Jaco Installation Guide - 1.0.9 RELEASEDsunday/jaco/Jaco-Installation-Guide-1.0.9_RELEASED.pdfJACO - Installation Guide iv | Page TABLE OF FIGURES Figure 1 – Global schematic of

Installation guide

V1.0.9

JACO - Installation Guide

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TABLE OF CONTENTS

ABOUT THIS DOCUMENT ....................................................................................................... 1

Symbols, definitions and acronyms .......................................................................................................... 1

General Information ................................................................................................................................ 1

DISCLAIMER ................................................................................................................................ 2

MECHANICAL INTEGRATION................................................................................................. 3

Bolt Fastening Requirements ................................................................................................................... 3

Wheelchair Interface ............................................................................................................................... 5

Main base ................................................................................................................................................ 7

Bracket system ........................................................................................................................................ 8

Mechanical Integration Assembly Validation ......................................................................................... 12

ELECTRICAL INTEGRATION ................................................................................................ 13

CONTROL INTEGRATION ..................................................................................................... 14

Kinova standard joystick ........................................................................................................................ 14

Through the wheelchair controller ......................................................................................................... 15

CONTACT SUPPORT .............................................................................................................. 17

APPENDIX 1: MECHANICAL INTEGRATION – PARTS DESCRIPTION ..................... 18

APPENDIX 2: ASSEMBLING TWO SQUARE EXTRUSION ............................................ 22

APPENDIX 3: CABLE PROVIDED FOR WHEELCHAIR ELECTRICAL INTEGRATION

......................................................................................................................................................... 1

APPENDIX 4: BOLT PATTERN FOR KINOVA STANDARD JOYSTICK ......................... 1


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APPENDIX 5: CONTROL INTERFACE FOR HMC ............................................................... 2

The HMC wheelchair controller ............................................................................................................... 2

Connection schematic of the JACO arm.................................................................................................... 3

Accessing the JACO arm control ............................................................................................................... 4


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TABLE OF FIGURES

Figure 1 – Global schematic of a mechanical integration ............................................................... 3

Figure 2 – Recommended screw, Nord-Lock and torque ................................................................ 4

Figure 3 - Nord-Lock Assembly ........................................................................................................ 5

Figure 4 - Nord-Lock Outer Diameter Specifications ....................................................................... 5

Figure 5 - Tubular seat frame .......................................................................................................... 6

Figure 6- Rail type seat frame ......................................................................................................... 6

Figure 7 - Installation of the tubular adapter .................................................................................. 7

Figure 8 - Main base final assembly ................................................................................................ 8

Figure 9 - Main bracket specifications ............................................................................................. 9

Figure 10 - Bracket system assembly (part I) ................................................................................ 10

Figure 11 - Bracket system assembly (part II) ............................................................................... 11

Figure 12 - Universal Interface Connection ................................................................................... 15

Figure 13 - Assembling two square extrusions .............................................................................. 22

Figure 14 - Bolt pattern for Kinova standard joystick...................................................................... 1

Figure 15 – HMC system, part identification ................................................................................... 2

Figure 16 - Connection schematic with HMC system (part I) .......................................................... 3

Figure 17 - Connection schematic with HMC system (part II) ......................................................... 3


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ABOUT THIS DOCUMENT

Read all instructions before installing this product.

This document contains information regarding the installation of Kinova’s JACO arm. It is

intended for:

� Authorized distributor of the JACO arm and their qualified technician field service

experts.

For more information about the JACO arm, its use and operating principles, please refer the

JACO arm user guide.

Symbols, definitions and acronyms

Important information regarding safe operation of JACO arm.

General Information

The installation of the JACO arm must be secure and adequately integrated onto the wheelchair.

Do not attempt installation if any of the JACO arm hardware component in the part kit

is missing or damaged. Contact Kinova to report the damage and request a replacement

kit.

The installation of the JACO arm to the wheelchair includes three principal categories of

integration:

1) Mechanical integration

2) Electrical integration

3) Control integration

The information given in this document is for a non-intrusive installation, meaning that the

wheelchair components are not altered in any way.

