Mechanical interface
****************************************

Mechanical Overview
==============================================================

This chapter introduces the mechanical and the electrical interfaces of Ned.

Ned is a 6-axis collaborative robotic arm. It consists mainly of six robot 
joints of aluminum with plastic covers. Ned consists of 7 parts :

.. ifconfig:: language in ['fr']

    .. image:: /images/FR_NED_3D_COLOR.png
         :width: 750px
         :align: center

.. ifconfig:: language in ['en']

    .. image:: /images/NED_3D_COLOR.png
         :width: 750px
         :align: center


Three-view of the robot 
==============================================================

.. image:: /images/Ned_dimensions.jpg
         :width: 750px
         :align: center

Robot workspace
==============================================================

.. image:: /images/WORKSPACE_1.png
         :width: 500px
         :align: center

.. image:: /images/WORKSPACE_2.png
         :width: 500px
         :align: center

Tool mounting
==============================================================

Each tool has the same mechanical connector interface. This option allows a
quick-change option of the tool and good stability.
See the picture below.

.. image:: /images/TOOL_MOUNTING.png
         :width: 250px
         :align: center

Vision Set mounting
==============================================================

To mount the Vision Set, all you need to do is attach the camera to Ned's wrist,
set up and fix your workspace to Ned’s structure to have a stable environment
and put the vision jaws on the Custom Gripper.

.. image:: /images/CAMERA_VISION_SET.png
         :width: 500px
         :align: center


Robot calibration
==============================================================

Ned is delivered without a mechanical calibration.
Ned can not execute any motion properly without auto-calibration because of 
a mismatch between the origin of each motor and its corresponding origin stored in the controller.

.. note::

    Make sure to process the calibration in order to align the origins of every joint.

.. hint:: 

    Check :niryo_studio:`Niryo Studio Manual <>` to get more information about Ned’s calibration.