Unimation Puma 761 first video

... it's alive!!!

Just testing all joints over their full range.

761 / SN0305

Category:

Education

Tags:

• unimation
• unimate
• puma
• robot
• 760
• 761
• staubli
• staeubli

[DudeAmate]

I am very familiar with this robot. I did the mechanical design of joints 4,5 and 6. 1,2 and 3 were done in Telford, England concurrently. I had many jobs before, and many after, but doing robotics design was without a doubt the most fun. Hi to all you fine people that worked on Shelter Rock Rd/Ln, Danbury, CT. Don't feed the swans.

[NoMoreSleep123]

@DudeAmate Thanks for responding!

I want to clean (inside and outside) the wrist of one of my 761's. Do you have any tips or suggestions how I can do that. First I was planning on taking everything apart and replace bearings if necessary. But I can't get the wrist apart and I don't want to use too much force.

I would appreciate your help.

[DudeAmate]

@NoMoreSleep123

I was told the dimensions were messed up after I left the company in the design checking process and later fixed. The wrist was designed with a built-in assembly interferences so that the bearings would be preloaded to have zero play which would cause position and repeatability inaccuracies. If the dimensions and tolerances were restored properly, you will need to over-torque the center shaft nut to compress the bearings to relieve the interference. Can't tell you the torque now

[NoMoreSleep123]

@DudeAmate

If I send a drawing, would you be able to tell me the steps for disassembly and reassembly?

Or do you know somebody who would have further information?

[puma5k]

Hi, I know this robot, PUMA Unimate 761!

got a the same model at home in Ireland! got it running a few years ago, it was part of a set of to pick and place that where working together tending machine parts. managed to aquire one along with it's older US 700 series model.

Our college had an older 560 working version which helped to get the old LSI based controller going again.