The system described in this document is subject to modifications. All the figures are not

necessarily in accordance with the latest version of every component.


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DISCLAIMER

Kinova, JACO, and Kinova’s logo are trademarks of Kinova inc. All other brand and product

names are trademarks or registered trademarks of their respective corporations.

The mention of any product does not constitute an endorsement by Kinova Inc. This manual is

furnished under a lease agreement and may only be copied or used within accordance with the

terms of such lease agreement. Except as permitted by such lease agreement, no part of this

publication may be reproduced, stored in any retrieval system, or transmitted, in any form or by

any means, electronic, mechanical, recording, or otherwise, without prior written consent of

Kinova.

The content of this manual is furnished for informational use only, is subject to change without

notice, and should not be construed as a commitment by Kinova. Kinova assumes no

responsibility or liability for any errors or inaccuracies that may appear in this document.

Changes are periodically made to the information herein; these changes will be incorporated

into new editions of this publication. Kinova may make improvements and/or changes in the

products and/or software programs described in this publication at any time.

If you have comments on this manual or the products it describes, address them to:

� Kinova’s publication: [email protected]

Kinova may use or distribute whatever information you supply in any way it believes

appropriate without incurring any obligations to you.

Copyright © 2011 Kinova. All rights reserved.


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MECHANICAL INTEGRATION

The mechanical integration of JACO on a motorized wheelchair is divided into three phases:

1) Installing the wheelchair interface;

2) Building the main base;

3) Joining both with the bracket system.

Each phase is described individually in this section. The different parts and items used for to

assure the mechanical integration suggested by Kinova are detailed in Appendix 1. The following

figure presents an overview of an adequate mechanical integration and the required phases.

Figure 1 – Global schematic of a mechanical integration

Bolt Fastening Requirements

To assure the mechanical integrity of the mechanical integration assembly, the following

requirement should be followed.

� Each screw should be fastened using the adequate Nord-Lock.

� Each screw should be fastened with two drops of lubricating oil applied on the screw’s

threads and the recommended torque.

� For each screw, a minimum of 4 threads should assure the fastening and, when screwed

to the recommended torque, there shall be no lose in the assembly.


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The following figure presents the torque and Nord-Lock recommendations.

Product Name PN Screw Nord-Lock Torque (Nm)

Angle Bracket MH 0843 0001 M8x20 NL8 381

Slide Plate MH 3575 0001 M8x15 NL8 381

Rail Adapter MF 7519 0001 M6 NL6 15.8



Tubular Adapter2 1000FSMIP M6 NL6 15.9

Tubular Adapter3 1000FSMIP M6 n/a 11.9

Figure 2 – Recommended screw, Nord-Lock and torque

MAIN BASE

� No grade is specified for the main base assembly screws.

� The M8x15 screws shall be used to fasten the slide plate to the main base assembly.

� The M8x20 screws shall be used to fasten the angle bracket to the main base assembly.

BRACKET SYSTEM

� Every bolt used in the bracket system assembly must be of grade 12.9.

� The length of each screw will depend on the spacer configurations.

NORD-LOCK FASTENING SYSTEM

The Nord-Lock fastening system is comprised of a pair of washers that has cams on one side

(inside) and radial teeth on the opposite side (outside). The pre-assembled washers are installed

in pairs, cam face to cam face. They are reusable when no signs of wear are visible.

1 Note that the torque applied is defined with the use of the Nord-Lock system. If standard washers and

lock washers are used, please revise the torque adequately.

2 Refers to the installation of the main bracket (with or without spacers) on the tubular adapter.

3 Refers to the assembly of the tubular adapter unit.


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Figure 3 - Nord-Lock Assembly

Kinova recommends the use of stainless steel (ss) Nord-Lock. For one hole size (e.g. NL6ss), you

may have two different flange sizes. Kinova recommends the use of enlarged outer diameter

(NL6spss) for the assembly of the bracket system and regular outer diameter (NL6ss) for the

assembly of every other system. The large flange optimises the load distribution.

