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OI 4 Transport and Handling Procedures

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brweinstein3 edited this page Nov 8, 2023 · 11 revisions

OI 4 - Transport and Handling Procedures

OI 4.1: Lifting Spot

Developed from Reference (f)

⚠ CAUTION ⚠ Only lift Spot with two people. The combined robot-arm assembly weighs nearly 90 pounds and is not ergonomic.

⚠ CAUTION ⚠ Spot's integrated handles are located near pinch points in the robot's hip joints. Proceed with caution when using handles to avoid injury.

  1. Robot can only be lifted if the robot is powered off or sitting with the motors locked out. As a reminder, the motor lockout button must be entirely OFF for the lockout to be engaged. If the motor lockout button is still red (flashing or solid), refer to OI 2.2.3 to determine next steps. Typically, motors must be turned off by the tablet controller, then have the lockout engaged.

  2. As a pair, reach down and grab the fabric handles at the robot's hips. Handles should be grabbed with a closed fist to avoid pinch points at hips.

  3. As a pair, lift with knees and move Spot as needed. Be sure to communicate with lifting partner to avoid damage to robot. See below for an example of a good lift.

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  1. Carefully place the robot down on the new surface and release handles. Ensure that no leg joints are improperly positioned

OI 4.2 - Rolling Spot

⚠ CAUTION ⚠ Robot cannot fully roll over if Spot Arm is installed. Rolling the robot with the Spot Arm will leave the robot on its side, not its back. Maintain caution when working with a partially rolled robot.

OI 4.2.1 Safe Rolling

OI 4.2.2 Rolling using Robot Controller

OI 4.3 Transporting Spot

OI 4.3.1 Transporting Spot Within the Computer Sciences Building

UNDER DEVELOPMENT

OI 4.3.2 Transporting Spot Over Longer Distances

UNDER DEVELOPMENT

OI 4.4 Unboxing Spot with Arm

Refer to Spot Arm Boxing/Unboxing for more details. ⚠ CAUTION ⚠ Be sure to not overextend Spot Arm joints when maneuvering robot. Refer to Spot Arm information in OI 7[ADD LINK].

  1. Open the case and remove the foam bridge across the center. If needed, remove the robot controller and accessories from their locations in the case.
  2. Lift the arm so that it is fully extended as seen below.

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  1. Twist the upper forearm 45 degrees counterclockwise while holding the gripper in place (i.e. the gripper should not rotate).

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  1. Rotate the base of the arm clockwise 180 degrees. Arm should now be facing towards the front of Spot.
  2. Lower the arm into the stowed position as shown below.

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  1. With two people, lift Spot out of the case using the handles at both ends of the robot per OI 4.1.

OI 4.5 Boxing Spot with Arm

Refer to Spot Arm Boxing/Unboxing for more details. ⚠ CAUTION ⚠ Be sure to rotate and orient the joints exactly as described, otherwise it may ultimately not sit properly in the box.

  1. Position the robot such that the front of the robot is oriented towards the right side of the case (as you are facing it with the top open).
  2. With two people, lifting per OI 4.1 [ADD LINK], lift the robot into the case.
  3. Grab the last gripper joint and pull straight up so the arm is fully extended.
  4. Rotate the base of the arm counter-clockwise 180 degrees.
  5. Twist the upper forearm 45 degrees clockwise while holding the gripper in place.

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  1. Lower the arm onto the back of the robot, placing the foam bridge underneath the elbow. Spot should look like the image below:

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