diff --git a/.github/workflows/gh-pages.yml b/.github/workflows/gh-pages.yml new file mode 100644 index 000000000..52e1ab895 --- /dev/null +++ b/.github/workflows/gh-pages.yml @@ -0,0 +1,44 @@ +name: GitHub Pages + +on: + push: + branches: + - 'master' + +jobs: + docs: + name: "Deploy" + runs-on: ubuntu-latest + + steps: + - uses: actions/checkout@master + - name: Dependencies + run: | + sudo apt update + sudo apt install -y python3-wheel python3-setuptools + pip3 install --user mkdocs mkdocs-material pymdown-extensions + echo "::set-env name=PATH::${HOME}/.local/bin:$PATH" + + - name: Configure Git + run: | + git config --global push.default upstream + git config --global user.name "GitHub Actions" + git config --global user.email "actions@github.com" + git remote set-url origin https://x-access-token:${{ secrets.GITHUB_TOKEN }}@github.com/${{ github.repository }}.git + + - name: Build Mkdocs + run: | + mkdocs build + + - name: Create and prepare gh-pages anew + run: | + git checkout --orphan gh-pages + rm -R `ls -A | grep -v -E "^(.git|site)$"` + mv site/* ./ + rm -Rf site + + - name: Commit and push + run: | + git add . + git commit -m "publish site" + git push --force --set-upstream origin gh-pages \ No newline at end of file diff --git a/.gitignore b/.gitignore new file mode 100644 index 000000000..d97e10063 --- /dev/null +++ b/.gitignore @@ -0,0 +1 @@ +site \ No newline at end of file diff --git a/LICENSE b/LICENSE new file mode 100644 index 000000000..74211817a --- /dev/null +++ b/LICENSE @@ -0,0 +1,29 @@ +BSD 3-Clause License + +Copyright (c) 2020, iCub Tech +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/README.md b/README.md index 5950ef28c..4e0108857 100644 --- a/README.md +++ b/README.md @@ -1,13 +1,4 @@ -# mkdocs tests -This repository contains tests for mkdocs. - -see https://icub-tech-iit.github.io/documentation/mkdocs/thedocs/site - -and: https://github.com/icub-tech-iit/documentation/wiki - - - - - - +iCub Tech Docs +============== +Browse our [online documentation 🌐](https://icub-tech-iit.github.io/documentation). diff --git a/_config.yml b/_config.yml deleted file mode 100644 index c4192631f..000000000 --- a/_config.yml +++ /dev/null @@ -1 +0,0 @@ -theme: jekyll-theme-cayman \ No newline at end of file diff --git a/mkdocs/tendons_icub/docs/GIF/icub-rotate.gif b/docs/assets/icub-rotate.gif similarity index 100% rename from mkdocs/tendons_icub/docs/GIF/icub-rotate.gif rename to docs/assets/icub-rotate.gif diff --git a/mkdocs/upkt/capacitors/docs/video/ICUB_FBBBBDBA .mp4 b/docs/assets/icub-rotate.mp4 similarity index 100% rename from mkdocs/upkt/capacitors/docs/video/ICUB_FBBBBDBA .mp4 rename to docs/assets/icub-rotate.mp4 diff --git a/docs/icub.md b/docs/icub.md new file mode 100644 index 000000000..070928e78 --- /dev/null +++ b/docs/icub.md @@ -0,0 +1,28 @@ +
+ +
+ +# iCub Documentation +First draft of iCub documentation. + +## iCub Tendons +[iCub Tendons](./icub_tendons/index.md) contains a technical description of the tendons of the iCub, comprising how to assemble the steel cables and how to change broken parts. + +## The Upgrade Kits +The design of our robot evolves in time. We have been asking ourselves how to propagate the mechanical or hardare enhancements we design to older robots. Our solution is to define upgrade kits that can be applied to specific robots. + +An upgrade kit is a ... plastic bag with mechanical parts, hardware boards, screws, wires, tendons and whatever it is required to perform a physical upgrade of the robots. And surely the instructions. + +Here are our first kits: + +### iCub Upgrade Kit: hand +[iCub Hands Support UpKit](./upgrade_kits/hands/support.md) describes how to perform an upgrade to the hands of iCub. The upgrade consists of replacing the supports of the mais board and on a new cover. + +### iCub Upgrade Kit: eyes support +[iCub Eyes Support UpKit](./upgrade_kits/eyes/support.md) describes how to perform an upgrade to iCub so that the supports of the eyes make them more stable. + +### iCub Upgrade Kit: torso capacitors +[iCub Torso Capacitors UpKit](./upgrade_kits/eyes/support.md) describes how to perform an upgrade to iCub so that the capacitors placed in its back don't get loose. + +### iCub Upgrade Kit: differential neck pulley +[iCub Differential Neck Pulley UpKit](./upgrade_kits/eyes/support.md) describes how to perform an upgrade of the neck of iCub so that the tendon does not easily slip away. diff --git a/mkdocs/tendons_icub/docs/cabling_V2.md b/docs/icub_tendons/cabling_V2.md similarity index 99% rename from mkdocs/tendons_icub/docs/cabling_V2.md rename to docs/icub_tendons/cabling_V2.md index 6abf9e129..4c3648872 100644 --- a/mkdocs/tendons_icub/docs/cabling_V2.md +++ b/docs/icub_tendons/cabling_V2.md @@ -6,7 +6,7 @@ | Left Forearm V2 | Right Forearm V2 | | ----------------- | ---------------- | -| | | +| | | | in **CAD** repository (maybe CREO): RC_TLR_007_A_001_LEFT_FOREARM.ASM + RC_TLR_012_A_001_LEFT_HAND.ASM | in **CAD** repository (maybe CREO): RC_TLR_010_A_001_RIGHT_FOREARM.ASM + RC_TLR_011_A_001_RIGHT_HAND.ASM | ## 1 WHAT DO I NEED TO CABLE diff --git a/mkdocs/tendons_icub/docs/favicon.ico b/docs/icub_tendons/favicon.ico similarity index 100% rename from mkdocs/tendons_icub/docs/favicon.ico rename to docs/icub_tendons/favicon.ico diff --git a/mkdocs/tendons_icub/docs/GIF/4RMS-V1.gif b/docs/icub_tendons/gif/4RMS-V1.gif similarity index 100% rename from mkdocs/tendons_icub/docs/GIF/4RMS-V1.gif rename to docs/icub_tendons/gif/4RMS-V1.gif diff --git a/mkdocs/tendons_icub/docs/GIF/4RMS-V2.gif b/docs/icub_tendons/gif/4RMS-V2.gif similarity index 100% rename from mkdocs/tendons_icub/docs/GIF/4RMS-V2.gif rename to docs/icub_tendons/gif/4RMS-V2.gif diff --git a/mkdocs/tendons_icub/docs/GIF/lower_arm/L-4RM-V1.gif b/docs/icub_tendons/gif/lower_arm/L-4RM-V1.gif similarity index 100% rename from mkdocs/tendons_icub/docs/GIF/lower_arm/L-4RM-V1.gif rename to docs/icub_tendons/gif/lower_arm/L-4RM-V1.gif diff --git a/mkdocs/tendons_icub/docs/GIF/lower_arm/L-4RM-V2.gif b/docs/icub_tendons/gif/lower_arm/L-4RM-V2.gif similarity index 100% rename from mkdocs/tendons_icub/docs/GIF/lower_arm/L-4RM-V2.gif rename to docs/icub_tendons/gif/lower_arm/L-4RM-V2.gif diff --git a/mkdocs/tendons_icub/docs/GIF/lower_arm/R-4RM-V1.gif b/docs/icub_tendons/gif/lower_arm/R-4RM-V1.gif similarity index 100% rename from mkdocs/tendons_icub/docs/GIF/lower_arm/R-4RM-V1.gif rename to docs/icub_tendons/gif/lower_arm/R-4RM-V1.gif diff --git a/mkdocs/tendons_icub/docs/GIF/lower_arm/R-4RM-V2.gif b/docs/icub_tendons/gif/lower_arm/R-4RM-V2.gif similarity index 100% rename from mkdocs/tendons_icub/docs/GIF/lower_arm/R-4RM-V2.gif rename to docs/icub_tendons/gif/lower_arm/R-4RM-V2.gif diff --git a/mkdocs/tendons_icub/docs/GIF/lower_arm/cable_in_hole.gif b/docs/icub_tendons/gif/lower_arm/cable_in_hole.gif similarity index 100% rename from mkdocs/tendons_icub/docs/GIF/lower_arm/cable_in_hole.gif rename to docs/icub_tendons/gif/lower_arm/cable_in_hole.gif diff --git a/mkdocs/tendons_icub/docs/GIF/lower_arm/knot_video.gif b/docs/icub_tendons/gif/lower_arm/knot_video.gif similarity index 100% rename from mkdocs/tendons_icub/docs/GIF/lower_arm/knot_video.gif rename to docs/icub_tendons/gif/lower_arm/knot_video.gif diff --git a/mkdocs/tendons_icub/docs/hand_cabling_V1.md b/docs/icub_tendons/hand_cabling_V1.md similarity index 99% rename from mkdocs/tendons_icub/docs/hand_cabling_V1.md rename to docs/icub_tendons/hand_cabling_V1.md index d99fc978a..a0e33ac6e 100644 --- a/mkdocs/tendons_icub/docs/hand_cabling_V1.md +++ b/docs/icub_tendons/hand_cabling_V1.md @@ -8,7 +8,7 @@ | Left Forearm V1 | Right Forearm V1 | | --------------------------------------------------------- | --------------------------------------------------------- | -| | | +| | | ## 1 Basic Principles diff --git a/mkdocs/tendons_icub/docs/img/HAND_WRIST_V2/ICUB_Tendon_Left_Right.png b/docs/icub_tendons/img/HAND_WRIST_V2/ICUB_Tendon_Left_Right.png similarity index 100% rename from mkdocs/tendons_icub/docs/img/HAND_WRIST_V2/ICUB_Tendon_Left_Right.png rename to docs/icub_tendons/img/HAND_WRIST_V2/ICUB_Tendon_Left_Right.png diff --git a/mkdocs/tendons_icub/docs/img/HAND_WRIST_V2/L-dorso-view.png b/docs/icub_tendons/img/HAND_WRIST_V2/L-dorso-view.png similarity index 100% rename from mkdocs/tendons_icub/docs/img/HAND_WRIST_V2/L-dorso-view.png rename to docs/icub_tendons/img/HAND_WRIST_V2/L-dorso-view.png diff --git a/mkdocs/tendons_icub/docs/img/HAND_WRIST_V2/L-f-abd-wiring.png b/docs/icub_tendons/img/HAND_WRIST_V2/L-f-abd-wiring.png similarity index 100% rename from mkdocs/tendons_icub/docs/img/HAND_WRIST_V2/L-f-abd-wiring.png rename to docs/icub_tendons/img/HAND_WRIST_V2/L-f-abd-wiring.png diff --git a/mkdocs/tendons_icub/docs/img/HAND_WRIST_V2/L-f-abd-wiring1.png b/docs/icub_tendons/img/HAND_WRIST_V2/L-f-abd-wiring1.png similarity index 100% rename from mkdocs/tendons_icub/docs/img/HAND_WRIST_V2/L-f-abd-wiring1.png rename to docs/icub_tendons/img/HAND_WRIST_V2/L-f-abd-wiring1.png diff --git a/mkdocs/tendons_icub/docs/img/HAND_WRIST_V2/L-f-abd-wiring2.png b/docs/icub_tendons/img/HAND_WRIST_V2/L-f-abd-wiring2.png similarity index 100% rename from mkdocs/tendons_icub/docs/img/HAND_WRIST_V2/L-f-abd-wiring2.png rename to docs/icub_tendons/img/HAND_WRIST_V2/L-f-abd-wiring2.png diff --git a/mkdocs/tendons_icub/docs/img/HAND_WRIST_V2/L-f-abd-wiring3.png b/docs/icub_tendons/img/HAND_WRIST_V2/L-f-abd-wiring3.png similarity index 100% rename from mkdocs/tendons_icub/docs/img/HAND_WRIST_V2/L-f-abd-wiring3.png rename to docs/icub_tendons/img/HAND_WRIST_V2/L-f-abd-wiring3.png diff --git 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a/mkdocs/tendons_icub/docs/img/wrist/Tendons_wrist_right_back.png b/docs/icub_tendons/img/wrist/Tendons_wrist_right_back.png similarity index 100% rename from mkdocs/tendons_icub/docs/img/wrist/Tendons_wrist_right_back.png rename to docs/icub_tendons/img/wrist/Tendons_wrist_right_back.png diff --git a/mkdocs/tendons_icub/docs/img/wrist/Tensioner_description.png b/docs/icub_tendons/img/wrist/Tensioner_description.png similarity index 100% rename from mkdocs/tendons_icub/docs/img/wrist/Tensioner_description.png rename to docs/icub_tendons/img/wrist/Tensioner_description.png diff --git a/mkdocs/tendons_icub/docs/img/wrist/Tensioner_screws.png b/docs/icub_tendons/img/wrist/Tensioner_screws.png similarity index 100% rename from mkdocs/tendons_icub/docs/img/wrist/Tensioner_screws.png rename to docs/icub_tendons/img/wrist/Tensioner_screws.png diff --git a/mkdocs/tendons_icub/docs/img/wrist/Thumb_oppose_wrapping.png b/docs/icub_tendons/img/wrist/Thumb_oppose_wrapping.png similarity index 100% rename from mkdocs/tendons_icub/docs/img/wrist/Thumb_oppose_wrapping.png rename to docs/icub_tendons/img/wrist/Thumb_oppose_wrapping.png diff --git a/mkdocs/tendons_icub/docs/img/wrist/Thumb_pulley.png b/docs/icub_tendons/img/wrist/Thumb_pulley.png similarity index 100% rename from mkdocs/tendons_icub/docs/img/wrist/Thumb_pulley.png rename to docs/icub_tendons/img/wrist/Thumb_pulley.png diff --git a/mkdocs/tendons_icub/docs/img/wrist/Wiring_motor_tendons.png b/docs/icub_tendons/img/wrist/Wiring_motor_tendons.png similarity index 100% rename from mkdocs/tendons_icub/docs/img/wrist/Wiring_motor_tendons.png rename to docs/icub_tendons/img/wrist/Wiring_motor_tendons.png diff --git a/mkdocs/tendons_icub/docs/index.md b/docs/icub_tendons/index.md similarity index 100% rename from mkdocs/tendons_icub/docs/index.md rename to docs/icub_tendons/index.md diff --git a/mkdocs/tendons_icub/docs/lower_arm.md b/docs/icub_tendons/lower_arm.md similarity index 85% rename from mkdocs/tendons_icub/docs/lower_arm.md rename to docs/icub_tendons/lower_arm.md index 0b9d0427f..bf16d999d 100644 --- a/mkdocs/tendons_icub/docs/lower_arm.md +++ b/docs/icub_tendons/lower_arm.md @@ -37,7 +37,7 @@ Let's describe the functionality of those motors: | Left Forearm V1 | Right Forearm V1 | | --------------------------------------------------------- | --------------------------------------------------------- | -| | | +| | | Please follow this [**link**](lower_arm_V1.md) to reach the HOWTO page to repair the **Version 1** of the Lower Arm. @@ -51,6 +51,6 @@ Please follow this [**link**](lower_arm_V1.md) to reach the HOWTO page to repair | Left Forearm V2 | Right Forearm V2 | | --------------------------------------------------------- | --------------------------------------------------------- | -| | | +| | | Please follow this [**link**](lower_arm_V2.md) to reach the HOWTO page to repair the **Version 2** of the Lower Arm. \ No newline at end of file diff --git a/mkdocs/tendons_icub/docs/lower_arm_V1.md b/docs/icub_tendons/lower_arm_V1.md similarity index 98% rename from mkdocs/tendons_icub/docs/lower_arm_V1.md rename to docs/icub_tendons/lower_arm_V1.md index 6ca005717..d073f5b40 100644 --- a/mkdocs/tendons_icub/docs/lower_arm_V1.md +++ b/docs/icub_tendons/lower_arm_V1.md @@ -6,7 +6,7 @@ | Left Forearm V1 | Right Forearm V1 | | --------------------------------------------------------- | --------------------------------------------------------- | -| | | +| | | @@ -58,14 +58,14 @@ The minimum requirement to start recabling: | | STEP BY STEP GUIDE FOR A GOOD KNOT | |---|---| ||Start by cutting one piece of 40cm from the cable IITCODE 2391.
Make a knot at one extremity.| -||use 2 pliers to close it hard. The plier closest to the knot is just opened-free to let the cable to run over it but is here to block the knot, the second one pull the cable to tighten the knot. Place the pliers on the same side, in order to not damage the cable.| +||use 2 pliers to close it hard. The plier closest to the knot is just opened-free to let the cable to run over it but is here to block the knot, the second one pull the cable to tighten the knot. Place the pliers on the same side, in order to not damage the cable.| ||drop a tear of glue on the knot and dry it.