Figure 4 - Nord-Lock Outer Diameter Specifications

Wheelchair Interface

The mechanical integration of the JACO arm onto the wheelchair is done through the wheelchair

seat frame. To install the wheelchair interface, you must:

1) Identify the seat frame type;

2) Identify and install the adequate adapter;

SEAT FRAME TYPE.

Generally, one may encounter two different type of wheelchair seat frame (tubular or rail type)

which are illustrated in the following figures.


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Figure 5 - Tubular seat frame

Figure 6- Rail type seat frame

SEAT FRAME TUBULAR ADAPTER

For a tubular type seat frame, Kinova suggests the use of the tubular adapter (1000FSMIP). The

tubular adapter must be installed around the tubular seat frame with the opened side up and

the large golden part (5 holes visible) facing outside. The installation of the tubular adapter

normally won’t require the uninstallation on any wheelchair accessory. If it does, please refer to

the relevant document supplied by the wheelchair manufacturer.

To install the tubular adapter, you must:

1) Remove all screws that are part of the tubular adapter assembly;

2) Place the small, narrow part (3 holes visible) on the inner side of the wheelchair seat frame

with the open tubular side up as shown in the following figure;

3) Place the large golden part on the outer side of the wheelchair seat frame, with the open

tubular side up as shown in the following figure;

4) Insert two M6x35 in the 2 horizontal outer holes as shown in the following figure and

tighten to the required torque. Please note that those screws are the only one which will

not require the installation of Nord-Lock washers.


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Figure 7 - Installation of the tubular adapter

SEAT FRAME RAIL TYPE ADAPTER

If the wheelchair is equipped with a rail type seat frame, Kinova suggests the use of a rail

adapter (MF 7515 0003, MF 7519 0001 or MF 8010 0001). The choice of the rail adapter is

dependent of the wheelchair seat frame profile.

Those rail adapters must be sled through the rail until the desired position is reached. In order

to insert the rail, one may have to uninstall several wheelchair component and accessories.

Please refer to the relevant document supplied by the wheelchair manufacturer.

The MF 8010 0001 rail adapters come in pair of two and must be installed as a pair

to assure the mechanical integrity of the system.

Main base

The main base is built with the following items:

� 1 x square extrusion (MF 4040 0003), length of 120 mm

� 1 x square extrusion (MF 4040 0001), length to be determined

� 1 x angle bracket (MH 0843 0001)

� 1 x slide plate (MH 3575 0001)4

� 4 x bolts (M8x15)

� 4 x nuts (MH 0809 0001)

� 4 x flat washers (MF 0008 0002)

� 4 x spring washers (MF 0008 0001)

4 The installation of one slide plate, using 2 bolts (M8x15) and 2 nuts (MH 0809 0001) is a minimum

requirement to assure the mechanical integrity of the main base. You may install a second slide plate,

using the same additional quantity of hardware as mentioned previously, on the other side.


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The length of the horizontal square extrusion (MF 4040 0001) will define the length of the

mechanical integration assembly and the forward position of the JACO arm. The length of the

square extrusion provided may be shortened by cutting the square extrusion to the desired

length. In some case, it may be necessary to join two square extrusions together to assure the

adequate length. In this case, please refer to Appendix 2 for the adequate assembly procedures.

You need to file all edges of the square extrusion if you need to cut it to the desired

length.

The fasting of every screw must respect the torque recommendations presented in

figure 2.

The main base final assembly should look as shown in the following figure:

Figure 8 - Main base final assembly

Bracket system

The bracket system will define the final height of the JACO arm and the total width of the

wheelchair once the mechanical integration is completed. The installation of the bracket system

must respect the following requirements:


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� The JACO hand may easily reach the ground, on a surface of about one squared foot, in

an area where the user may have a good visual appreciation of the actions done with

the JACO hand;

� The JACO arm may achieve most of the basic movements without interfering with the

user, the wheelchair or its accessories;

� The JACO arm and its mechanical integration assembly don’t expand the wheelchair

width beyond 2 to 3 inches;

� There is no loose in the mechanical integration assembly.

