Boston Acoustics SPOT Technisches Datenblatt

Spot + Spot Arm

Information for Use (IFU)

v1.0 Original instructions

Boston Dynamics, Inc.

Spot + Spot Arm Information for Use v1.0

Version 1.0

April 2021

Boston Dynamics, Inc.

200 Smith St.

Waltham, MA 02451

USA

+1 617-868-5600

[email protected]om

2 Boston Dynamics, Inc.

CONTENTS

1 Introduction 6

1.1 Manufacturer information 6

1.2 Deﬁnition of a Spot User 6

1.3 Deﬁnition of a Spot Operator 6

1.4 Description of the machinery 7

1.4.1 Properties of the Spot + Spot Arm robot 7

1.5 Robot speciﬁcations 8

1.5.1 Spot Arm workspace 10

2 Product safety overview 12

2.1 Important safety notice 12

2.2 Intended use 13

2.3 Misuse 13

2.4 Risk assessment 14

2.4.1 Hazards 15

2.4.2 Estimating the risk of pinch points 15

2.4.3 Estimating Spot Arm workspace extension 17

2.4.4 Estimating the risk of unexpected movements during manipulation 19

2.4.5 Estimating the risks associated with manipulation and balancing 20

2.4.6 Estimating the risks associated with navigation 20

2.4.7 Estimating the risks associated with collisions 21

2.5 PPE 22

2.6 EMC considerations 22

Boston Dynamics, Inc. 3

Spot + Spot Arm Information for Use v1.0

2.7 Laser 23

2.8 General warnings 23

3 Safety features 24

3.1 Torque limitation 24

3.2 Stopping functions 25

3.2.1 Manual stop using the controller 25

3.2.2 Protective stop 26

3.2.3 Stopping time and distance 28

4 Transport, handling, and storage 30

4.1 Transport 30

4.2 Safe handling 31

4.2.1 Proper two-person lift 33

4.2.2 PPE 33

4.3 Storage 34

4.3.1 Battery storage 34

5 Installation and commissioning 35

5.1 Preparation 35

5.2 Battery setup and charging 35

6 Use of the machine 37

6.1 Preprogrammed poses: Stowed and Ready 37

6.2 Typical tasks 38

7 Maintenance 40

7.1 Visual inspection of Spot Arm 40

8 Compliance statement 41

4 Boston Dynamics, Inc.

8.1 EU Declaration of Incorporation 41

Boston Dynamics, Inc. 5

Spot + Spot Arm Information for Use v1.0

1 Introduction

This document contains critical safety information for Spot Arm.

Responsible use of the Spot Arm is crucial to prevent dangerous conditions for operators

and others nearby. Make sure to read, understand and comply with this document to

lessen the risk of injuries or damage to the robot or other property.

Please read the entire document before using the Spot Arm and keep the document in a

readily accessible location afterwards.

Additional information, including complete documentation on the Spot robot and Spot

Dock is available on the Boston Dynamics Support Center.

1.1 Manufacturer information

Spot and the Spot Arm are manufactured by:

Boston Dynamics, Inc.

200 Smith Street

Waltham, MA 02451

USA

1.2 Deﬁnition of a Spot User

In the scope of the present document, a “User” is the entity that uses Spot Arm for the

intended use and is responsible for the personnel associated with operation of the robot.

Users are subject to workplace safety regulations and are active counterparts of the

manufacturer in implementing residual risk reduction measures.

1.3 Deﬁnition of a Spot Operator

In the scope of the present document, an “Operator” is any person operating,

maintaining, cleaning, or troubleshooting Spot Arm under the responsibility of a User,

including person(s) who can be reasonably expected to be near Spot Arm, even if they are

not directly operating the robot. Operators must be trained in the proper use of Spot Arm.

6 Boston Dynamics, Inc.

1.4 Description of the machinery

Spot + Spot Arm provides manipulation capability to the base Spot platform. The

manipulator provides 6 degrees of freedom. The end-effector or gripper has a built-in

single degree of freedom.