**REMOVE** the excess with a tissue - double check that the knot is perfectly dry before to proceed.| || cut the excess of cable | || FINISHED!!! | | |Insert the knot until it remains inside the socket of the pulley| |---|:-:| -||| +||| diff --git a/mkdocs/tendons_icub/docs/lower_arm_V2.md b/docs/icub_tendons/lower_arm_V2.md similarity index 96% rename from mkdocs/tendons_icub/docs/lower_arm_V2.md rename to docs/icub_tendons/lower_arm_V2.md index 633ef1b8d..b74d7a809 100644 --- a/mkdocs/tendons_icub/docs/lower_arm_V2.md +++ b/docs/icub_tendons/lower_arm_V2.md @@ -6,7 +6,7 @@ | Left Forearm V2 | Right Forearm V2 | | --------------------------------------------------------- | --------------------------------------------------------- | -| | | +| | | ### 1.1 Rules of Thumb for a good start: @@ -30,7 +30,7 @@ The answer is as follow: | **distal joint** (Thumb, Index, Middle, Ring or Pinkie) | **NOT** necessary | | **every other joint** (all proximal, fingers abduction and Thumb oppose ) | **MANDATORY** | -Please refer to this following [**link**](remove_V2.md) to get know HOWTO disconnect the Lower Arm V2. +Please refer to this following [**link**](remove.md#2-lower-arm-v2) to get know HOWTO disconnect the Lower Arm V2. ## 2 Distal Joints @@ -86,7 +86,7 @@ The minimum requirement to start re-cabling distal joints is: | | STEP BY STEP GUIDE FOR A GOOD KNOT | | ------------------------------------------------------- | ------------------------------------------------------------ | | | Start by cutting one piece of 40cm from the cable IITCODE 2391.
Make a knot at one extremity. | -| | Use 2 pliers to close it hard. The plier closest to the knot is just opened-free to let the cable to run over it but is here to block the knot, the second one pull the cable to tighten the knot. | +| | Use 2 pliers to close it hard. The plier closest to the knot is just opened-free to let the cable to run over it but is here to block the knot, the second one pull the cable to tighten the knot. | | | Drop a tear of glue on the knot and dry it.
**REMOVE** the excess with a tissue - double check that the knot is perfectly dry before to proceed. | | | Cut the excess of cable. | | | FINISHED!!! | @@ -101,7 +101,7 @@ The minimum requirement to start re-cabling distal joints is: | pictures | step by step guide | | --- | --- | -|

| 1. Insert the knot until it remains inside the socket of the pulley | +|

| 1. Insert the knot until it remains inside the socket of the pulley | | | 2. Just insert the cable inside the hole (red circle) | |
| 3. The cable should get **OUT** from here - BE PATIENT!!! | | | 4. The cable will then run inside the sheath until it reaches the base of the thumb | @@ -121,7 +121,7 @@ The minimum requirement to start re-cabling distal joints is: | Pictures | step by step guide | | --- | --- | -|
| 1. Insert the knot until it remains inside the socket of the pulley | +|
| 1. Insert the knot until it remains inside the socket of the pulley | | | 2. Just insert the cable inside the hole (red circle) | |
| 3. The cable should get **OUT** from here - BE PATIENT!!! | | |4. The cable will then run inside the sheath until it reaches the base of the Middle or Index (view from the palm side) | diff --git a/mkdocs/tendons_icub/docs/neck.md b/docs/icub_tendons/neck.md similarity index 85% rename from mkdocs/tendons_icub/docs/neck.md rename to docs/icub_tendons/neck.md index 8aa7bdd39..0d9601c75 100644 --- a/mkdocs/tendons_icub/docs/neck.md +++ b/docs/icub_tendons/neck.md @@ -9,7 +9,6 @@ Here is the table showing the visual differences in between the First version of The second release of the neck has 2 tendons and two differential joints to actuate the first 2 DoFs of the neck compared to the 2 serial joints of the previous version of the neck (V1). **It makes it more robust, powerful and reliable.** -[ **ITA**](italiano.md#position009a) ## 1 Mechanical assembly of the 2 tendons: @@ -32,13 +31,13 @@ Prepare 2 cables with the components and specifics described below: **Head CABLE “A”**: IITCODE: 5965 -- Alias: RC_IIT_019_G_018. -![testa icubV2](../img/neck/ICUB_HEAD_Cable_A.png) +![testa icubV2](./img/neck/ICUB_HEAD_Cable_A.png) **Head CABLE “B”**: IITCODE: 5964 -- Alias : RC_IIT_019_G_017. - ![testa icubV2](../img/neck/ICUB_HEAD_Cable_B.png) + ![testa icubV2](./img/neck/ICUB_HEAD_Cable_B.png) @@ -56,7 +55,7 @@ Note that the “X” marks in the picture above is the area where the Teflon co | | | | | **Tightening System** | 2 nut screws M2.5x2.5 + Plate | 2 screws M2x3 | -### 2.2 Rules of Thumb (RoT) for a Perfect START:[ **ITA**](italiano.md#position009b) +### 2.2 Rules of Thumb (RoT) for a Perfect START: **Blocking** >Always block the cable in the peeled off Teflon section. @@ -84,14 +83,13 @@ Note that the “X” marks in the picture above is the area where the Teflon co 5- Check that the cable firmly remains in position even if pulling the cable out. -![plate_trick](../img/neck/magnet_plate.png) +![plate_trick](./img/neck/magnet_plate.png) ### 2.3 Route Cable ”A” - ![testa icubV2](../img/neck/ICUB_HEAD_Wiring_front_rear_view.png) + ![testa icubV2](./img/neck/ICUB_HEAD_Wiring_front_rear_view.png) > Start with the longest part of the cable which rolls around the main pulley and turn around the pulley (2) to finally rolls around pulley (3). Use pulley **Y** to both tense and give more slack to the cable to put the crimp the head of the crimp into the lower tensioner. once tense on side of the cable simply turn around pulley (1) the other side of the cable for a ¾ turn and finally insert the crimp onto the lower tensioner of the pulley (4). -[ **ITA**](italiano.md#position010) ### 2.5 Final Tensioning -![ICUB_HEAD_wiring_tension](../img/neck/ICUB_HEAD_wiring_tension.png) +![ICUB_HEAD_wiring_tension](./img/neck/ICUB_HEAD_wiring_tension.png) > Adjust the tension of both cables with the 4 tensioners. 1 and 2 for **Cable A**, 3 and 4 for **Cable B** -[ **ITA**](italiano.md#position012) + diff --git a/mkdocs/tendons_icub/docs/remove.md b/docs/icub_tendons/remove.md similarity index 98% rename from mkdocs/tendons_icub/docs/remove.md rename to docs/icub_tendons/remove.md index 7dfc05c99..ea69b9551 100644 --- a/mkdocs/tendons_icub/docs/remove.md +++ b/docs/icub_tendons/remove.md @@ -1,6 +1,6 @@ # DISCONNECTION V1 AND V2 -## 1 LOWER ARM V1 +## 1 LOWER ARM V1 ### 1.1 DO I NEED TO DISCONNECT THE LOWER ARM VERSION 1? @@ -32,7 +32,7 @@ It depends the problem you encounter, Please refer to the table below to find ou -## 2 LOWER ARM V2 +## 2 LOWER ARM V2 ### 2.1 DO I NEED TO DISCONNECT THE LOWER_ARM V2? diff --git a/mkdocs/tendons_icub/docs/shoulder_elbow.md b/docs/icub_tendons/shoulder_elbow.md similarity index 92% rename from mkdocs/tendons_icub/docs/shoulder_elbow.md rename to docs/icub_tendons/shoulder_elbow.md index 691c22d54..9b9a3e527 100644 --- a/mkdocs/tendons_icub/docs/shoulder_elbow.md +++ b/docs/icub_tendons/shoulder_elbow.md @@ -1,6 +1,6 @@ # Shoulder & Elbow -This chapter describes the wiring procedure for the cables of the shoulders and elbows, for every version of iCub made from version 1 to version 2.5, either in mounting phase or during a maintenance.\ [ **ITA**](italiano.md#position001) +This chapter describes the wiring procedure for the cables of the shoulders and elbows, for every version of iCub made from version 1 to version 2.5, either in mounting phase or during a maintenance. @@ -42,7 +42,7 @@ Gli IITCODE dei cavi da 1 a 6 sono da 4758 a 4763. Vengono realizzati mediante c |1896|IIT_003_P_007_00 |RIGHT PULLEY - CRIMP COVER| -> For Cable 7-8-9-10 measures see above (respectively IITCODE from 13736 to 13739). **Alternatively you could build your own, made from U7191215 (IITCODE 2389) and 2 crimps (IITCODE 3877) BUT note that it is really important to shrink down to 4mm the crimp that will be inside the tensioner holder** \ [ **ITA**](italiano.md#position003) +> For Cable 7-8-9-10 measures see above (respectively IITCODE from 13736 to 13739). **Alternatively you could build your own, made from U7191215 (IITCODE 2389) and 2 crimps (IITCODE 3877) BUT note that it is really important to shrink down to 4mm the crimp that will be inside the tensioner holder** 0.63 mm | | | -| T1 | Total length: 50[mm] | S0 | Exits the motor case from the hole near the motor (H2). Enters the finger in the hole which is internal to the palm (H3) | -| T2 | | | | -| T3 | Total length: 57[mm] | S2 | Exits the motor case from the hole near the ball bearing (H1). Enters the finger in the hole which external to the palm (H4) | -| T4 | | | | - ->1. Take a piece of non coated cable (more or less 40cm). ->2. Pass the cable trough the hole (H) in the pulley. Optionally you can block the cable on the pulley putting a drop of cyanoacrylic glue into the hole. ->3. Twine the cable on the pulley. The number of turns around the pulley has to be decided on the basis of the entrance and exit holes (H1 and H2): the cable should enter the holes tangentially. ->4. Insert the cable extremities, E1 and E2, in holes H1 and H2 respectively. ->5. Pass E1 trough the tube T1. Pass E2 trough T2. Position the extremities of the tube on the sockets of the holes H1 and H2 in the motor support. Note: the tube extremity should be inserted correctly in its socket. ->6. Pass E1 trough the tensioner and insert the tube T1 extremity in one of the tensioner socket. Pass E2 trough the tensioner and insert the tube T2 extremity in one of the tensioner socket. - -7. Pass E1 trough the tube T3. Pass E2 trough T4. -8. Pass E1 trough H3. Pass E2 trough H4. Position the extremities of T3 and T4 on the sockets in correspondence of H3 and H4. -9. Put the thumb opposition in its fully extended limit. Twine E1 around the pulley P1. Pass the cable ending E1 trough the hole H6 and exit from H5. Tension the cable by pulling E1 strongly. Check that all the tube extremities are inside their sockets. Pass the cable ending E2 trough the hole H7 and exit from H5. Tension the cable pulling E2. Note: if inserting the cable into H6 and H7 results difficult, the thumb should be removed from the palm by unscrewing S3 and S4. Additionally after this operation the pulley P1 can be made more accessible by rotating it around the spindle Pin1. -10. Maintain the thumb opposition in its fully extended limit. Pull E2 (the part of the tendon actuating the thumb opposition extension) and block the cable on the joint with the screw S2. Note: do not block the cable with the screw S1. -11. Increase the cable tension with the help of the motor. First try understand in which direction the motor should rotate to extend the thumb. Rotate the motor in this direction by applying an increasing voltage up to 5V. Since the thumb was already fully extended you should not observe any evident movement. The only effect of this procedure is to increase the tension of one side of the cable. Maintain the 5V until the system is stationary. -12. Pull E1 in order to give tension to the other side of the cable. While pulling block the cable with S1. -13. Remove the power supply from the motor thus observing the tension distributing equally on both sides of the cable. - - - -
-
-
-
-
-
-
-
-
-
- - - - -
-
- - - - -> -> ->S2 makes a turn around the pulley going out from motor cable, ball bearing side, get into the thumb, external hole, magnet side -> ->S2 goes out from the thumb external side -> ->S0 goes out from the thumb internal side - -
- -
-
- - - -!!! note - Cable turns around the pulley with the thumb in the straight position (half thumb path) must be 1 and 1 in order to permit the two opposite movements. - -### 4.2 hand_finger: SxFAb and DxFAb - - - -| | | **Label** | **Notes** | -| ----- | --------------------------------- | --------- | --------- | -| Motor | 1B2M3 (SxFAb) and 2B2M3 (DxFAb) | | | -| Cable | Carl Stahl CG077063 | | | -| | | | | -| T1 | 38(mm) | T0 | | -| T2 | 27(mm) | T2 | | -| T3 | 38(mm) | T3 | | -| T4 | 44(mm) | T4 | | - - - - - ->1. Take a piece of non coated cable (more or less 40cm). ->2. Pass the cable trough the hole (H) in the pulley. Optionally you can block the cable on the pulley putting a drop of cyano-acrylic glue into the hole. ->3. Twine the cable on the pulley. The number of turns around the pulley has to be decided on the basis of the entrance and exit holes (H1 and H2): the cable should enter the holes tangentially. ->4. Insert the cable extremities, E1 and E2, in holes H1 and H2 respectively. ->5. Pass E1 trough the tube T1. Pass E2 trough T2. Position the extremities of the tube on the sockets of the holes H1 and H2 in the motor support. Note: the tube extremity should be inserted correctly in its socket. ->6. Pass E1 trough the tensioner and insert the tube T1 extremity in one of the tensioner socket. - -7. Pass E1 trough the tube T3. -8. Pass E1 trough H3. Position the extremity of T3 on the sockets in correspondence of H3. -9. Twine E1 around the pulley P1. Pass the cable ending E1 trough the hole H7 and exit from H8. Block the cable on the pulley with the screw S9. Note: if passing trough H7 and H8 is complicated, unscrew S1 and S5 so as to remove the finger from the palm. After this operation the pulley can be made more accessible by rotating it around the pin Pin1. -10. Pass E2 trough H4. Position the extremity of T2 on the sockets in correspondence of H4. -11. Twine E2 around the pulley P2. Pass the cable ending E2 trough the hole H9 and exit from H10. Block the cable on the pulley with the screw S10. Note: if passing trough H9 and H10 is complicated, unscrew S4 and S8 so as to remove the finger from the palm. After this operation the pulley can be made more accessible by rotating it around the pin Pin2. -12. Twine E2 around the pulley P3. -13. Twine E2 around the pulley P4. Pass the cable ending E2 trough the hole H11 and exit from H12. Block the cable on the pulley with the screw S11. Note: if passing trough H9 and H10 is complicated, unscrew S3 and S7 so as to remove the finger from the palm. After this operation the pulley can be made more accessible by rotating it around the pin Pin3. -14. Pass E2 trough H5. -15. Pass E2 trough the tube T4. Position the extremity of the tube on the socket of the hole H5. Note: the tube extremity should be inserted correctly in its socket. -16. Pass E2 trough H6. Position the extremity of the tube on the socket of the holes H6. -17. Twine E2 around the pulley P1. Pass the cable ending E2 trough the hole H13 and exit from H14. Block the cable on the pulley with the screw S12. Note: if passing trough H13 and H14 is complicated, unscrew S1 and S4 so as to remove the finger from the palm. After this operation the pulley can be made more accessible by rotating it around the pin Pin1. -18. Unscrew all the screws blocking the cable on the pulleys (S9, S10, S11 and S12). Note that this operation can be done only at a specific configuration of the fingers At this configuration the screws are accessible thanks to suitable holes on the palm. -19. Tension the cable E1 by pulling the cable ending. Check that the tube is inside its sockets at H1 and H3. Block the cable with the screw S9. -20. Tension the cable E2 by pulling the cable ending. Check that the tube is inside its sockets at H4, H5 and H6. Block the cable with the screw S10, S11 and S12. - - - - - -!!! TIP - - - Tensioning the cable is very important. Even when all the screws are not tight, it may results difficult to tension the cable in all its