The fasting of every screw must respect the torque recommendations presented in

figure 2.

The lateral spacing of the main base may be done by placing spacers (MF 7515 0004 or MF 6015

0001) on the main bracket (MF 8010 0002). The following figure shows the appellation of the

rows located on the main bracket.

Figure 9 - Main bracket specifications


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Please note that:

� Upper spacing refers to spacers used between the main bracket and the rail adapter

(wheelchair).

� Lower spacing refers to spacers used between the main base and the main bracket.

� The square spacers (MF 7515 0004) are used for lower spacing of the main base and the

upper spacing when used with rail adapters (MF 7519 0001, MF 7515 0003 or MF 8010

0001).

� The round spacers (MF 6015 0001) are only used for upper spacing of the main base

when used with tubular adapter (1000FSMIP).

� The quantity of lower and upper spacer will vary depending on the required

configuration.

� Screw lengths shall adjust with the spacing requirements of the bracket system

assembly.

To assure the mechanical integrity of the bracket system assembly, the following steps are

recommended. As there exists a multitude of configurations for the bracket system spacing, the

following steps and figures present an example of a bracket system assembly using one upper

spacer and one lower spacer.

Figure 10 - Bracket system assembly (part I)


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1) Insert the rail adapter (MF 7519 0001) in the square extrusion (MF 4040 0001) as defined in

the following figure;

2) Place the appropriate quantity of square spacer (MF 7515 0004 - if needed) on the square

extrusion with bolt holes aligned;

3) Place main bracket (MF 8010 0002) on the square spacer. The bolt row chosen will define

the final height of the JACO arm. Chose the appropriate length of screws (M6) and lubricate

the threads with the prescribed oil. Insert the screws in the holes and fasten them to the rail

adapter inserted in the square extrusion with the required torque.

4) Place the appropriate spacer (quantity and type) on the main bracket upper side.

5) Reverse the assembly and insert the adequate screws (type and length) and Nord-Lock in

the appropriate holes. The following figure shows the installation of a spacer for tubular

adapter (left) and rail adapter (right):

Figure 11 - Bracket system assembly (part II)


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6) Fasten the bracket system assembly to the adapter (already installed on the wheelchair seat

frame) with the required torque.

Please note that the bracket system requires screws of two different lengths to allow adequate

fastening to the tubular adapter. The middle screw should be about 15 to 20 mm longer than

both extremities screws, as shown in the preceding figure.

Mechanical Integration Assembly Validation

The following validation should be made to the mechanical integration assembly before

installing the JACO arm:

� Verify there is no lose in the mechanical integration assembly by shaking it in all

direction. If a loose is noticed, please verify the torque applied to all screws and screw

length.

You may now install the JACO arm on the main base.

� Verify the JACO arm may be easily installed and uninstalled by a caregiver.

� Assure that there is a sufficient clearance between the JACO fixe base and any part of

the wheelchair to allow easy access to every connectors, buttons and screws located on

the JACO fixed base.

� Once the JACO arm is installed, you should verify the hand may touch the ground on an

appropriate surface and in an appropriate area for easy object pick up by the user.

Before finalizing the installation, the following points should be checked with the user to assure

that the mechanical integration respects his/her daily activities:

� The user may enter his/her adapted transport, secure the wheelchair in place and close

all doors without interfering with JACO;

� The user may slide his/her wheelchair under the tables (only applicable if the user still

needs to slide the wheelchair under the tables);

� The user may move the wheelchair around his/her home and pass through every

doorway.

� The retracted position does not interfere with either the wheelchair or the bracket

system.

� The configuration respects the installation system and the user may close together only

2 fingers.


