In the following sections, specific procedures for changing and tensioning each of the robot's drive belts are provided. However, the following general comments and tensioning specifications apply to all belts.
The following table contains all relevant tension values and constants needed for the Sonicmeter for Production_a versions of the robot and later.
| Belt | Mass (g/m) | Width (mm) | Span (mm) | Tension (N) |
|---|---|---|---|---|
|
J1 Stage 1 |
2.8 |
12 |
75 |
135 |
|
J1 Stage 2 |
4.1 |
25 |
113 |
425 |
|
Z Stage 1 |
2.8 |
12 |
76 |
68 |
|
Z Stage 2 |
2.8 |
20 |
441 |
289 |
|
J3 Stage 1 |
2.8 |
12 |
83 |
68 |
|
J3 Stage 2 |
4.1 |
15 |
152 |
182 |
|
Theta Stage 1 |
2.8 |
9 |
257 |
60.5 |
|
Theta Stage 2 |
2.8 |
9 |
267 |
147 |