parts. This is due to the sharp edges of the pulley which do not allow a uniform distribution of the tension. - - - -!!! TIP - For the Finger abductions always start from the index - -| | | -| ---- | ---- | -|| -|| -| | | - -### 4.3 thumb_proximal: SxThPrx and DxThPrx - - - -!!! TIP - (6+S)/(6+L) ---> close ---> finger side --> hole ball bearing side - - - (6-S)/(6-L) ---> open ---> forearm sude --> hole motor side - - 6+ close in clockwise sense - - 6- open in anti-clockwise sense - - Turn around the pulley: - 2 turns ball bearing side - - 1 turn motor side - - - - -| Motor | 1B3M1 (SxThPrx) and 2B3M1 (DxThPrx) | **Label** | **Notes** | -| ----- | ------------------------------------- | --------- | ------------------------------------------------------------ | -| Cable | Carl Stahl CG077063 | | | -| | | | | -| T1 | 74(mm) | 6+S | Exits the motor case from the hole near the ball bearing (H1) | -| T2 | 74(mm) | 6-S | Exits the motor case from the hole near the motor (H2) | -| T3 | 124(mm) | 6+L | Enters the finger in the hole near the other fingers(H3) | -| T4 | 124(mm) | 6-L | Enters the finger in the hole near the wrist (H4). | - - - ->1. Take a piece of non coated cable (more or less 40cm). ->2. Pass the cable trough the hole (H) in the pulley. Optionally you can block the cable on the pulley putting a drop of cyanoacrylic glue into the hole. ->3. Twine the cable on the pulley. The number of turns around the pulley has to be decided on the basis of the entrance and exit holes (H1 and H2): the cable should enter the holes tangentially. ->4. Insert the cable extremities, E1 and E2, in holes H1 and H2 respectively. ->5. Pass E1 trough the tube T1. Pass E2 trough T2. Position the extremities of the tube on the sockets of the holes H1 and H2 in the motor support. Note: the tube extremity should be inserted correctly in its socket. ->6. Pass E1 trough the tensioner Te1 and insert the tube T1 extremity in one of the tensioner socket. Pass E2 trough the tensioner Te2 and insert the tube T2 extremity in one of the tensioner socket. - -7. Pass E1 trough the tube T3. Pass E2 trough T4. -8. Pass E1 trough H3. Pass E2 trough H4. Position the extremities of T3 and T4 on the sockets in correspondence of H3 and H4. -9. Twine the cable E1 around the pulley P1 (see detailed picture for the tendon path) and enter the hole H5 with the cable end E1 and exit from H7. -10. Twine the cable E2 around the pulley P1 (see detailed picture for the tendon path) and enter the hole H6 with the cable end E2 and exit from H8. -11. Pull the extremity E1 and check that all the tubes are inside their sockets. Tie in a knot at the level of the hole H7. Rotate the motor in a clock wise manner (see picture in section “RULES TO BE FOLLOWED”) so as to close the finger till its hardware limit. In order to increase the cable tension rotate the motor with an external power supply (more or less 5V) always in a clock wise direction. -12. Pull the extremity E2 and check that all the tubes are inside their sockets. Tie in a knot at the level of the hole H8. This knot should be done as close as possible to the hole H8. -13. Remove the external power supply. - -!!! note - For proximal cablings it needs to mark with a suitable pen the cable most internal in the finger (palm opposite side). Then leave the cable and make a knot. Then you must pull the cable (the finger will be closed) and you can make the knot on the other cable nearest the palm, without marking with the pen. - - - - - - - ->PROXIMAL THUMB -> ->1B3M1 (left hand - 4-23) and 2B3M1 (right hand 4-24) are related the motor for the proximal thumb - - - - - - - ->DISTAL THUMB -> ->The sheath has a path that is external to the pillar that fix the palm, exit cable/sheat from the motor - -### 4.4 Thumb_distal: SxThDst and DxThDst - - - -| Motor | 1B3M2 (SxThDst) and 2B3M2 (DxThDst) | **Label** | **Notes** | -| ----- | ------------------------------------- | --------- | ------------------------------------------------------------ | -| Cable | U7194561 Carl Stahl | | | -| | | | | -| T1 | 132(mm) | 4 | Exits the motor case from the hole inside the forearm (H1). | - - - -Take a piece of coated cable (more or less 40cm). - ->1. Tie in a knot at the extremity E2 of the cable. - -2. Pass the cable trough the hole (H) in the pulley (P). -3. Pass the cable trough the hole H1 of the motor support. Position the knot at the extremity E2 on its socket S1 which is positioned on the pulley P. -4. Pass E1 trough the tube T1. Note: the tube extremity should be inserted correctly in its socket. -5. Pass E1 trough the hole H2. Position the tube extremity on its socket in H2. -6. Perform a complete 360 deg turn around the pulley P1 (see the detailed picture). -7. Pass E1 trough the hole H3 and exit trough the hole H4. -8. Perform a complete 360 deg turn around the pulley P2 (see the detailed picture). -9. Pass E1 trough the hole H5 and exit trough the hole H6. Note: the hole H6 is on a piece of metal that was designed to be mounted with strain gauges in order to measure the cable tension. -10. Pull the extremity E1 and be sure that all tubes extremity are all inside their sockets. -11. Tie in a knot at the extremity E1 as close as possible to the hole H6. -12. Rotate the motor and check that the finger extension works correctly. Note: sometimes the finger extension does not work properly because of the cable friction in correspondence of the pulleys P1 and P2. - -!!! TIP - The knot of the finger proximal joint movement may increase the friction in correspondence of the cable at the position where the cable exits the hole H2. Always check that this is not the case. - The joint can be moved by rotating the motor either in a clockwise or in a counter clock wise direction. However, only one of the two directions will correspond to a correct alignment of the cable with the hole H1. Always check that the cable is working properly (see pictures below: gray cable=correct, red cable= wrong) and that the motor rotates in the correct direction to close the finger(green=correct closure rotation, red = wrong closure rotation). - The motor housing has two different holes (H1 and H1bis) which can be potentially used. Choose the one that will not be closed by the forearm support when the motor will be mounted. - - - - - - - - - - - - - -### 4.5 index_proximal: SxIndPrx and DxIndPrx - -!!! TIP - (8+S)/(8+L) ---> close ---> palm side hole --> hole ball bearing side - - - (8-S)/(8-L) ---> open ---> opposite pam hole side --> hole motor side - - 8+ close in clockwise sense - - 8- open in anti-clockwise sense - - Turn around the pulley: - 2 turns ball bearing side - - 1 turn motor side - - - -| Motor | 1B3M3 (SxIndPrx) and 2B3M3 (DxIndPrx) | **Label** | **Notes** | -| ----- | --------------------------------------- | --------- | ------------------------------------------------------------ | -| Cable | Carl Stahl CG077063 | | | -| | | | | -| T1 | 80(mm) | 8+S | Exits the motor case from the hole near the ball bearing (H1) | -| T2 | 53(mm) | 8-S | Exits the motor case from the hole near the motor (H2) | -| T3 | 125(mm) | 8+L | Enters the finger in the hole close to the palm side(H3) | -| T4 | 140(mm) | 8-L | Enters the finger in the hole close to the back of the hand side(H4). | - - - -### 4.6 index_distal: SxIndDst and DxIndDst - - - -| Motor | 1B4M0 (SxIndDst) and 2B4M0 (DxIndDst) | **Label** | **Notes** | -| ----- | --------------------------------------- | --------- | ------------------------------------------------------------ | -| Cable | U7194561 Carl Stahl | | | -| | | | | -| T1 | 140(mm) | 5 | Exits the motor case from the hole inside the forearm (H1). | - - - -### 4.7 middle_proximal: SxMidPrx and DxMidPrx - -!!!TIP - - (7+S)/(7+L) ---> close ---> palm side hole --> hole ball bearing side - - (7+L)/(7-L) ---> open ---> opposite pam hole side --> hole motor side - - 7+ close in clockwise sense - - 7- open in anti-clockwise sense - - Turn around the pulley: - 2 turns ball bearing side - - 1 turn motor side - -| Motor | 1B4M1 (SxMidPrx) and 2B4M1 (DxMidPrx) | **Label** | **Notes** | -| ----- | --------------------------------------- | --------- | ------------------------------------------------------------ | -| Cable | Carl Stahl CG077063 | | | -| | | | | -| T1 | 75(mm) | 7+S | Exits the motor case from the hole near the ball bearing (H1) | -| T2 | 60(mm) | 7-S | Exits the motor case from the hole near the motor (H2) | -| T3 | 125(mm) | 7+L | Enters the finger in the hole close to the palm side(H3) | -| T4 | 143(mm) | 7-L | Enters the finger in the hole close to the back of the hand side(H4). | - - - - - - - - - - -### 4.8 middle_distal: SxMidDst and DxMidDst - - -| Motor | 1B4M2 (SxMidDst) and 2B4M2 (DxMidDst) | **Label** | **Notes** | -| ----- | --------------------------------------- | --------- | ------------------------------------------------------------ | -| Cable | U7194561 Carl Stahl | | | -| | | | | -| T1 | 135(mm) | 3 | Exits the motor case from the hole inside the forearm (H1). | - - - -Questa nota sotto non ha senso!!! - -!!!note - Middle and Pinkie - - - Unique path through the big motor - - The two cables (middle and pinkie) pass through the same pulley - making both 1 turn. The cable that exit from the little internal - pulley is the middle one, the other that exit from the external - little pulley is the pinkie one. - - -### 4.9 pinkie: SxRngLit and DxRngLit - - - -| Motor | 1B4M3 (SxRngLit) and 2B4M3 (DxRngLit) | **Label** | **Notes** | -| ----- | ------------------------------------------------------------ | --------- | ------------------------------------------------------------ | -| Cable | Carl Stahl CG077063 (slider movement) U7194561 Carl Stahl (from slider to fingers) | | | -| | | | | -| T1 | 60(mm) | 0-S or 0- | Exits the motor case from the hole closer to the motor. Enters the hole in the slider near the hand (H5) | -| T2 | 73(mm) | 0+S | Enters the hole in the slider near the elbow (H4) | -| T3 | 80(mm) | 0+L | Exits the motor case from the hole close to the ball bearing. | -| T4 | 112(mm) | 2 | Exits from the slider (H10) and enters the finger which is closer to the hole. | -| T5 | 112(mm) | 9 | Exits from the slider (H10) and enters the finger which is closer to the hole. | - ->This join differs from the others since its movement is realized with a slider. The motor rotates so as to move the slider (clockwise rotations correspond to moving the slider proximally, i.e. closer to the elbow). The slider pulls a couple of wires so as to close the ring and little fingers. - - - ->Let's first describe how to mount the cables that will move the slider mounted on the forearm. - ->1. Take a piece of non coated cable (more or less 40cm). ->2. Pass the cable trough the hole (H) in the pulley. Optionally you can block the cable on the pulley putting a drop of cyanoacrylic glue into the hole. ->3. Twine the cable on the pulley. The number of turns around the pulley has to be decided on the basis of the entrance and exit holes (H1 and H2): the cable should enter the holes tangentially. ->4. Insert the cable extremities, E1 and E2, in holes H1 and H2 respectively. ->5. Pass E1 trough the tube T1. Pass E2 trough T2. Position the extremities of the tube on the sockets of the holes H1 and H2 in the motor support. Note: the tube extremity should be inserted correctly in its socket. ->6. Pass E1 trough the tensioner Te1 and insert the tube T1 extremity in one of the tensioner socket. - -7. Pass E1 trough the tube T3. -8. Pass E1 trough H3 and H4. Pass E2 trough H5. Position the extremities of T3 and T4 on the sockets in correspondence of H4 and H5. -9. Pass E1 trough H6 and E2 trough H7. -10. Pull the extremity E1 and check that all the tubes are inside their sockets. Tie in a knot (on the cable side E1) at the level of the hole H6. Rotate the motor in a clock wise manner so as to move the slider closer to the elbow. In order to increase the cable tension rotate the motor with an external power supply (more or less 5V) always in a clock wise direction. -11. Pull the extremity E2 and check that all the tubes are inside their sockets. Tie in a knot at the level of the hole H7. This knot should be done as close as possible to the hole H8. -12. Remove the external power supply. - - - ->Let's now describe how to set up the cables that will pull the tendons that close the fingers thanks to the slider movements. - ->1. Take a piece of coated cable (more or less 15cm). Tie in a knot at one extremity. Pass the other extremity (E1) trough the hole H8. and pull it so as to move the knot on H8. -- Take a second piece of coated cable. Tie in a knot at one extremity. Pass the other extremity (E2) trough the hole H9. and pull it so as to move the knot on H9. ->2. Pass E1 trough the hole H10. -- Pass E2 trough the hole H11. ->3. Insert E1 trough the tube T4. Position the tube extremity on the socket in H10. --Insert E2 trough the tube T5. Position the tube extremity on the socket in H11. - - - ->Let's now restrict to one of the two fingers (either pinkie or ring). Similar operations should be repeated for the other finger. - - - ->1. Pass E1 trough the hole H12. Position the tube extremity on its socket in H12. ->2. Perform a complete 360 deg turn around the pulley P1 (see the detailed picture). - -3. Pass E1 trough the hole H13 and exit trough the hole H14. -4. Perform a complete 360 deg turn around the pulley P2 (see the detailed picture). -5. Pass E1 trough the hole H15 and exit trough the hole H16. -6. Perform a complete 360 deg turn around the pulley P3 (see the detailed picture). -7. Pass E1 trough the hole H17 and exit trough the hole H18. Note: the hole H18 is on a piece of metal that was designed to be mounted with strain gauges in order to measure the cable tension. -8. Pull the extremity E1 and be sure that all tubes extremity are all inside their sockets. -9. Tie in a knot at the extremity E1 as close as possible to the hole H16. -10. Rotate the motor and check that the finger extension works correctly. - -!!!TIP - Before connecting the sheath to the support insert and exit the cable, otherwise after this operation would be more complicated - - - - - - - -## 5. Table of cables lengths - -| Joint | Finger closure guide length[mm] [Symbol +] | Finger aperture guide length[mm] [Symbol -] | | | | | -| -------------------------- | ------------------------------------------ | ------------------------------------------- | ----------------------------------- | ----------------------- | ----------- | ----------- | -| | Without tensioner | With tensioner (10mm) | Without tensioner | With tensioner (10mm) | | | -| Thumb proximal (Num. 6) | (6+) 208 | (6+L) 124 | (6+S) 74 | (6-) 209 | (6-L) 124 | (6-S) 74 | -| Index proximal (Num. 8) | (8+) 213 | (8+L) 125 | (8+S) 80 | (8-) 208 | (8-L) 140 | (8-S) 60 | -| Middle proximal (Num. 7) | (7+) 205 | (7+L) 125 | (7+S) 75 | (7-) 208 | (7-L) 143 | (7-S) 65 | -| Sleigh (Num. 0) | (0+) | (0+L) 80 (exits from the slider) | (0+S) 73 (exits from the motor) | (0- a.k.a. 0-S) 60 | | | -| Index Distal (Num. 5) | 140 | | | | | | -| Thumb Distal (Num 4) | 132 | | | | | | -| Middle Distal (Num 3) | 130 | | | | | | -| Ring Distal (Num 2) | 112 | | | | | | -| Pinkie Distal (Num 9) | 112 | | | | | | -| Finger Abduction (T4) | 44 | Diagonal holes on the motor | | | | | -| Finger Abduction (T0) | 38 | Diagonal holes on the motor | | | | | -| Finger Abduction (T3) | 38 | Diagonal holes on the motor | | | | | -| Finger Abduction (T2) | 27 | Diagonal holes on the motor | | | | | -| Thumb abduction (S0) | 50 | Holes in the back of the palm | | | | | -| Thumb abduction (S2) | 57 | Holes in the back of the palm | | | | | - -## 6. Wrist cabling description - - - -Nori Francesco - -Genova 28th January 2008 - - - -TOOLS TO BE USED - -\- coated steel wire (Cod U7194561 Carl Stahl) - -\- set of small screwdrivers - -\- cyanoacrylic glue - -\- steel wire cutter - -\- set of hexagonal screw drivers - -\- power grippers - -\- tensioners (open cable version: CAD code ??????????) - - - - -> In this document we describe how to cable the wrist. The wrist movements (roll, pitch and yaw) are achieved with three motors located in the forearm. The wrist roll (or pronosupination) is achieved directly, i.e. without any cable driven joint. - - - -> The wrist pitch and yaw are instead cable driven. The actuation is achieved with two motors which jointly collaborate to the pitch and yaw degrees of freedom. The actuation is differential with the following relationship: - - - -> wrist_pitch = M1 - -> wrist_yaw = M1 + M2 - - - -> where M1 and M2 are the angular positions of the the two motors contributing to the movements. We have: - - - ->**RIGHT_ARM** - ->M1: angular position of 2B2M1 - ->M2: angular position of 2B2M2 - - - ->**LEFT_ARM** - ->M1: angular position of 1B2M1 - ->M2: angular position of 1B2M2 - - - -### 6.1 (wrist_pitch and wrist_yaw): SxWrPy and DxWrPy - -| **WrPy** | | -| -------- | --------------------------------- | -| Motor | 1B2M1 (SxWrPy) and 2B2M1 (DxWrPy) | -| Cable | Carl Stahl CG077063 | -| | | - ->Pictures: - ->**Joint pulley (with holes visible).