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ELECTRICAL INTEGRATION

The power supply to the arm must be 24V D.C. The electrical power provided to the JACO arm,

when used on a motorized wheelchair, will come from both wheelchair batteries. The JACO arm

power cable provided by Kinova is presented in Appendix 3. At one end, it is equipped with the

necessary connector for the JACO base and the other end is equipped with no connector. The 4

free wires at this end are devoted to be joined to the adequate connector to acquire the 24V

D.C. necessary for powering the JACO arm.

It is the responsibility of the technician to assure that the 24V electric outlet is safe for both

JACO and the wheelchair.

Once the cable is adequately prepared, and to assure an adequate electrical integration, please

proceed with the following steps:

1) Find the adequate 24V D.C. outlet on the wheelchair;

2) From the 24V D.C. outlet on the wheelchair to the JACO arm fixe base, define the path that

the power cable will follow;

3) Rout the power cable in a way that it will not interfere with normal wheelchair or swinger

movements and so it is not visually intrusive;

4) Secure the power cable in place.

Assure that the connector is securely connected and will not come out with

wheelchair vibrations.


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CONTROL INTEGRATION

There are two principal ways of achieving the control over JACO when it is installed on a

motorized wheelchair. You may control JACO with

� The Kinova standard joystick;

� The wheelchair control system.

Both methods necessitate special recommendation that will be explained in the following

sections. Note that the control may be customized. Please refer to the Jacosoft User Guide for

detailed information on the configuration methods.

Kinova standard joystick

In order to allow the user to achieve a suitable control over the JACO arm with the Kinova

standard joystick, you must:

1) Define an adequate location5 for the Kinova standard joystick.

2) Install the Kinova standard joystick and secure it in place. You will find a detailed bolt

pattern for the joystick in Appendix 4 to help you design a joystick support.

3) Rout the joystick cable in a way that it will not interfere with normal wheelchair or swinger

movements and so it is not visually intrusive;

4) Secure the joystick cable in place.

Depending on the user’s physical capacities, additional push buttons may need to be connected

to the joystick. In this case, the emplacement of those push buttons must be studied carefully

and advices of a therapist are recommended.

For more information on the Kinova standard joystick and its functionalities, please refer to the

JACO User Guide.

5 An adequate location refers to a place that won’t interfere with normal user movements, or his control

over the wheelchair. Refer to a therapist for help and approval of the joystick location.


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Through the wheelchair controller

In order to allow the user to achieve a suitable control over the JACO arm with the wheelchair

control interface, you must:

� Connect an auxiliary communication system to the wheelchair controller;

� Connect the Universal Interface to the auxiliary communication system;

� Connect JACO to the Universal Interface;

� Rout all cables in a way that they will not interfere with normal wheelchair or swinger

movements and so they are not visually intrusive;

� Secure all cables in place.

The following figure presents a schematic of the connection between systems.

Figure 12 - Universal Interface Connection

6

AUXILIARY COMMUNICATION SYSTEM

The auxiliary communication system allows JACO to be recognized as an auxiliary by the

controller. Depending on the wheelchair manufacturer and the available option, the

environmental control may take the form of, but not exclusively:

� Electronic Control Unit (ECU);

6 Note that the Auxiliary Communication System, the wheelchair controller and its interface may be

replaced by a DB9 compatible external control device. Please refer to the Universal Adapter User Guide

for ECU connector pinout.


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� Input/Output Module (IOM)7;

� Mouse Emulator;

� Bluetooth module.

This auxiliary communication system will transfer the controller output to the Universal

Interface. The auxiliary communication system must be connected to the controller. Please refer

to the documents provided by the wheelchair manufacturer for detailed procedure.

UNIVERSAL INTERFACE

The Universal Interface is an electronic device which translates the output of the auxiliary

communication system into an adequate command to JACO.

Additional push buttons must be connected to the Universal Interface to allow reaching Home

and Retract positions and toggling between modes of operation. In this case, the emplacement

of those push buttons must be studied carefully and advices of a therapist are recommended.

