the image, keep in mind that the sequence is the same for both upper arms (Right and left)

  • First step push the cover (RC_IIT_017_P_023) inwards so as to align the attachment holes, both positions (TOP and BOTTOM), as can be seen in the image. -

    imagine view

  • Second and third step, fix the cover using the respective screws as shown in the image. This applies to both positions TOP and BOTTOM.

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imagine view

  • Fourth step, close the covers of the upper arm by pushing the Lover cover inwards in order to align the attachment holes. After that fix the covers with the respective lives as shown in the pictures. This applies to both positions TOP and BOTTOM.

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imagine view
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imagine view