** - ->1. Take a piece of uncoated cable (more or less 20 cm). Let its extremities be E1 and E2. ->2. Pass the cable trough the hole (H) in the pulley. ->3. Block the cable on the hole H with some cyanoacrylic glue. ->4. Twine the cable on the pulley. The number of turns around the pulley has to be decided on the basis of the entrance and exit pulleys (P1 and P2): the cable should be tangential to the pulleys. ->5. Block the cable on the motor with some tape. This will allow you to maintain the cable positioned on the pulley. ->6. Take a piece of cable. Tie in a knot at one extremity. Take the other extremity (E3) and pass it trough the hole H1 on the pulley P3. Exit the pulley trough the hole H2. ->7. Take a tensioner and remove the left-hand (LHS1) and the right-hand screws (RHS1). ->8. Remove E1 from the tape that blocks it on the motor. ->9. Pass E3 trough the hole in LHS1. Pass E1 through the hole in RHS1. ->10. Tie in a knot (KN1) on E1. This knot should be positioned so as to have the tensioner in the middle of the admissible range of movements. ->11. Tie in a knot (KN3) on E3. This knot should be positioned taking into account the length of the tensioner. ->12. Twine the cable E3 on the pulley P3 (see the picture). Screw LHS1 and RHS1 on the tensioner. ->13. Take a piece of cable. Tie in a knot at one extremity. Take the other extremity (E4) and pass it trough the hole H3 on the pulley P3. Exit the pulley trough the hole H4. ->14. Take a tensioner and remove the left-hand (LHS2) and the right-hand screws (RHS2). ->15. Remove E2 from the tape that blocks it on the motor. ->16. Pass E4 trough the hole in LHS1. Pass E2 through the hole in RHS1. ->17. Tie in a knot (KN2) on E2. This knot should be positioned so as to have the tensioner in the middle of the admissible range of movements. ->18. Tie in a knot (KN4) on E4. This knot should be positioned taking into account the length of the tensioner. ->19. Twine the cable E4 on the pulley P3 (see the picture). Screw LHS2 and RHS2 on the tensioner. - -!!! TIPS - - In order to increase the cable tension it is useful to unscrew the screws S1 and S2. After having completed all the described operations the cable tension can be increased by tightening the screws S1 and S2. - -| | | -| ----------------------------------------------------- | ----------------------------------------------------- | -| | | - -
- -| | | -|--|--| -| | -| | -| | | - -### 6.2 (wrist_yaw): SxWrYw and DxWrYw - -| **WrYw** | | -| -------- | --------------------------------- | -| Motor | 1B2M2 (SxWrYw) and 2B2M2 (DxWrYw) | -| Cable | Carl Stahl CG077063 | -| | | - - -1. Take a piece of uncoated cable (more or less 20 cm). Let its extremities be E1 and E2. -2. Pass the cable trough the hole (H) in the pulley. -3. Block the cable on the hole H with some cyanoacrylic glue. -4. Twine the cable on the pulley. The number of turns around the pulley has to be decided on the basis of the entrance and exit pulleys (P1 and P2): the cable should be tangential to the pulleys. -5. Block the cable on the motor with some tape. This will allow you to maintain the cable positioned on the pulley. -6. Take a piece of cable. Tie in a knot at one extremity. Take the other extremity (E3) and pass it trough the hole H1 on the pulley P3. Exit the pulley trough the hole H2. -7. Take a tensioner and remove the left-hand (LHS1) and the right-hand screws (RHS1). -8. Remove E1 from the tape that blocks it on the motor. -9. Pass E3 trough the hole in LHS1. Pass E1 through the hole in RHS1. -10. Tie in a knot (KN1) on E1. This knot should be positioned so as to have the tensioner in the middle of the admissible range of movements. -11. Tie in a knot (KN3) on E3. This knot should be positioned taking into account the length of the tensioner. -12. Twine the cable E3 on the pulley P3 (see the picture). Screw LHS1 and RHS1 on the tensioner. -13. Take a piece of cable. Tie in a knot at one extremity. Take the other extremity (E4) and pass it trough the hole H3 on the pulley P3. Exit the pulley trough the hole H4. -14. Take a tensioner and remove the left-hand (LHS2) and the right-hand screws (RHS2). -15. Remove E2 from the tape that blocks it on the motor. -16. Pass E4 trough the hole in LHS1. Pass E2 through the hole in RHS1. -17. Tie in a knot (KN2) on E2. This knot should be positioned so as to have the tensioner in the middle of the admissible range of movements. -18. Tie in a knot (KN4) on E4. This knot should be positioned taking into account the length of the tensioner. -19. Twine the cable E4 on the pulley P3 (see the picture). Screw LHS2 and RHS2 on the tensioner. - - -!!!TIPs - In order to increase the cable tension it is useful to unscrew the screws S1 and S2. After having completed all the described operations the cable tension can be increased by tightening the screws S1 and S2. - - -| | | -| ------------------------------------------------------ | ------------------------------------------------------ | -| | | - -
- -| | | -|--|--| -| | -| | -| | | - -### 6.3 wrist_yaw and wrist_pitch coupling - -| **---** | | -| ------- | ------------------- | -| Motor | -- | -| Cable | Carl Stahl CG077063 | -| | | - - ->1. Take a piece of uncoated cable (more or less 10 cm). Let its extremities be E1 and E2 ->2. Take the tensioner (Te1) out of its socket by removing the screw S1. - -3. Tie in a knot at E2. -4. Pass E1 through the hole in the tensioner Te1. Pull the cable so that the knot will block the cable. -5. Pass E1 through the hole H1 on the pulley. -6. Put S1 back in place but leave the tensioner close to H1. -7. Follow the cable path until the stopper St1. -8. Remove the stopper St1 by unscrewing S2. -9. Pull the cable and block it with the stopper St1 and with screw S2. Tie in a knot in order to prevent any cable slippage. -10. Take a piece of uncoated cable (more or less 10 cm). Let its extremities be E3 and E4 -11. Take the tensioner (Te2) out of its socket by removing the screw S3. -12. Tie in a knot at E4. -13. Pass E3 through the hole in the tensioner Te2. Pull the cable so that the knot will block the cable. -14. Pass E3 through the hole H2 on the pulley. -15. Put S3 back in place but leave the tensioner close to H2. -16. Follow the cable path until the stopper St2. -17. Remove the stopper St2 by unscrewing S4. -18. Pull the cable and block it with the stopper St1 and with screw S4. Tie in a knot in order to prevent any cable slippage. - -| | | -|--|--| -| | -| | -| | -| | | - - -## 7. Broken Tendon on iCub V1 (secondo me da rimuovere) - -### 7.1 Check Correct mounting the UPPER TENDON PART (Elbow side) - ->4.1.1. Make sure the cable is properly twined around the pulley P (red in the pic below) - - - -> 4.1.2. You might have to remove the proximal motors to have a clear view on pulley P. - -> 4.1.3. If you can assess the proper twining state around P, please skip to 6. Otherwise proceed with 4. - -> 4.1.4. To remove these motors just undo the screws shown in red below. - - - -> 4.1.5. You should now be able to get them out of the way (they will still be attached to their tendons) and get a clear view of the pulley. - - - -> 4.1.6. The cable should be tangential to the pulleys as shown below. - - - -> 4.1.7. Block the cable on the motor with some tape. This will allow you to maintain the cable positioned on the pulley - -!!! Tips - We found ear-plugs are perfect for this scope cause they can be squeezed into position and then they will keep the tendon and prevent it from moving. - - -  - -### 7.2 Gain some margin on cable tension - ->4.2.1 Undo the small nuts on both sides of the tensioner and undo the tensioner extremities until they are as long as possible (only couple of threads screwed into the body of the tensioner) - - - -!!! note - Note that RED nut and the RED extremity of the tensioner assembly are left hand-threaded (wrist side). Pay attention to the direction of turning. - ->4.2.2. Loosen the two screws that hold the motor in place. Do not remove them. - - - - -### 7.3 Replace the broken cable (wrist side) - ->4.3.1. Take a piece of cable 25 – 30 cm at least. Tie in a knot at one extremity. Drop some cyanoacrylate glue on the knot to make sure it will NOT get loose - ->4.3.2. Take the other extremity and pass it through the hole H1 on the pulley P3. Exit the pulley through the hole H2. - - - ->4.3.3 Pass the wire through the tensioner and mark with a permanent marker where the knot shall fall. This knot should be positioned taking into account the length of the tensioner. - ->4.3.4. Tight a knot and fix it using the usual drop of cyanoacrylate glue. - -> 4.3.5. The tensioner should be in the middle of the admissible range of movements. - - -### 7.4 Tight to perfection - -4.4.1. Tight the tensioner by screwing in the extremities - - - -4.4.2. Tight back in the screw that hold the motor - - - -### 7.5. Conclusion - ->If the tendon is still too lose after using all the tensioner stroke and after tightening the screws you might have to start over. To find the proper level of tension compare with the other wrist. - - diff --git a/mkdocs/tendons_icub/docs/italiano.md b/mkdocs/tendons_icub/docs/italiano.md deleted file mode 100644 index a1cc0bed9..000000000 --- a/mkdocs/tendons_icub/docs/italiano.md +++ /dev/null @@ -1,298 +0,0 @@ - - -## Spalle e gomiti - -> Il presente Capitolo descrive la procedura di cablaggio dei cavi delle spalle e dei gomiti di tutte le versioni dei Robot realizzati dalla versione 1 alla versione 2.5, sia in fase di costruzione che in fase di manutenzione - - - - - -> Gli IITCODE dei cavi da 1 a 6 sono da 4758 a 4763 rev 1. Vengono realizzati mediante cavo di acciaio U7191517 codice IIT 2390 e n. 2 crimp codice IIT 3492. Le misure sono presenti nella lista - - - - - -> Per i cavi 7-8-9-10 fare riferimento a descrizione in IITCODE 13736-7-8-9 rev 1 - - - - - - - - - - - -**Consiglio** - - - - - - - -> -> La sequenza del cablaggio dei cavi spalla è la seguente: Cavo n. (1-2) - (3-4) - (8-7) - (6-5) - - - -> Una volta cablato il cavo, nel passaggio del cavo attorno alla puleggia piccola RC_TLR_003_P_037 posizionare il copri cavo in abs (plastica) ovvero il pezzo IIT_003_P_006_00 SX - - - - - -> Per montare i cavi 5 – 6 – 7 – 8 occorre smontare il pezzo RC_TLR_003_P_013, per il quale si rende anche necessario lo smontaggio del pezzo precedente ovvero il pezzo RC_IIT_003_P_162. Successivamente bisogna creare il passaggio per i crimp dei cavi n.7 e 8 tra i pezzi RC_TLR_003_P_011 e RC_TLR_003_P_017 facendo scorrere quest’ultimo sull’albero motore verso l’esterno, in particolare come per smontarlo ma di quel tanto che permette il passaggio del crimp. Il crimp di lunghezza 4 mm dei cavi 7 e 8 va posizionato negli appositi tensionatori RC_TLR_003_P_099 presente nel pezzo RC_TLR_003_P_011. Appena passati i cavi, rimontare i pezzi in precedenza smontati ovvero RC_TLR_003_P_013 e RC_IIT_003_P_162 per il cablaggio dei cavi 5 e 6. - - - - - -> Una volta cablato il cavo, nel passaggio del cavo attorno alla puleggia piccola RC_TLR_003_P_036 posizionare il copri cavo in abs (plastica) ovvero il pezzo IIT_003_P_007_00 DX - - - - - -> Per montare i cavi 5 – 6 – 7 – 8 occorre smontare il pezzo RC_TLR_003_P_013, per il quale si rende anche necessario lo smontaggio del pezzo precedente ovvero il pezzo RC_IIT_003_P_162. Successivamente bisogna creare il passaggio per i crimp dei cavi n.7 e 8 tra i pezzi RC_TLR_003_P_011 e RC_TLR_003_P_017 facendo scorrere quest’ultimo sull’albero motore verso l’esterno, in particolare come per smontarlo ma di quel tanto che permette il passaggio del crimp. Il crimp di lunghezza 4 mm dei cavi 7 e 8 va posizionato negli appositi tensionatori RC_TLR_003_P_099 presente nel pezzo RC_TLR_003_P_011. Appena passati i cavi, rimontare i pezzi in precedenza smontati ovvero RC_TLR_003_P_013 e RC_IIT_003_P_162 per il cablaggio dei cavi 5 e 6. - - - -## Collo - - - -**Regole pratiche** - -> La seconda revisione della testa ha due tendini e un giunto differenziale per consentire i primi due DoFs del collo rispetto ai due giunti seriali di quello della versione precedente, questo rende la versione V2 più robusta, potente e affidabile - - - - - -> **Bloccaggio** -> -> Bloccare sempre il cavo nella porzione dove il rivestimento è stato rimosso - - - -> **Posizionamento** -> -> La porzione più lunga del cavo dovrebbe essere rivolta verso la parte anteriore del robot e viceversa la parte più corta verso la parte posteriore - - - -> **Releasing** -> -> Assicurarsi che tutti i tensionatori siano completamente aperti - - - - - -> **Consiglio per bloccare il cavo con il blocca-cavi** -> -> Inserire il piatto piccolo nella parte anteriore del colle e spingerlo con un piccolo utensile per posizionarlo nel mezzo della gola. Usare un magnete per sollevarlo nell'incavo della gola. In questo modo la gola è libera di ricevere il cavo. -> -> Inserire il cavo e usare i due grani (M2.5x2.5) per pressare il piatto metallico sopra il cavo -> -> Controllare che il cavo rimanga nella sua posizione anche se si tenta di tirarlo via - - - - - - - -> Iniziare dalla parte del cavo più lungo, fargli fare un ¾ di giro attorno alla puleggia (1) e poi girare attorno alla puleggia (2) per poi finire sulla puleggia (3) fino ad agganciare il crimp all’interno del tensionner. Usare la puleggia **Y** per poter recuperare più cavo per continuare l’altro lato del cavo. L’altra parte del cavo e’ tutto sommato facile da posizionare, semplicemente fare ¾ giro della puleggia (1) e agganciare il crimp dentro il tensionner della puleggia (4). - - - - - -> Eseguire nello stesso modo le instruzioni del cavo “A” ma rispettando I disegni qui sopra - - - - - -> Per finire bisogna soltanto tirare i 4 tensionatori. 1 e 2 per **Cable A** , 3 e 4 per **Cable B** - - - - - -