7 See Appendix 5 for detailed information on how to connect the JACO arm to an HMC system.


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CONTACT SUPPORT

If you need help, have questions or comments about this guide or the information detailed in it,

please contact Kinova at: [email protected]

www.kinovaRobotics.com


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APPENDIX 1: MECHANICAL INTEGRATION – PARTS DESCRIPTION

Wheelchair Interface

Rail Adapter Kinova MF 7519 0001



Tubular Adapter Daessy

1000FSMIP

MF 0001 0001

Socket Head Cap Screw

M6x35

Daessy n/a

Main Base

Square Extrusion Misumi

HFSTB8-4040

-300

-120

Misumi HFSTB8-

4040

MF 4040 0001

MF 4040 0003

Angle Bracket Misumi

HBLFSN8

MH 0843 0001

Slide Plate Misumi

SHPTSS8

MH 3575 0001


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Product Name Manufacturer PN Figure

Nut Misumi

HNTTSS8-8

MH 0809 0001


M8x15

Misumi

SCB8-15

MH 0815 0001


M8x20

Misumi

SCB8-20

(M8x20)

MH 0820 0001

Flat washer M8 Misumi

SPWF8

MF 0008 0002

Spring washer M8 Misumi

SSLW8

MF 0008 0001

Plastic knob

M8x20

Misumi

NKSM8-20

MF 0820 0002

Clamp lever

M8x20

Misumi

CLMSC8

MF 0820 0003


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Bracket System

Main bracket

(first version)

Kinova MF 7515 0005

Main bracket

(second version)

Kinova MF 8010 0002

Square spacer Kinova MF 7515 0004

Round spacer Kinova MF 6015 0001

Nord-Lock Nord-Lock NL5spss

NL6spss

NL8ss


*Grade 12.9

M6x30

M6x45

M6x60

M6x75

M6x90

MH 0630 0001

MH 0645 0001

MH 0660 0001

MH 0675 0001

MH 0690 0001


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*Grade 12.9

M5x30

M5x45

M5x60

MH 0530 0001

MH 0545 0001

MH 0560 0001


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APPENDIX 2: ASSEMBLING TWO SQUARE EXTRUSION

In some case, you will need to assemble two square extrusions together to achieve the desired

square extrusion length. In order to assure the mechanical integrity of the assembly, you shall

follow the procedure described herein.

1) Slide one nut (MH 0809 0001) on one side of each square extrusion.

2) Place a slide plate (MH 3575 0001) on the square extrusion with nut holes aligned.

3) Insert the appropriate screws (M8x15) and Nord-Lock (NL8ss) in the nut holes and secure

with the recommended torque.

4) Repeat operations 1 to 3 on a second side of the square extrusion.

Figure 13 - Assembling two square extrusions


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APPENDIX 3: CABLE PROVIDED FOR WHEELCHAIR ELECTRICAL INTEGRATION


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APPENDIX 4: BOLT PATTERN FOR KINOVA STANDARD JOYSTICK

Figure 14 - Bolt pattern for Kinova standard joystick


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APPENDIX 5: CONTROL INTERFACE FOR HMC

The HMC system has some specific particularities that are explained in the following section.

One of this particularity is that is has been modified to bypass the IOM and accept a direct

connection to the JACO arm.

The HMC wheelchair controller

Figure 15 – HMC system, part identification


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Connection schematic of the JACO arm

Figure 16 - Connection schematic with HMC system (part I)

Figure 17 - Connection schematic with HMC system (part II)


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Accessing the JACO arm control

1) Turn the wheelchair controller on.

2) You should see window #1.

3) Wait until window #2 appears.

4) With a left motion of the joystick, go on the “mouse &

joystick” icon.

5) Enter the “mouse & joystick” menu by a downward motion

of the joystick.

6) With some left motion of the joystick, go on the “four

directions arrows” icon.

7) Enter the “four directions arrows” menu by a downward

motion of the joystick.

8) You should now be able to control the JACO arm.

Documents

Jaco Installation Guide - 1.0.9 RELEASEDsunday/jaco/Jaco-Installation-Guide-1.0.9_RELEASED.pdfJACO - Installation Guide iv | Page TABLE OF FIGURES Figure 1 – Global schematic of