Adept s650HS Quattro - Manual (Page 15)

Chapter 1: Introduction
Figure 1-3. Adept AIBs (Quattro H AIB on left)
Inner Arms
The four robot motors attach directly to the inner arms through a high-performance gear
reducer. Other than optional, user-supplied hardware mounted on the platform, these are the
only drive motors in the Quattro robot. The following figures show the precision carbon fiber
assembly of the inner arms on a Quattro H robot and Quattro HS robot. The ends of the inner
arms on the Quattro HS robots are plated with electroless nickel, rather than hard-anodized.
The RIA-compliant hard stops limit the inner arm motion to -52° and +124°.
Figure 1-4. Quattro H Robot Inner Arm, Status Panel
Adept Quattro User's Guide, Rev F
Page 15 of 196