- -
- - - -## Torso - - ->**Cavi Torso** -> ->Il presente Capitolo descrive la procedura di cablaggio dei cavi 11 – 12 – 13 che permettono il movimento del busto del Robot, sia in fase di costruzione che in fase di manutenzione - - -> **Costruzione cavi 11-12-13-14-29** -> -> Gli IITCODE dei cavi da 11 a 14 sono da 4768 a 4771 rev 1, per il -> cavo 29 5224 rev A1 . Vengono realizzati mediante cavo di acciaio U7191517 codice IIT 2390 e n. 2 crimp codice IIT 3492. Le misure sono presenti nella lista. Ulteriori descrizioni sono fornite per la spellatura dei cavi 14 e 29 - - ->name="position015"> - - -**Procedura** - - - - -> Prendere il cavo e marcare con un pennarello la metà dello stesso e posizionarlo nell’asola presente sul pezzo RC_USAL_001_P_110 facendo combaciare la metà del cavo in precedenza segnato, con la metà della piastra di fissaggio pezzo RC_USAL_001_P_118 **(Photo N.1)**.Posizionare la piastra RC_USAL_001_P_118 sul cavo e fissatela con n. 4 viti V2_5 x 5 a testa esagonale ** (Photo N.2)** - - - ->Ruotare il cavo intorno al pezzo RC_USAL_001_P_110 avendo cura di incrociarlo attorno alla puleggia stessa, nella parte opposta alla piastra **(Foto n.3 - 4)**. - - -> ->Passare i cavi intorno alle pulegge pezzi RC_USAL_001_P_119 **(Foto n. 5 – 6)** -> - - - ->Terminare il cablaggio, posizionando i crimp negli appositi tensionatori presenti nei pezzi RC_TLR_001_P_235, aiutandovi con cacciavite a taglio **(Foto n.7 – 8)**. - - - - - -> Per portare il giunto in posizione corretta ovvero verticale per il successivo montaggio della parte di upper body, occorre ruotare contemporaneamente i motori superiori dell’anca (**Foto n.9-10)** - - - -**Procedura** - - - -> Prendere il cavo e marcare con un pennarello la metà dello stesso e posizionarlo nell’asola presente sul pezzo RC_TLR_001_P_247 facendo combaciare la metà del cavo in precedenza segnato, con la metà della piastra di fissaggio pezzo RC_TLR_001_P_247 **(Foto n.11 - 12)** - - - - - -> Posizionare la piastra RC_USAL_001_P_219 sul cavo e fissarla con n. 4 viti V2_5 x 4 a testa esagonale **(Foto n.13)**.Ruotare il cavo intorno al pezzo RC_TLR_001_P_247 avendo cura di incrociarlo attorno alla puleggia stessa, nella parte opposta alla piastra **(Foto n.14)** -> -> - - - - - -> Terminare il cablaggio, posizionando i crimp negli appositi tensionatori presenti nei pezzi RC_TLR_001_P_235, aiutandovi con cacciavite a taglio come fatto in precedenza con il cavo n.11 **(Foto n.15-16)** - - - - - -> Ultimare il cablaggio del cavo mettendolo in tiro, stringendo le viti V 3 x 12 a testa esagonale dei tensionatori **(Foto n.17 )**. - - - - - -> A questo punto il cablaggio dei cavi del waist n.11 e 12 risulta terminato e pertanto è possibile procedere con il posizionamento del upper body al di sopra dello stesso. - - - -> Prendere il cavo e marcare con un pennarello la metà dello stesso e posizionarlo nell’asola presente sul pezzo RC_TLR_001_P_243 facendo combaciare la metà del cavo in precedenza segnato, con la metà della piastra di fissaggio pezzo RC_USAL_001_P_219 **(Foto n.18 - 19)**. - - - -> Posizionare la piastra RC_USAL_001_P_219 sul cavo e fissarla con n. 4 viti V2_5 x 4 a testa esagonale **(Foto n.20)**.Ruotare il cavo intorno al pezzo RC_TLR_001_P_243 avendo cura di incrociarlo attorno alla puleggia stessa, nella parte opposta alla piastra (Foto n.26).Successivamente passare il cavo all’interno delle gole delle pulegge RC_USAL_001_P_119 **(Foto n.21)** - - - -> Terminare il cablaggio posizionando il cavo sulla puleggia RC_USAL_001_P_124, incrociando lo stesso e posizionando i crimp negli appositi tensionatori RC_USAL_001_P_131**(Foto n.22-23)**. - - - - - -**Preparazione** - -> Il cavo dovrà essere in precedenza spellato, ad una distanza di 435 mm dal crimp, per una spellatura totale di 50 mm. - - - -**Procedura** - ->Prendere quindi il cavo e posizionare la parte spellata nell’asola presente sul pezzo RC_IIT_001_P_314 centrando la stessa con la piastra RC_IIT_001_P_328 **(Foto n.24)**. - -> Prendere il cavo interno (quello destro per intenderci) ed effettuate un giro intorno alla puleggia pezzo RC_IIT_001_P_314 **(Foto n.25)**.A questo punto procedete con l effettuare un giro in senso opposto intorno alla puleggia della gamba ovvero il pezzo RC_USAL_001_P_186, inserendo i crimp negli appositi tensionatori pezzi RC_USAL_001_P_131 **(Foto n.27)**. - - - - - -##**PALO - Cavo Attacco** - -> Il presente Capitolo descrive la procedura di cablaggio del cavo del palo per attacco rapido Robot - - - - -**Procedura** ->Prendere il cavo e pozisionarlo in modo tale che il crimp s’infili nell’asola presente del pezzo RC_IIT_090_P_009 **(Foto n.29-30)**. -> - - ->Fissare il supporto del gancio, ovvero il pezzo PKWS4SLIDER con due viti 3x5 TSV, al pezzo RC_IIT_090_P_009 **(Foto n.31)** .Inserite sulla parte di cavo il pezzo RC_IIT_090_P_007 e successivamente il supporto di regolazione per una corretta chiusura pezzo RC_IIT_090_P_007 **(Foto n. 31 – 32)** - - - ->A questo punto procedete con inserire quanto sino ad ora montato nell’apposita fessura del pezzo di supporto del robot RC_IIT_090_P_005 **(Foto n.33 )**.Completate il montaggio avvitando alla parte filettata del pezzo RC_IIT_090_P_006 il pezzo RC_IIT_090_P_008 **(Foto n.34)** \ No newline at end of file diff --git a/mkdocs/tendons_icub/docs/license.md b/mkdocs/tendons_icub/docs/license.md deleted file mode 100644 index 84b81c1d9..000000000 --- a/mkdocs/tendons_icub/docs/license.md +++ /dev/null @@ -1,21 +0,0 @@ -### xxxxx - -whatever license we want to use - - - - - - - -## Revision History - -| Version | Date | Author | Comments | -| ------- | ------------ | ------------------------- | ---------------------------------- | -| 0.1 | 24 Jan 2017 | A. Spadoni | First emission | -| 0.2 | 8 Mar 2017 | A. Spadoni, A Parmiggiani | Document revision | -| 0.3 | 20 July 2017 | J. Jenvrin | For emission | -| 0.4 | 20 Feb 2019 | J. Jenvrin | Modification cabling | -| 0.5 | Sept 2019 | M. Borgagni | word to md | -| 0.6 | Oct. 2019 | J. Jenvrin | add the 2 versions of block cables | -| 0.7 | Oct. 2019 | V. Del Bono & J. Jenvrin | modify all files and creation of the over cabling for V1 and V2| \ No newline at end of file diff --git a/mkdocs/tendons_icub/docs/pdf-cabling-telerobot.md b/mkdocs/tendons_icub/docs/pdf-cabling-telerobot.md deleted file mode 100644 index 69354132f..000000000 --- a/mkdocs/tendons_icub/docs/pdf-cabling-telerobot.md +++ /dev/null @@ -1,340 +0,0 @@ -# LOWER ARM V2 CABLING - -## CAD DESIGN - -> Let's have an overview of the mechanical CAD from different view angles and their specific names on CAD assembly. - -| Left Forearm V2 | Right Forearm V2 | -| ------------------------------------------------------------ | ------------------------------------------------------------ | -| | | -| in **CAD** repository (maybe CREO): RC_TLR_007_A_001_LEFT_FOREARM.ASM + RC_TLR_012_A_001_LEFT_HAND.ASM | in **CAD** repository (maybe CREO): RC_TLR_010_A_001_RIGHT_FOREARM.ASM + RC_TLR_011_A_001_RIGHT_HAND.ASM | - -## 1 WHAT DO I NEED TO CABLE - -Here you will find the overall tables describing the necessary parts needed when routing the cables onto the 11 motors (12 motors inside the Lower Arm but just 11 are cabled) and the mandatory sheaths to be used in the correct place. - -### 1.1 Finger sheaths - -| IITCODE | Alias | Description | -| ------- | ----------- | ------------ | -| 2375 | SHEATH | Open spiral spring, inox steel AISI302, D ext= 1.6mm, D wire= 0.25mm, L = 500 mm | -| 13963 | MAZZONI_0_3-0_8-250_SS_SHEATH | Rectangular section sheath 0.3x0.8, L = 250 mm | -| 2386 | TEFLON_SHEATH | Insulating sheath, AWG22, inner dia 0,709 -0/+0,102 mm, material thickness 0,152 -0/+0,102mm, Teflon, transparent | - -!!!DANGER - inside sheath 13963 please **DO NOT (NEVER) USE** Teflon sheath!!! - -#### 1.1.1 Sheaths length & labelling - -Please refer to this table to find out which sheath you need to install at the right place and the correct label to add on top of it: - -| Finger | Typology | Label | Length (mm) | IITCODE - sheath | -| ------- | ------------ | ----------- | ----------- | ----------------- | -| Thumb | Proximal | 6+ | 185 | 13963 | -| Thumb | Proximal | 6- | 185 | 13963 | -| Thumb | Short Prox + | pict. above | 9 | 2375 | -| Thumb | Short Prox - | pict. above | 11 | 2375 | -| Thumb | Distal | N4 | 57 | 2375 `(+Teflon)` | -| Thumb | Short Dist | pict. above | 11.5 | 2375 | -| Thumb | oppose | S0 | 50 | 13963 | -| Thumb | oppose | S2 | 57 | 13963 | -| Index | Proximal | 8+ | 224 | 13963 | -| Index | Proximal | 8- | 224 | 13963 | -| Index | Distal | N5 | 105 | 2375 `(+Teflon)` | -| Middle | Proximal | 7+ | 224 | 13963 | -| Middle | Proximal | 7- | 224 | 13963 | -| Middle | Distal | N3 | 105 | 2375 `(+Teflon)` | -| Ring | Distal | N2 | 95 | 2375 `(+Teflon)` | -| Pinkie | Distal | N9 | 95 | 2375 `(+Teflon)` | -| Fingers | abduct | T0 | 90 (1) | 2375 | -| Fingers | abduct | T2 | 27 | 2375 | -| Fingers | abduct | T4 | 44 | 2375 | - -`(+Teflon) refers to the IITCODE 2386` - - - -!!! NOTE - (1) the length 90 mm of T0 comes from the previous version where there was: T0+T3+tensioner (38+38+14 mm). - -!!! WARNING - For the proximal sheath, please label BOTH the start of the sheath (base of the motor at the level of the elbow) and at the end of it. - - - -### 1.2 Finger & hand cables - -| IITCODE | Alias | Description | -| ------- | -------- | --------------- | -| 1815 | CG077063 | Stainless steel micro-cable, cable construction 7x7mm, nom. diameter 0,63mm, not coated, AISI 316 | -| 2391 | U7194561 | Stainless steel micro-cable, cable construction 7x19mm, nom. diameter 0.45mm, outer diameter 0.61mm, Polyamide coated, AISI 316 - CARL STAHL GMBH | - -#### 1.2.1 Cables length - -Please refer to this table to find out which cable you need to install at the right place: - -| Finger | Typology | Length (cm) | IITCODE - cable | -| ------- | --------- | ----------- | --------------- | -| Thumb | oppose | 50 | 1815 | -| Thumb | Proximal | 100 | 1815 | -| Index | Proximal | 100 | 1815 | -| Middle | Proximal | 100 | 1815 | -| Thumb | Distal | 40 | 2391 | -| Index | Distal | 40 | 2391 | -| Middle | Distal | 40 | 2391 | -| Ring | Distal | 40 | 2391 | -| Pinkie | Distal | 40 | 2391 | -| Fingers | Abduction | 50/60 | 1815 | - - - -## 2 HOW TO CABLE - FINGERS & HAND - -### 2.1 Proximal joints - -The 3 proximal joints : - -- Thumb -- Index -- Middle - -located here: - -| LEFT FOREARM | RIGHT FOREARM | -| ------------ | ------------- | -| | | -| | | - -are all wired with the cable 0.63mm uncoated from CARLSTAHL GmbH as per the following table: - -| IITCODE | Alias | Description | -| ------- | -------- | ------- | -| 1815 | CG077063 | Stainless steel micro-cable, cable construction 7x7mm, nom. diameter 0,63mm, not coated, AISI 316 | - -Every sheath in which the cable pass through (+ and - ) is made of: - -| IITCODE | Alias | Description | -| ------- | ----------------------------- | ----------- | -| 13963 | MAZZONI_0_3-0_8-250_SS_SHEATH | Rectangular section sheath 0.3x0.8, L = 250 mm | - -!!!DANGER - inside sheath 13963 please **DO NOT USE** Teflon sheath!!! - -!!!NOTE - IITCODE 13963 is alternative to the 4545 (old one - not in use ANYMORE) and it was introduced only for cost efficiency. - -Please follow this [link](lower_arm_V2.md#3-proximal-joints) for an extended HOWTO route the cable. - -#### 2.1.1 THUMB peculiarity - -The **THUMB** is a finger a bit particular in the wiring compared to the index and the middle because - as it is the finger with the most degrees of freedom- it needs to pass a series of pulleys at the base of it in order to add also the thumb oppose joint movement inside the articulation. - - - -The IITCODE 2375 as specification described below : - -| IITCODE | Alias | Description | -| ------- | ----- | ----------- | -| 2375 | SHEATH | Open spiral spring, inox steel AISI302, D ext= 1.6mm, D wire= 0.25mm, L = 500 mm | - -Is needed for the 3 pieces circled in red on the picture above. Here are the specs for each one of them: - -| Number | Type | Length (mm) | -| ------ | -------------- | ----------- | -| 1 | distal short | 11.5 | -| 2 | prox short (-) | 11 | -| 3 | prox short (+) | 9 | - -Please follow this [link](lower_arm_V2.md#3-proximal-joints) for an extended HOWTO route the cable. - -Once the 3 proximal joints are cabled, the lateral view of the forearm should look like the picture below. The 6 sheaths are pointed by the red arrows. - - - -### 2.2 Distal joints - -The 5 proximal joints (theoretically 5 but in practice just 4 motors need to be wired): - -- Thumb -- Index -- Middle -- Ring and Pinkie - -Located here: - -| RIGHT FOREARM | LEFT FOREARM | -| ------------------------------------------------------ | ------------------------------------------------------ | -| | | - -Are all wired with the cable 0.61mm coated from CARLSTAHL GmbH as per the following table: - -| IITCODE | Alias | Description | -| ------- | -------- | ------------------------------------------------------------ | -| 2391 | U7194561 | Stainless steel micro-cable, cable construction 7x19mm, nom. dia 0.45mm, outer dia 0.61mm, Polyamide coated, AISI 316 - CARL STAHL GMBH | - -Every sheath is made of both the following pieces: - -| IITCODE | Alias | Description | -| ------- | ----------- | ----------- | -| 2375 | SHEATH | Open spiral spring, inox steel AISI302, D ext= 1.6mm, D wire= 0.25mm, L = 500 mm | -|2386 |TEFLON_SHEATH| Insulating sheath, AWG22, inner dia 0,709 -0/+0,102 mm, material thickness 0,152 -0/+0,102mm, Teflon, transparent | - -Please follow this [link](lower_arm_V2.md#2-distal-joints) for an extended HOWTO route the cable. - - - -### 2.3 Thumb Oppose - -> To build the thumb oppose you just need 2 pieces of the sheath IITCODE 13963 - -| Label | Dimension (mm) | IITCODE - SHEATH | -| ----- | -------------- | ---------------- | -| S0 | 50 | 13963 | -| S2 | 57 | 13963 | - -!!!DANGER - inside sheath 13963 please **DO NOT USE** Teflon sheath!!! - -> And approximatively **50cm** of IITCODE 1815 to route it. - -| IITCODE | Alias | Description | -| ------- | ----------| ------------- | -| 1815 | CG077063 | Stainless steel microcable, cable construction 7x7mm, nom. dia 0,63mm, not coated, AISI 316 | -| 13963 | MAZZONI_0_3-0_8-250_SS_SHEATH | Rectangular section sheath 0.3x0.8, L = 250 mm | - -> Here is a more detail specification of where to find the 2 pieces: - -| Left Hand | Right Hand | -| ------------------------------------------------------------ | ------------------------------------------------------------ | -| | | - -Please follow this [link](wrist_hand_cabling_V2.md#22-thumb-oppose) for an extended HOWTO route the cable. - -### 2.4 Fingers Abduction - -> To build the fingers abduction you just need 3 pieces of the sheath IITCODE 2375 - -| Label | Dimension(mm) | IITCODE - SHEATH | -| ----- | ------------- | ---------------- | -| T0 | 90 | 2375 | -| T2 | 27 | 2375 | -| T4 | 44 | 2375 | - -!!!DANGER - inside sheath 2375 please **DO NOT USE** Teflon sheath!!! - -> and approximatively 50cm of IITCODE 1815 to route it. - -| IITCODE | Alias | Description | -| ------- | -------- | ------------------------------------------------------------ | -| 1815 | CG077063 | Stainless steel micro-cable, cable construction 7x7mm, nom. diameter 0,63mm, not coated, AISI 316 | -| 2375 | SHEATH | Open spiral spring, inox steel AISI302, D ext= 1.6mm, D wire= 0.25mm, L = 500 mm | - -> Here is a more detail specification of where to find the 3 pieces: - -| Left Hand | Right Hand | -| ------------------------------------------------------------ | ------------------------------------------------------------ | -| | | - -Please follow this [link](wrist_hand_cabling_V2.md#23-fingers-abduction) for an extended HOWTO route the cable. - - - -## 3 HOW TO CABLE - WRIST - -### 3.1 Wrist tendons length - -Here is the list of the 10 tendons needed to build the wrist movements: - -