Instructions in this document primarily refer to the combined Spot + Spot Arm robot,

unless otherwise speciﬁed.

1.4.1 Properties of the Spot + Spot Arm robot

●The robot performs locomotion, navigation and manipulation in a variety of indoor

and outdoor environments.

●The Spot unit (quadruped part) uses embedded sensors to detect the surrounding

environment.

●The Spot Arm (manipulator part) has no detection sensors. Spot + Spot Arm uses a

complex set of control algorithms to manipulate objects while balancing and

moving around.

●Spot + Spot Arm can be expanded with payloads.

●Spot + Spot Arm does not carry persons.

●Spot + Spot Arm is operated remotely without a physical connection, such as a

cable between control units and the machinery.

Major Spot + Spot Arm components

Boston Dynamics, Inc. 7

Spot + Spot Arm Information for Use v1.0

1.5 Robot speciﬁcations

Speciﬁcations for the Spot Arm manipulator:

Spot Arm manipulator

Value

Degrees of freedom

6 + gripper

Length at full extension

985 mm

Lift capacity*

Up to 11 kg

Continuous lift capacity at 0.5 m extension*

5 kg

Operating temperature

-20°C to 45°C

Ingress protection

IP54

* At 22°C

Speciﬁcations for the Spot Arm gripper:

Spot Arm gripper

Value

Depth of grip

90 mm

Maximum aperture

175 mm

Peak clamp force (at tip of opening)

130 N

Integrated sensors

ToF, 4K RGB

Accessory port

Gigabit Ethernet, 50W power, camera sync (PPS)

The combined weight of the Spot Arm (manipulator and gripper) is 8 kg.

8 Boston Dynamics, Inc.

Speciﬁcations for Spot (quadruped part):

Category

Speciﬁcation

Value

Dimensions

Length

1100 mm

Width

500 mm

Normal stand height (with Spot

Arm stowed)

830 mm

Normal stand height (with Spot

Arm extended straight up)

1700 mm

Tall stand height (with Spot Arm

extended straight up)

1820 mm

Net weight (with battery)

32.5 kg

Degrees of freedom

Max. speed

1.6 m/s

Environment

Ingress protection

IP54

Operating temperature

-20°C to 45°C

Slopes

+/- 30°

Power

Battery capacity

605 Wh

Max. battery voltage

58.8V

Typical runtime

60 minutes

Standby time

110 minutes

Charger power

400W

Max. charge current

Time to charge

Approximately 2 hours

Battery weight

4.18 kg

Payload

Max. payload weight with Spot +

Spot Arm

6 kg

Max. power per port

150W

Boston Dynamics, Inc. 9

Spot + Spot Arm Information for Use v1.0

Payload ports

T-slot rail bolt size

M5 x 1.0

Cameras

Camera type

Projected stereo

Field of view

360 degrees

Operating range

4 m

Connectivity

802.11

Explorer Wi-Fi: 2.4GHz 802.11 b/g/n

Enterprise Wi-Fi: Explorer + 5Ghz 802.11ac

Ethernet

1000Base-T

1.5.1 Spot Arm workspace

The working space of Spot Arm is determined by the volume used to plan and execute a

trajectory, which depends on the combination of the following factors:

●Volume (maximum space) where the manipulator can move

●Displacement of the base

The maximum space of the manipulator alone is determined by the range of motion of

the joints, as set forth below:

Joint Axis

Range

Max. velocity

SH0

-150°/180°

10 rad/s

SH1

-180°/30°

10 rad/s

EL0

0°/180°

10 rad/s

EL1

-160°/160°

10 rad/s

WR0

-105°/105°

10 rad/s

WR1

-165°/165°

10 rad/s

The length of the manipulator at full extension, including the gripper, is 985 mm. The

maximum height of the Spot Arm with Spot in tall stand pose is 1820 mm.

10 Boston Dynamics, Inc.

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