- - - -
- -
- - -| Tendon | IITCODE | Length | Alias | -| ------ | ------- | ------ | ---------------- | -| 1 | 6400 | 72 mm | RC_IIT_019_G_019 | -| 2 | 6402 | 84 mm | RC_IIT_019_G_020 | -| 3 | 6404 | 101 mm | RC_IIT_019_G_021 | -| 4 | 6413 | 124 mm | RC_IIT_019_G_022 | -| 5 | 6414 | 107 mm | RC_IIT_019_G_023 | -| 6 | 6415 | 113 mm | RC_IIT_019_G_024 | -| 7 | 6416 | 112 mm | RC_IIT_019_G_025 | -| 8 | 6417 | 107mm | RC_IIT_019_G_026 | -| 9 | 6418 | 51 mm | RC_IIT_019_G_027 | -| 10 | 6419 | 43 mm | RC_IIT_019_G_028 | - -
- - -### 3.2 Construction table - -The overall cables of the wrist are all build from IITCODE 4482 (of Length defined in the table above) and 2 crimps IITCODE 4722, here is the table reporting the specifics of those pieces: - -| IITCODE | Number of pieces | Alias/Provider Code | Description | -| ------------ | ------------------------- | ----------------------------- | ------------------ | -| 4482 | 1 | CG077081 | Stainless steel microcable, cable construction 7x7mm, nom. dia 0,81mm, not coated, AISI 304 | -| 4722 | 2 | RC_TLR_010_P_100 | THIMBLE FOR CABLE 0.8mm | - - - -### 3.3 Right Forearm - Wrist motor tendons - -From the pictures below you will be able to locate and identify the 8 tendons inside the **Right Forearm** building the active part of the wrist tendons. - -
- - - - -
- -To get a more details on how to rewire them, please follow this [link](wrist_hand_cabling_V2.md#12-wrist-motor-tendons) - -### 3.4 Left Forearm - Wrist motor tendons - -From the pictures below you will be able to locate and identify the 8 tendons inside the **Left Forearm** building the active part of the wrist tendons. - -
- - - - -
- -To get a more details on how to rewire them, please follow this [link](wrist_hand_cabling_V2.md#12-wrist-motor-tendons) - - - -### 3.5 Tensioner - IITCODE 3514 - - - -To properly tense the 8 tendons of the Forearm it is mandatory to add the tensioner IITCODE 3514 - alias CAD of the assembly: RC_TLR_010_G014 - it is made by the following pieces: - -
- -| IITCODE | Revision | Alias | Description | -| ------- | -------- | ---------------- | --------------- | -| 3559 | A3 | RC_TLR_010_P_050 | TENSIONER BODY | -| 3560 | A1 | RC_TLR_010_P_046 | TENSIONER SCREW | -| 3561 | | RC_TLR_010_P_049 | LOCK NUT | -| 3562 | A1 | RC_TLR_010_P_048 | TENSIONER SCREW | -| 3563 | | RC_TLR_010_P_047 | LOCK NUT | - -
- - -### 3.6 Wrist - Passive tendons - -From the pictures below you will be able to locate and identify the 2 tendons inside both the **Right Wrist** and **Left Wrist** building the passive part of the wrist movements. - -| RIGHT WRIST | LEFT WRIST | -| ------------- | -------------- | -| | | - -To get more details on how to rewire them, please follow this [link](wrist_hand_cabling_V2.md#13-wrist-passive-tendons). \ No newline at end of file diff --git a/mkdocs/tendons_icub/docs/video/icubrotate.mp4 b/mkdocs/tendons_icub/docs/video/icubrotate.mp4 deleted file mode 100644 index e8d9f8518..000000000 Binary files a/mkdocs/tendons_icub/docs/video/icubrotate.mp4 and /dev/null differ diff --git a/mkdocs/tendons_icub/mkdocs.yml b/mkdocs/tendons_icub/mkdocs.yml deleted file mode 100644 index 1e248aa15..000000000 --- a/mkdocs/tendons_icub/mkdocs.yml +++ /dev/null @@ -1,75 +0,0 @@ -site_name: 'iCub Cabling Manual' -site_description: 'tbd' -site_author: 'We, the People of the iCub Tech' - -# Configuration -#docs_dir: 'data' -theme: - name: 'material' - palette: - # primary: blue grey - primary: orange - accent: amber - feature: - tabs: true - #favicon: - # icon: dashboard - logo: - icon: dashboard - -# Copyright -copyright: 'Copyright © 2019 Istituto Italiano di Tecnologia - iCub Tech' - -# Extensions -markdown_extensions: - - markdown.extensions.admonition - # - markdown.extensions.codehilite - - pymdownx.arithmatex - - pymdownx.betterem: - smart_enable: all - - pymdownx.caret - - pymdownx.critic - - pymdownx.details - - pymdownx.inlinehilite - - pymdownx.highlight - - pymdownx.keys - - pymdownx.magiclink: - user: robotology - repo: assistive-rehab - repo_url_shortener: true - repo_url_shorthand: true - - pymdownx.mark - - pymdownx.smartsymbols - - pymdownx.superfences - - pymdownx.tasklist - - pymdownx.tilde - - markdown.extensions.toc: - permalink: true - -# Page tree -nav: - - iCub Tech Docs: - - hhh: https://icub-tech-iit.github.io/documentation/mkdocs/thedocs/site/ - - The iCub cabling manual: 'index.md' - - Body Parts: - - Neck: 'neck.md' - - Shoulder and Elbow: 'shoulder_elbow.md' - - Lower Arm: - - Definition: 'lower_arm.md' - - Version 1 : - - Building Phase: - - HOWTO CABLE & NEEDED PARTS V1: 'hand_cabling_V1.md' - - Repair Phase: - - Disconnection V1: 'remove.md' - - Lower Arm V1 : 'lower_arm_V1.md' - - Wrist & Hand Cabling V1: 'wrist_cabling.md' - - Version 2 : - - Building Phase: - - HOWTO CABLE & NEEDED PARTS V2: 'cabling_V2.md' - - Repair Phase: - - Disconnection V2: 'remove/#2-lower-arm-v2' - - Lower Arm V2: 'lower_arm_V2.md' - - Wrist & Hand Cabling V2: 'wrist_hand_cabling_V2.md' - - Waist, Leg and Ankle: 'waist_legs.md' - - - License & thx: 'license.md' \ No newline at end of file diff --git a/mkdocs/thedocs/docs/about.md b/mkdocs/thedocs/docs/about.md deleted file mode 100644 index 52099995e..000000000 --- a/mkdocs/thedocs/docs/about.md +++ /dev/null @@ -1,24 +0,0 @@ - -
- -
- - -### Maintainers -| | alphabetical order | -|:---:|:---| -| xy | **x y** (@xy) | -| zz | **z z** (@zz) | - -### Contributors -| | alphabetical order | main components | -|:---:|:---|:---| -| aa | **a a** (@aa) | this reason | -| bb | **b b** (@bb) | this other reason | - - -### Special Thanks -| | alphabetical order | reason | -|:---:|:---|:---| -| [](https://github.com/diegoferigo) | **Diego Ferigo** (@diegoferigo) | the originator (it is told that he brought mkdocs amongst us) | -| [](https://github.com/vvasco) | **Vasco Valentina** (@vvasco) | the inspirator (she developed [`assistive-rehab`](https://robotology.github.io/assistive-rehab/doc/mkdocs/site/index.html) and we copied from it) | \ No newline at end of file diff --git a/mkdocs/thedocs/docs/gif/icub-rotate.gif b/mkdocs/thedocs/docs/gif/icub-rotate.gif deleted file mode 100644 index 04ed8239f..000000000 Binary files a/mkdocs/thedocs/docs/gif/icub-rotate.gif and /dev/null differ diff --git a/mkdocs/thedocs/docs/index.md b/mkdocs/thedocs/docs/index.md deleted file mode 100644 index 63b9f96b1..000000000 --- a/mkdocs/thedocs/docs/index.md +++ /dev/null @@ -1,26 +0,0 @@ -# Welcome to iCub documentation - - -
- -
- - - - - -In here, iCub Tech is proud to show a a restyled documentation for the iCub ecosystem. -A lot of work is still ahead of us, but we have built a skeleton site where to put new material. - -So far, we have three main sections: - - - -- [`Docs`](others.md) is the entry point for all the new content. -- [`Tutorials`](tutorial_intro.md) is a placeholder for quick instructions. -- [`News`](latest_news.md) just contains what's going on. - - - - - diff --git a/mkdocs/thedocs/docs/latest_news.md b/mkdocs/thedocs/docs/latest_news.md deleted file mode 100644 index 9c640e0d2..000000000 --- a/mkdocs/thedocs/docs/latest_news.md +++ /dev/null @@ -1,43 +0,0 @@ - -
- -
- -# Latest news - - -__December 17, 2019__ : `iCub Tech Docs` is presented. - -Here is the site. let's begin with the presentation of the [team fix](https://icub-tech-iit.github.io/documentation/mkdocs/PI01/site/ "team fix"). - - -__December 11, 2019__ : we are restiling this site - -On Dec 17 we shall present the results. It is still WIP, though. - - -__October 2, 2019__ : now this site links the others ! - -See `Docs` section: there are now links to the the other micro-sites - - - -__October 1, 2019__ : we are in charge ! - -What's new? - -- the FIX team of iCub Tech is working on their first sprint. Main activities are: - - mechanical fixes, - - more powerful robot's diagnostics - - the use of RFE board in iCub for high level software such as wholeBodyDynamics, iCubGui, etc. - - powerful documentation for cabling and update kits (and many more in the future) - - - -!!! note - Remember Tuesday, December 17, 2019: it is demo day. - - \ No newline at end of file diff --git a/mkdocs/thedocs/docs/license.md b/mkdocs/thedocs/docs/license.md deleted file mode 100644 index c8d1cfadf..000000000 --- a/mkdocs/thedocs/docs/license.md +++ /dev/null @@ -1,7 +0,0 @@ -
- -
- -### xxxxx - -whatever license we want to use diff --git a/mkdocs/thedocs/docs/others.md b/mkdocs/thedocs/docs/others.md deleted file mode 100644 index e1785f590..000000000 --- a/mkdocs/thedocs/docs/others.md +++ /dev/null @@ -1,44 +0,0 @@ -
- -
- -# iCub documentation - -In here we have a first draft of iCub documentation - - - -## The tendons in iCub -In this [document](https://icub-tech-iit.github.io/documentation/mkdocs/tendons_icub/site/ "Tendons in iCub") -we have a technical description of iCub's tendons. - -It is our first effort in documentation. We have decided to begin with this because the information of how to assemble the steel cables which move our robot was scrambed around and needed a single entry point. We plan to improve this document by adding sections which tells how to change a tendon. - -## The upgrade kits -The design of our robot evolves in time. We have been asking ourselves how to propagate the mechanical or hardare enhancements we design to older robots. Our solution is to define upgrade kits which apply to certain robots. - -An upgrade kit is a ... plastic bag with mechanical parts, hardware boards, screws, wires, tendons and whatever it is required to perform a physical upgrade of the robots. And surely the instructions. - -Here are our first kits. - - -### iCub UPKT: hand -In [here](https://icub-tech-iit.github.io/documentation/mkdocs/upkt/hand/site/ "upKt iCub hands") we have description of how to perform an upgrade to the hands of iCub. The upgrade consists in replacing the supports of the mais board and on a new cover.. - - - -### iCub UPKT: eyes support -In [here](https://icub-tech-iit.github.io/documentation/mkdocs/upkt/eyes_support/site/ "upKt iCub eyes support") we have description of how to perform an upgrade to iCub so that the supports of the eyes make them more stable. - -### iCub UPKT: torso capacitors -In [here](https://icub-tech-iit.github.io/documentation/mkdocs/upkt/capacitors/site/ "upKt iCub capacitors") we have description of how to perform an upgrade to iCub so that the capacitors placed in its back don't get loose. - -### iCub UPKT: differential neck pulley -In [here](https://icub-tech-iit.github.io/documentation/mkdocs/upkt/differential_neck_pulley/site/ "upKt iCub differentail neck pulley") we have description of how to perform an upgrade to the neck of iCub so that the tendon does not easily slip away. diff --git a/mkdocs/thedocs/docs/tutorial_intro.md b/mkdocs/thedocs/docs/tutorial_intro.md deleted file mode 100644 index 34af2e0b9..000000000 --- a/mkdocs/thedocs/docs/tutorial_intro.md +++ /dev/null @@ -1,11 +0,0 @@ -
- -
- -# iCub tutorials - -This is just an empty example page for tutorials and HOWTOs: - -- [How to do one](tutorial_one.md) -- [How to do two](tutorial_two.md) - diff --git a/mkdocs/thedocs/docs/tutorial_one.md b/mkdocs/thedocs/docs/tutorial_one.md deleted file mode 100644 index cd4d6bdfb..000000000 --- a/mkdocs/thedocs/docs/tutorial_one.md +++ /dev/null @@ -1,21 +0,0 @@ -
- -
- -# How to do one - -This tutorial will explain you ....: - -- step 1; -- step 2; - - -## Step 1 - -A frverver can be defined as: - - - -## Step 2 - -A frverver can be defined as: diff --git a/mkdocs/thedocs/docs/tutorial_two.md b/mkdocs/thedocs/docs/tutorial_two.md deleted file mode 100644 index 4c7d839d4..000000000 --- a/mkdocs/thedocs/docs/tutorial_two.md +++ /dev/null @@ -1,21 +0,0 @@ -
- -
- -# How to do two - -This tutorial will explain you ....: - -- step 1; -- step 2; - - -## Step 1 - -A frverver can be defined as: - - - -## Step 2 - -A frverver can be defined as: diff --git a/mkdocs/thedocs/mkdocs.yml b/mkdocs/thedocs/mkdocs.yml deleted file mode 100644 index a0c0ab6d0..000000000 --- a/mkdocs/thedocs/mkdocs.yml +++ /dev/null @@ -1,70 +0,0 @@ -# Project information -site_name: 'iCub Tech Docs' -site_description: 'The ultimate documentation for the iCub & R1 robotic platforms' -site_author: 'We, the People of the iCub Tech' -#site_url: 'https://github.com/robotology/assistive-rehab' - -# Repository -#repo_name: robotology/assistive-rehab -#repo_url: 'https://github.com/robotology/assistive-rehab' -#edit_uri: 'edit/master/doc/mkdocs/data' - -# Configuration -#docs_dir: 'data' -theme: - name: 'material' - palette: - # primary: blue grey - primary: purple - accent: amber - feature: - tabs: true - # favicon: - # icon: dashboard - logo: - icon: dashboard - -# Copyright -copyright: 'Copyright © 2019 Istituto Italiano di Tecnologia - iCub Tech' - -# Extensions -markdown_extensions: - - markdown.extensions.admonition - # - markdown.extensions.codehilite - - pymdownx.arithmatex - - pymdownx.betterem: - smart_enable: all - - pymdownx.caret - - pymdownx.critic - - pymdownx.details - - pymdownx.inlinehilite - - pymdownx.highlight - - pymdownx.keys - - pymdownx.magiclink: - user: robotology - repo: assistive-rehab - repo_url_shortener: true - repo_url_shorthand: true - - pymdownx.mark - - pymdownx.smartsymbols - - pymdownx.superfences - - pymdownx.tasklist - - pymdownx.tilde - - markdown.extensions.toc: - permalink: true - -# Page tree -nav: - - iCub Tech Docs: 'index.md' - - Docs: - - Our first ones: 'others.md' - - Tutorials: - - Getting started: 'tutorial_intro.md' - - How to do one: 'tutorial_one.md' - - How to do two: 'tutorial_two.md' - - News: - - The latest news: 'latest_news.md' - - About: 'about.md' - - License: 'license.md' - - diff --git a/mkdocs/upkt/capacitors/docs/GIF/icub-rotate.gif b/mkdocs/upkt/capacitors/docs/GIF/icub-rotate.gif deleted file mode 100644 index 04ed8239f..000000000 Binary files a/mkdocs/upkt/capacitors/docs/GIF/icub-rotate.gif and /dev/null differ diff --git a/mkdocs/upkt/capacitors/docs/index.md b/mkdocs/upkt/capacitors/docs/index.md deleted file mode 100644 index 1962f4e8a..000000000 --- a/mkdocs/upkt/capacitors/docs/index.md +++ /dev/null @@ -1,3 +0,0 @@ -# iCub upgrade - -See `Instructions` diff --git a/mkdocs/upkt/capacitors/docs/license.md b/mkdocs/upkt/capacitors/docs/license.md deleted file mode 100644 index edd119ba7..000000000 --- a/mkdocs/upkt/capacitors/docs/license.md +++ /dev/null @@ -1,3 +0,0 @@ -### xxxxx - -whatever license we want to use diff --git a/mkdocs/upkt/capacitors/docs/video/icubrotate.mp4 b/mkdocs/upkt/capacitors/docs/video/icubrotate.mp4 deleted file mode 100644 index e8d9f8518..000000000 Binary files a/mkdocs/upkt/capacitors/docs/video/icubrotate.mp4 and /dev/null differ diff --git a/mkdocs/upkt/capacitors/mkdocs.yml b/mkdocs/upkt/capacitors/mkdocs.yml deleted file mode 100644 index 0fe7bf6f5..000000000 --- a/mkdocs/upkt/capacitors/mkdocs.yml +++ /dev/null @@ -1,63 +0,0 @@ -# Project information -site_name: 'iCub upgrade kit for torso capacitors' -site_description: 'upgrade kits: capacitors' -site_author: 'We, the People of the iCub Tech' -#site_url: 'https://github.com/robotology/assistive-rehab' - -# Repository -#repo_name: robotology/assistive-rehab -#repo_url: 'https://github.com/robotology/assistive-rehab' -#edit_uri: 'edit/master/doc/mkdocs/data' - -# Configuration -#docs_dir: 'data' -theme: - name: 'material' - palette: - # primary: blue grey - primary: teal - accent: amber - feature: - tabs: true - # favicon: - # icon: dashboard - logo: - icon: dashboard - -# Copyright -copyright: 'Copyright © 2019 Istituto Italiano di Tecnologia - iCub Tech' - -# Extensions -markdown_extensions: - - markdown.extensions.admonition - # - markdown.extensions.codehilite - - pymdownx.arithmatex - - pymdownx.betterem: - smart_enable: all - - pymdownx.caret - - pymdownx.critic - - pymdownx.details - - pymdownx.inlinehilite - - pymdownx.highlight - - pymdownx.keys - - pymdownx.magiclink: - user: robotology - repo: assistive-rehab - repo_url_shortener: true - repo_url_shorthand: true - - pymdownx.mark - - pymdownx.smartsymbols - - pymdownx.superfences - - pymdownx.tasklist - - pymdownx.tilde - - markdown.extensions.toc: - permalink: true - -# Page tree -nav: - - iCub Tech Docs: - - hhh: https://icub-tech-iit.github.io/documentation/mkdocs/thedocs/site/ - - Index: 'index.md' - - Instructions: 'Capacitor_support.md' - - License: 'license.md' - diff --git a/mkdocs/upkt/differential neck pulley/docs/index.md b/mkdocs/upkt/differential neck pulley/docs/index.md deleted file mode 100644 index 1962f4e8a..000000000 --- a/mkdocs/upkt/differential neck pulley/docs/index.md +++ /dev/null @@ -1,3 +0,0 @@ -# iCub upgrade - -See `Instructions` diff --git a/mkdocs/upkt/differential neck pulley/docs/license.md b/mkdocs/upkt/differential neck pulley/docs/license.md deleted file mode 100644 index edd119ba7..000000000 --- a/mkdocs/upkt/differential neck pulley/docs/license.md +++ /dev/null @@ -1,3 +0,0 @@ -### xxxxx - -whatever license we want to use diff --git a/mkdocs/upkt/differential neck pulley/mkdocs.yml b/mkdocs/upkt/differential neck pulley/mkdocs.yml deleted file mode 100644 index 6eda494a1..000000000 --- a/mkdocs/upkt/differential neck pulley/mkdocs.yml +++ /dev/null @@ -1,63 +0,0 @@ -# Project information -site_name: 'iCub Tech Docs' -site_description: 'upgrade kits: Differential neck pulley' -site_author: 'We, the People of the iCub Tech' -#site_url: 'https://github.com/icub-tech/documentation' - -# Repository -#repo_name: icub-tech/documentation -#repo_url: 'https://github.com/icub-tech/documentation' -#edit_uri: 'edit/master/doc/mkdocs/data' - -# Configuration -#docs_dir: 'data' -theme: - name: 'material' - palette: - # primary: blue grey - primary: teal - accent: amber - feature: - tabs: true - # favicon: - # icon: dashboard - logo: - icon: dashboard - -# Copyright -copyright: 'Copyright © 2019 Istituto Italiano di Tecnologia - iCub Tech' - -# Extensions -markdown_extensions: - - markdown.extensions.admonition - # - markdown.extensions.codehilite - - pymdownx.arithmatex - - pymdownx.betterem: - smart_enable: all - - pymdownx.caret - - pymdownx.critic - - pymdownx.details - - pymdownx.inlinehilite - - pymdownx.highlight - - pymdownx.keys - - pymdownx.magiclink: - user: robotology - repo: assistive-rehab - repo_url_shortener: true - repo_url_shorthand: true - - pymdownx.mark - - pymdownx.smartsymbols - - pymdownx.superfences - - pymdownx.tasklist - - pymdownx.tilde - - markdown.extensions.toc: - permalink: true - -# Page tree -nav: - - iCub Tech Docs: - - hhh: https://icub-tech-iit.github.io/documentation/mkdocs/thedocs/site/ - - Index: 'index.md' - - Instructions: 'neck-pulley.md' - - License: 'license.md' - diff --git a/mkdocs/upkt/differential_neck_pulley/docs/img/belt_ass.PNG b/mkdocs/upkt/differential_neck_pulley/docs/img/belt_ass.PNG deleted file mode 100644 index f2f610835..000000000 Binary files a/mkdocs/upkt/differential_neck_pulley/docs/img/belt_ass.PNG and /dev/null differ diff --git a/mkdocs/upkt/differential_neck_pulley/docs/img/flex.PNG b/mkdocs/upkt/differential_neck_pulley/docs/img/flex.PNG deleted file mode 100644 index 53755b844..000000000 Binary files a/mkdocs/upkt/differential_neck_pulley/docs/img/flex.PNG and /dev/null differ diff --git a/mkdocs/upkt/differential_neck_pulley/docs/img/groove.PNG b/mkdocs/upkt/differential_neck_pulley/docs/img/groove.PNG deleted file mode 100644 index b52f5e5d0..000000000 Binary files a/mkdocs/upkt/differential_neck_pulley/docs/img/groove.PNG and /dev/null differ diff --git a/mkdocs/upkt/differential_neck_pulley/docs/img/in_the_neck.PNG b/mkdocs/upkt/differential_neck_pulley/docs/img/in_the_neck.PNG deleted file mode 100644 index 3a662b205..000000000 Binary files a/mkdocs/upkt/differential_neck_pulley/docs/img/in_the_neck.PNG and /dev/null differ diff --git a/mkdocs/upkt/differential_neck_pulley/docs/img/mot_ass.PNG b/mkdocs/upkt/differential_neck_pulley/docs/img/mot_ass.PNG deleted file mode 100644 index 087d7708d..000000000 Binary files a/mkdocs/upkt/differential_neck_pulley/docs/img/mot_ass.PNG and /dev/null differ diff --git a/mkdocs/upkt/differential_neck_pulley/docs/img/mot_ass_alone.PNG b/mkdocs/upkt/differential_neck_pulley/docs/img/mot_ass_alone.PNG deleted file mode 100644 index 479f937e5..000000000 Binary files a/mkdocs/upkt/differential_neck_pulley/docs/img/mot_ass_alone.PNG and /dev/null differ diff --git a/mkdocs/upkt/differential_neck_pulley/docs/img/pulley_ass.PNG b/mkdocs/upkt/differential_neck_pulley/docs/img/pulley_ass.PNG deleted file mode 100644 index 0df426cbe..000000000 Binary files a/mkdocs/upkt/differential_neck_pulley/docs/img/pulley_ass.PNG and /dev/null differ diff --git a/mkdocs/upkt/differential_neck_pulley/docs/index.md b/mkdocs/upkt/differential_neck_pulley/docs/index.md deleted file mode 100644 index 1962f4e8a..000000000 --- a/mkdocs/upkt/differential_neck_pulley/docs/index.md +++ /dev/null @@ -1,3 +0,0 @@ -# iCub upgrade - -See `Instructions` diff --git a/mkdocs/upkt/differential_neck_pulley/docs/license.md b/mkdocs/upkt/differential_neck_pulley/docs/license.md deleted file mode 100644 index edd119ba7..000000000 --- a/mkdocs/upkt/differential_neck_pulley/docs/license.md +++ /dev/null @@ -1,3 +0,0 @@ -### xxxxx - -whatever license we want to use diff --git a/mkdocs/upkt/differential_neck_pulley/docs/neck-pulley.md b/mkdocs/upkt/differential_neck_pulley/docs/neck-pulley.md deleted file mode 100644 index 01498b8bd..000000000 --- a/mkdocs/upkt/differential_neck_pulley/docs/neck-pulley.md +++ /dev/null @@ -1,55 +0,0 @@ -# **Update of differential neck pulley for iCub** - -We are going to replace parts in the neck, you can either operate with the head's covers mounted or not (probably more comfortable). -It is possible to work with leaving the head attached to the robot or not. - -## Content material - -| Pieces | Alias | Description | Cod. Wgst | -| :---: | :-----------: | :---: | :---: | -| 2 | RC_IIT_010_P_071 | Differential neck HFUC pulley | 6791 | -| 4 | V2-3--_-_ISO7045_CZ | M 2 x 3 – ISO7045 – SS A2 |2425| - -## Assembly instruction - -We are going to replace the part in the following picture with its new version A2, this is really similar to the previous one but the groove (red in picture) which is now smaller. - -| ![](img\groove.PNG) | -|: -----------------------------------------------------------: | -| The pulley part to be changed | - - - -There are two of these parts in iCub's neck. Here is a picture of the neck with the parts in red. - -| ![](img\in_the_neck.PNG) | -| :-----------------------------------------------------------: | -| The neck with the pulleys in red | - - -Here are the instructions for replacing the left pulley. - - -- First of all you need to remove tendons from the neck. [Neck's tendons replacement](https://icub-tech-iit.github.io/fix-test-mkdocs/mkdocs/tendons_icub/site/neck/) -- Remove the green highlighted assembly loosening the screws indicated by arrows - - |
![imagine view](img/belt_ass.PNG)
| - | :-----------------------------------------------------------: | - | tbd | - -- Untight the screw shown in left picture to extract the whole motor assembly shown on the right. - - |
![imagine view](img/mot_ass.PNG)
|
![imagine view](img/mot_ass_alone.PNG)
| - | :----: | :----: | - | The whole neck | The motor assembly | - -- Gently remove pulley's assembly as on left picture and remove the flex spline from the pulley untightening the screw shown on rigth. - - - |
![imagine view](img/pulley_ass.PNG)
|
![imagine view](img/flex.PNG)
| - | :----: | :----: | - | pulley assembly | the screw to remove | - - -- Repeat the procedure above to extract the rigth pulley. -- When the two old pulleys are removed, mount back the new ones by following instructions in reverse. diff --git a/mkdocs/upkt/differential_neck_pulley/mkdocs.yml b/mkdocs/upkt/differential_neck_pulley/mkdocs.yml deleted file mode 100644 index bda217ef7..000000000 --- a/mkdocs/upkt/differential_neck_pulley/mkdocs.yml +++ /dev/null @@ -1,63 +0,0 @@ -# Project information -site_name: 'iCub upgrade kit for differential neck pulley' -site_description: 'upgrade kits: Differential neck pulley' -site_author: 'We, the People of the iCub Tech' -#site_url: 'https://github.com/icub-tech/documentation' - -# Repository -#repo_name: icub-tech/documentation -#repo_url: 'https://github.com/icub-tech/documentation' -#edit_uri: 'edit/master/doc/mkdocs/data' - -# Configuration -#docs_dir: 'data' -theme: - name: 'material' - palette: - # primary: blue grey - primary: teal - accent: amber - feature: - tabs: true - # favicon: - # icon: dashboard - logo: - icon: dashboard - -# Copyright -copyright: 'Copyright © 2019 Istituto Italiano di Tecnologia - iCub Tech' - -# Extensions -markdown_extensions: - - markdown.extensions.admonition - # - markdown.extensions.codehilite - - pymdownx.arithmatex - - pymdownx.betterem: - smart_enable: all - - pymdownx.caret - - pymdownx.critic - - pymdownx.details - - pymdownx.inlinehilite - - pymdownx.highlight - - pymdownx.keys - - pymdownx.magiclink: - user: robotology - repo: assistive-rehab - repo_url_shortener: true - repo_url_shorthand: true - - pymdownx.mark - - pymdownx.smartsymbols - - pymdownx.superfences - - pymdownx.tasklist - - pymdownx.tilde - - markdown.extensions.toc: - permalink: true - -# Page tree -nav: - - iCub Tech Docs: - - hhh: https://icub-tech-iit.github.io/documentation/mkdocs/thedocs/site/ - - Index: 'index.md' - - Instructions: 'neck-pulley.md' - - License: 'license.md' - diff --git a/mkdocs/upkt/eyes support/docs/Eyes support.md b/mkdocs/upkt/eyes support/docs/Eyes support.md deleted file mode 100644 index 1a6ee2da7..000000000 --- a/mkdocs/upkt/eyes support/docs/Eyes support.md +++ /dev/null @@ -1,70 +0,0 @@ -# **Eyes motor support replacement** - - - -## Content material - -| Pieces | Alias | Description | Cod. Wgst | -| :---: | :---: | :---: | :---: | -| 2 | RC_IIT_010_P_038 | EYE_ACTUATING-JOINT_BASE | 2617 | -| 1 | RC_IIT_010_P_047 | V2 eye tilt brace A | 2626 | -| 1 | RC_IIT_010_P_048 | V2 eye tilt brace B | 2627 | -| 2 | 2-10--_-_ISO7046-1_CH | Screw -M 2 x 10 – ISO7046 – SS A2 | 2596 | -| 4 | S1_5-6--_-_I2338_B | Dowel pin 1.5 x 6 stainless steel A2, UNI1707 | 2354 | -| 6 | XXXXXXXX |XXXXXXXX | XXXXXXXX | -| 4 | XXXXXXXX |XXXXXXXX | 2XXXXXXXX | - -## Assembly instruction - -We are going to replace parts in the eyes tilt assembly, there are some preliminary actions to take: - -* we need to turn off the head and the whole robot. - -* we need to remove head's covers . - -* we need to unplug and remove the whole boards' frame. - - - |
![imagine view](img/no_cover.JPG)
|
![imagine view](img/no_frame.JPG)
| - | :--------------------------------------------------: | :--------------------------------------------------: | - | without covers | without boards' frame | - - - - We are going to replace the 4 parts here in picture. -
![](img\4thng.JPG)
- - -There are two of these parts in iCub's neck. Here is a picture of the neck with the parts in red. - -| ![](img\in_the_neck.PNG) | -| :-----------------------------------------------------------: | -| The neck with the pulleys in red | - - -Here are the instructions for replacing the left pulley. - - -- First of all you need to remove tendons from the neck, -- Remove the green highlighted assembly loosening the screws indicated by arrows - - |
![imagine view](img/belt_ass.PNG)
| - | :-----------------------------------------------------------: | - | tbd | - -- Untight the screw shown in left picture to extract the whole motor assembly shown on the right. - - |
![imagine view](img/mot_ass.PNG)
|
![imagine view](img/mot_ass_alone.PNG)
| - | :----: | :----: | - | The whole neck | The motor assembly | - -- Gently remove pulley's assembly as on left picture and remove the flex spline from the pulley untightening the screw shown on rigth. - - - |
![imagine view](img/pulley_ass.PNG)
|
![imagine view](img/flex.PNG)
| - | :----: | :----: | - | pulley assembly | the screw to remove | - - -- Repeat the procedure above to extract the rigth pulley. -- When the two old pulleys are removed, mount back the new ones by following instructions in reverse. diff --git a/mkdocs/upkt/eyes support/docs/img/remove.JPG b/mkdocs/upkt/eyes support/docs/img/remove.JPG deleted file mode 100644 index 6d02a4802..000000000 Binary files a/mkdocs/upkt/eyes support/docs/img/remove.JPG and /dev/null differ diff --git a/mkdocs/upkt/eyes support/docs/index.md b/mkdocs/upkt/eyes support/docs/index.md deleted file mode 100644 index 1962f4e8a..000000000 --- a/mkdocs/upkt/eyes support/docs/index.md +++ /dev/null @@ -1,3 +0,0 @@ -# iCub upgrade - -See `Instructions` diff --git a/mkdocs/upkt/eyes support/docs/license.md b/mkdocs/upkt/eyes support/docs/license.md deleted file mode 100644 index edd119ba7..000000000 --- a/mkdocs/upkt/eyes support/docs/license.md +++ /dev/null @@ -1,3 +0,0 @@ -### xxxxx - -whatever license we want to use diff --git a/mkdocs/upkt/eyes support/mkdocs.yml b/mkdocs/upkt/eyes support/mkdocs.yml deleted file mode 100644 index d9f5f4758..000000000 --- a/mkdocs/upkt/eyes support/mkdocs.yml +++ /dev/null @@ -1,63 +0,0 @@ -# Project information -site_name: 'iCub Tech Docs' -site_description: 'upgrade kits: Eyes support' -site_author: 'We, the People of the iCub Tech' -#site_url: 'https://github.com/icub-tech/documentation' - -# Repository -#repo_name: icub-tech/documentation -#repo_url: 'https://github.com/icub-tech/documentation' -#edit_uri: 'edit/master/doc/mkdocs/data' - -# Configuration -#docs_dir: 'data' -theme: - name: 'material' - palette: - # primary: blue grey - primary: teal - accent: amber - feature: - tabs: true - # favicon: - # icon: dashboard - logo: - icon: dashboard - -# Copyright -copyright: 'Copyright © 2019 Istituto Italiano di Tecnologia - iCub Tech' - -# Extensions -markdown_extensions: - - markdown.extensions.admonition - # - markdown.extensions.codehilite - - pymdownx.arithmatex - - pymdownx.betterem: - smart_enable: all - - pymdownx.caret - - pymdownx.critic - - pymdownx.details - - pymdownx.inlinehilite - - pymdownx.highlight - - pymdownx.keys - - pymdownx.magiclink: - user: robotology - repo: assistive-rehab - repo_url_shortener: true - repo_url_shorthand: true - - pymdownx.mark - - pymdownx.smartsymbols - - pymdownx.superfences - - pymdownx.tasklist - - pymdownx.tilde - - markdown.extensions.toc: - permalink: true - -# Page tree -nav: - - iCub Tech Docs: - - hhh: https://icub-tech-iit.github.io/documentation/mkdocs/thedocs/site/ - - Index: 'index.md' - - Instructions: 'Eyes support.md' - - License: 'license.md' - diff --git a/mkdocs/upkt/eyes_support/docs/img/4thng.JPG b/mkdocs/upkt/eyes_support/docs/img/4thng.JPG deleted file mode 100644 index 00954e7c9..000000000 Binary files a/mkdocs/upkt/eyes_support/docs/img/4thng.JPG and /dev/null differ diff --git a/mkdocs/upkt/eyes_support/docs/img/eye_group.JPG b/mkdocs/upkt/eyes_support/docs/img/eye_group.JPG deleted file mode 100644 index 56307a59e..000000000 Binary files a/mkdocs/upkt/eyes_support/docs/img/eye_group.JPG and /dev/null differ diff --git a/mkdocs/upkt/eyes_support/docs/img/no_cover.JPG b/mkdocs/upkt/eyes_support/docs/img/no_cover.JPG deleted file mode 100644 index b666d59c7..000000000 Binary files a/mkdocs/upkt/eyes_support/docs/img/no_cover.JPG and /dev/null differ diff --git a/mkdocs/upkt/eyes_support/docs/img/no_frame.JPG b/mkdocs/upkt/eyes_support/docs/img/no_frame.JPG deleted file mode 100644 index ef4293e60..000000000 Binary files a/mkdocs/upkt/eyes_support/docs/img/no_frame.JPG and /dev/null differ diff --git a/mkdocs/upkt/eyes_support/docs/index.md b/mkdocs/upkt/eyes_support/docs/index.md deleted file mode 100644 index 1962f4e8a..000000000 --- a/mkdocs/upkt/eyes_support/docs/index.md +++ /dev/null @@ -1,3 +0,0 @@ -# iCub upgrade - -See `Instructions` diff --git a/mkdocs/upkt/eyes_support/docs/license.md b/mkdocs/upkt/eyes_support/docs/license.md deleted file mode 100644 index edd119ba7..000000000 --- a/mkdocs/upkt/eyes_support/docs/license.md +++ /dev/null @@ -1,3 +0,0 @@ -### xxxxx - -whatever license we want to use diff --git a/mkdocs/upkt/eyes_support/mkdocs.yml b/mkdocs/upkt/eyes_support/mkdocs.yml deleted file mode 100644 index b65ff6438..000000000 --- a/mkdocs/upkt/eyes_support/mkdocs.yml +++ /dev/null @@ -1,63 +0,0 @@ -# Project information -site_name: 'iCub upgrade kit for eyes support' -site_description: 'upgrade kits: Eyes support' -site_author: 'We, the People of the iCub Tech' -#site_url: 'https://github.com/icub-tech/documentation' - -# Repository -#repo_name: icub-tech/documentation -#repo_url: 'https://github.com/icub-tech/documentation' -#edit_uri: 'edit/master/doc/mkdocs/data' - -# Configuration -#docs_dir: 'data' -theme: - name: 'material' - palette: - # primary: blue grey - primary: teal - accent: amber - feature: - tabs: true - # favicon: - # icon: dashboard - logo: - icon: dashboard - -# Copyright -copyright: 'Copyright © 2019 Istituto Italiano di Tecnologia - iCub Tech' - -# Extensions -markdown_extensions: - - markdown.extensions.admonition - # - markdown.extensions.codehilite - - pymdownx.arithmatex - - pymdownx.betterem: - smart_enable: all - - pymdownx.caret - - pymdownx.critic - - pymdownx.details - - pymdownx.inlinehilite - - pymdownx.highlight - - pymdownx.keys - - pymdownx.magiclink: - user: robotology - repo: assistive-rehab - repo_url_shortener: true - repo_url_shorthand: true - - pymdownx.mark - - pymdownx.smartsymbols - - pymdownx.superfences - - pymdownx.tasklist - - pymdownx.tilde - - markdown.extensions.toc: - permalink: true - -# Page tree -nav: - - iCub Tech Docs: - - hhh: https://icub-tech-iit.github.io/documentation/mkdocs/thedocs/site/ - - Index: 'index.md' - - Instructions: 'eyes_support.md' - - License: 'license.md' - diff --git a/mkdocs/upkt/hand/docs/GIF/icub-rotate.gif b/mkdocs/upkt/hand/docs/GIF/icub-rotate.gif deleted file mode 100644 index 04ed8239f..000000000 Binary files a/mkdocs/upkt/hand/docs/GIF/icub-rotate.gif and /dev/null differ diff --git a/mkdocs/upkt/hand/docs/index.md b/mkdocs/upkt/hand/docs/index.md deleted file mode 100644 index 1962f4e8a..000000000 --- a/mkdocs/upkt/hand/docs/index.md +++ /dev/null @@ -1,3 +0,0 @@ -# iCub upgrade - -See `Instructions` diff --git a/mkdocs/upkt/hand/docs/license.md b/mkdocs/upkt/hand/docs/license.md deleted file mode 100644 index edd119ba7..000000000 --- a/mkdocs/upkt/hand/docs/license.md +++ /dev/null @@ -1,3 +0,0 @@ -### xxxxx - -whatever license we want to use diff --git a/mkdocs/upkt/hand/mkdocs.yml b/mkdocs/upkt/hand/mkdocs.yml deleted file mode 100644 index eedda0824..000000000 --- a/mkdocs/upkt/hand/mkdocs.yml +++ /dev/null @@ -1,63 +0,0 @@ -# Project information -site_name: 'iCub upgrade kit for hands' -site_description: 'upgrade kits: Hand support' -site_author: 'We, the People of the iCub Tech' -#site_url: 'https://github.com/robotology/assistive-rehab' - -# Repository -#repo_name: robotology/assistive-rehab -#repo_url: 'https://github.com/robotology/assistive-rehab' -#edit_uri: 'edit/master/doc/mkdocs/data' - -# Configuration -#docs_dir: 'data' -theme: - name: 'material' - palette: - # primary: blue grey - primary: teal - accent: amber - feature: - tabs: true - # favicon: - # icon: dashboard - logo: - icon: dashboard - -# Copyright -copyright: 'Copyright © 2019 Istituto Italiano di Tecnologia - iCub Tech' - -# Extensions -markdown_extensions: - - markdown.extensions.admonition - # - markdown.extensions.codehilite - - pymdownx.arithmatex - - pymdownx.betterem: - smart_enable: all - - pymdownx.caret - - pymdownx.critic - - pymdownx.details - - pymdownx.inlinehilite - - pymdownx.highlight - - pymdownx.keys - - pymdownx.magiclink: - user: robotology - repo: assistive-rehab - repo_url_shortener: true - repo_url_shorthand: true - - pymdownx.mark - - pymdownx.smartsymbols - - pymdownx.superfences - - pymdownx.tasklist - - pymdownx.tilde - - markdown.extensions.toc: - permalink: true - -# Page tree -nav: - - iCub Tech Docs: - - hhh: https://icub-tech-iit.github.io/documentation/mkdocs/thedocs/site/ - - Index: 'index.md' - - Instructions: 'MAIS_HAND-support.md' - - License: 'license.md' - diff --git a/mkdocs/upkt/mais_support/docs/GIF/1.gif b/mkdocs/upkt/mais_support/docs/GIF/1.gif deleted file mode 100644 index 3801544cf..000000000 Binary files a/mkdocs/upkt/mais_support/docs/GIF/1.gif and /dev/null differ diff --git a/mkdocs/upkt/mais_support/docs/GIF/2.gif b/mkdocs/upkt/mais_support/docs/GIF/2.gif deleted file mode 100644 index 5d92c2249..000000000 Binary files a/mkdocs/upkt/mais_support/docs/GIF/2.gif and /dev/null differ diff --git a/mkdocs/upkt/mais_support/docs/GIF/3.gif b/mkdocs/upkt/mais_support/docs/GIF/3.gif deleted file mode 100644 index 009048216..000000000 Binary files a/mkdocs/upkt/mais_support/docs/GIF/3.gif and /dev/null differ diff --git a/mkdocs/upkt/mais_support/docs/GIF/SUPPORT_RIGHT_TOP.gif b/mkdocs/upkt/mais_support/docs/GIF/SUPPORT_RIGHT_TOP.gif deleted file mode 100644 index cdbfd44ea..000000000 Binary files a/mkdocs/upkt/mais_support/docs/GIF/SUPPORT_RIGHT_TOP.gif and /dev/null differ diff --git a/mkdocs/upkt/mais_support/docs/GIF/icub-rotate.gif b/mkdocs/upkt/mais_support/docs/GIF/icub-rotate.gif deleted file mode 100644 index 04ed8239f..000000000 Binary files a/mkdocs/upkt/mais_support/docs/GIF/icub-rotate.gif and /dev/null differ diff --git a/mkdocs/upkt/mais_support/docs/MAIS-support.md b/mkdocs/upkt/mais_support/docs/MAIS-support.md deleted file mode 100644 index 791581995..000000000 --- a/mkdocs/upkt/mais_support/docs/MAIS-support.md +++ /dev/null @@ -1,40 +0,0 @@ -# **Update of Mais support (front and rear hand) for iCub** - - - -## Content material - -| Pieces | Alias | Rev | Description | Cod. Wgst | -| :---: | :---: | :---: | :---: | :---: | -| 1 | RC_IIT_011_P_063 | | Left support for Mais | 14357 | -| 1 | RC_IIT_011_G_017 | | Left support for FTC | 14354 | -| 1 | RC_IIT_011_P_062 | | Right support for Mais | 14356 | -| 1 | RC_IIT_011_G_016 | | Right support for FTC | 14355 | -| 4 | ISO 7046 M1.6x5 | | screws for right/left support FTC | 11229 | -| 6 | ISO 7045 M1.6x6 | |screws for right/left support Mais | 2399 | -| 4 | ISO 1207 M1x5 | |screws for right/left support and Mais board | 2406 | - -## Assembly instruction - -First of all you need to know that you will be in a situation where you will have to disassemble the components to replace and disconnect the Corn and FTC boards in order to move them and leave the workspace free as much as possible. -Once this is done the first piece to be mounted will be the rc_IIT_011_g_016 or the rc_IIT_011_g_017 (right or left hand) as shown in the video. All this because you will find yourself in the condition in which you will have to pass the piece between the cables (tendons) that move the thumb. -**This explanation is the same for both hands** - -
![imagine view](GIF/SUPPORT_RIGHT_TOP.gif)
- -Assembly sequence : - - -
![imagine view](img/ESPLOSO.JPG) ![imagine view](img/ESPLOSO2.JPG)
- -
- -
- -
![imagine view](GIF/3.gif)
- - -Assemble upgrade support Mais and FTC - -
![imagine view](img/Montaggio.JPG)
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a/mkdocs/upkt/mais_support/docs/index.md +++ /dev/null @@ -1,3 +0,0 @@ -# iCub upgrade - -See `Instructions` diff --git a/mkdocs/upkt/mais_support/docs/license.md b/mkdocs/upkt/mais_support/docs/license.md deleted file mode 100644 index edd119ba7..000000000 --- a/mkdocs/upkt/mais_support/docs/license.md +++ /dev/null @@ -1,3 +0,0 @@ -### xxxxx - -whatever license we want to use diff --git a/mkdocs/upkt/mais_support/mkdocs.yml b/mkdocs/upkt/mais_support/mkdocs.yml deleted file mode 100644 index 4f369e0cd..000000000 --- a/mkdocs/upkt/mais_support/mkdocs.yml +++ /dev/null @@ -1,63 +0,0 @@ -# Project information -site_name: 'iCub Tech Docs' -site_description: 'upgrade kits: Mais support' -site_author: 'We, the People of the iCub Tech' -#site_url: 'https://github.com/robotology/assistive-rehab' - -# Repository -#repo_name: robotology/assistive-rehab -#repo_url: 'https://github.com/robotology/assistive-rehab' -#edit_uri: 'edit/master/doc/mkdocs/data' - -# Configuration -#docs_dir: 'data' -theme: - name: 'material' - palette: - # primary: blue grey - primary: teal - accent: amber - feature: - tabs: true - # favicon: - # icon: dashboard - logo: - icon: dashboard - -# Copyright -copyright: 'Copyright © 2019 Istituto Italiano di Tecnologia - iCub Tech' - -# Extensions -markdown_extensions: - - markdown.extensions.admonition - # - markdown.extensions.codehilite - - pymdownx.arithmatex - - pymdownx.betterem: - smart_enable: all - - pymdownx.caret - - pymdownx.critic - - pymdownx.details - - pymdownx.inlinehilite - - pymdownx.highlight - - pymdownx.keys - - pymdownx.magiclink: - user: robotology - repo: assistive-rehab - repo_url_shortener: true - repo_url_shorthand: true - - pymdownx.mark - - pymdownx.smartsymbols - - pymdownx.superfences - - pymdownx.tasklist - - pymdownx.tilde - - markdown.extensions.toc: - permalink: true - -# Page tree -nav: - - iCub Tech Docs: - - hhh: https://icub-tech-iit.github.io/documentation/mkdocs/thedocs/site/ - - Index: 'index.md' - - Instructions: 'MAIS-support.md' - - License: 'license.md' - diff --git a/mkdocs/ztest00/docs/about.md b/mkdocs/ztest00/docs/about.md deleted file mode 100644 index 85ef8f10f..000000000 --- a/mkdocs/ztest00/docs/about.md +++ /dev/null @@ -1,55 +0,0 @@ -# what about me? - - - - -here is an image include w/ syntax: `![untitled2.mmd](img/untitled2.mmd.png)` -It shows on typora and on `http://127.0.0.1:8000/about/` - -![untitled2.mmd](img/untitled2.mmd.png) - - - -here is an image include w/ syntax: `unt` -It shows on typora but not on `http://127.0.0.1:8000/about/` - -unt - - - -## Sive quae Cynthia habemus - -*Lorem* markdownum, Elis. Io tuorum vidisti nec. - -> Ubi fletus [antemnis non](http://manerent-morata.io/) postera tenebas non -> damna, iram temperat! Mihi verba innocuum fuit flexit habentia ardor: devorat -> nati plura fessos. Illi omni, curvatura mille ultroque, qualibet terra terra -> interceperit crine cumque [fluidos](http://amicitur.net/pirenidavaticinos). -> Deae posuisse: Minos toro inlatum, declive iuvenis ludit, essent nec [satia -> genitore](http://www.primoque-temporis.org/) radium redeuntia icto. Et et -> *ense prohibet* Hyleusque sapiente funesta, res velociter septem. - -Vestigia at atria noviens et **illam**: et ante horruit praevitiat undas et -crede denupsit. Essemus dicta quo et segeti languescuntque, vota lora tu. -Fecundum **nec maximus**, sui fuisset mendosa mansit inrumpere repetebam ipsa. -Aliquid Phrygum femineam natum; et longa, ne cupit poscunt? Non et inclinata -fecit. - -## Manu latus - -Suo fugit? Suis populo delere, servet amor est pro namque quondam. - -Sed pro trium aequor geminato lumine: sex excedere Stygio? In Iovis penatibus -rima; tela inter desierim postibus parte. Dat probavit: **dominaeque vagatur -domus** diem posse sine declive. - -Atque coeunt nunc desinit. Et si receperunt et Medusae hirsuti et quod concussit -fugiunt omnipotens. Hinc reliquit intellegit mutua procul, sibila, ubi tenax -unda et ignoto cinctum, nihil. - -Quem equis, at mota constituis per tumuletur amorem ingens deo ministro virum, -est sacrata adflatuque laevaque stamina atque. Mutato dum res servantes loquor -triones utque *eas decerptas* anni quique **spatio hostibus**. Philippi ferox -est ad iacuere multas facies; non Telamon, nitentes quam Amuli. Umente pingebat -ora. Pars iam necopina, novem tangit *et inhaesit* Cretenque: montis vindice, -tot me. diff --git a/mkdocs/ztest00/docs/img/untitled.mmd.svg b/mkdocs/ztest00/docs/img/untitled.mmd.svg deleted file mode 100644 index 1a8020471..000000000 --- a/mkdocs/ztest00/docs/img/untitled.mmd.svg +++ /dev/null @@ -1,350 +0,0 @@ -
Get money
One
Two
Three
else
and
Christmas
Go shopping
Let me think
Laptop
iPhone
Car
whatever:
even more:
\ No newline at end of file diff --git a/mkdocs/ztest00/docs/img/untitled1.mmd.png b/mkdocs/ztest00/docs/img/untitled1.mmd.png deleted file mode 100644 index 9ba08d64e..000000000 Binary files a/mkdocs/ztest00/docs/img/untitled1.mmd.png and /dev/null differ diff --git a/mkdocs/ztest00/docs/img/untitled2.mmd.png b/mkdocs/ztest00/docs/img/untitled2.mmd.png deleted file mode 100644 index 9ba08d64e..000000000 Binary files a/mkdocs/ztest00/docs/img/untitled2.mmd.png and /dev/null differ diff --git a/mkdocs/ztest00/docs/index.md b/mkdocs/ztest00/docs/index.md deleted file mode 100644 index 4064803a6..000000000 --- a/mkdocs/ztest00/docs/index.md +++ /dev/null @@ -1,64 +0,0 @@ -# Welcome! - -This is a test site developed by the team fix of iCub Tech which uses mkdocs. -For full documentation visit [mkdocs.org](https://mkdocs.org). - -## Commands - -* `mkdocs new [dir-name]` - Create a new project. -* `mkdocs serve` - Start the live-reloading docs server. -* `mkdocs build` - Build the documentation site. -* `mkdocs help` - Print this help message. - -## Project layout - - mkdocs.yml # The configuration file. - docs/ - index.md # The documentation homepage. - ... # Other markdown pages, images and other files. - - - -## Here are some examples of inclusions of **Font Awsome** - -from https://fontawesome.com/ - - - - - - - - fa-2x - - -Loading... - - -Loading... - - -Loading... - - -Loading... - - -Loading... - - - - - - - - -fa-ban on fa-camera - - -unt - - -![diagram](img/untitled.mmd.svg) - - diff --git a/mkdocs/ztest00/mkdocs.yml b/mkdocs/ztest00/mkdocs.yml deleted file mode 100644 index 9b66eca1e..000000000 --- a/mkdocs/ztest00/mkdocs.yml +++ /dev/null @@ -1,6 +0,0 @@ -site_name: iCub Tech test -nav: - - Home: index.md - - About: about.md -#theme: readthedocs -theme: mkdocs \ No newline at end of file