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The Definitive Guide to zeroG®The Definitive Guide to zeroG®
What’s Inside
1. What is zeroG®?
2. Example Applications
3. Why choose zeroG®?
4. zeroG® System Architecture
5. Quick Reference Guide
1. Mounting
2. zeroG® Arm
3. Gimbal
4. Tool Interface
6. When to use zeroG®
Appendix
1. Gimbal Demo Kit
2. CAD Models & NDA
3. Installation & Service Programs
4. Glossary of Terms
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What is zeroG®?
Iso Elastic (constant) spring driven “lift” throughout range of travel.
zeroG® is unpowered and controlled entirely by the operator. In essence, zeroG® makes tools and parts weightless by offering a second set of fingers, wrists, arms, and legs.
Fingers Tool Interface
zeroG Arm
The Tool Interface is much like our own fingers, providing a sturdy grip on the tool.
Arm zeroG® Arm
Wrist Gimbal Mounting
GimbalA Gimbal replicates the freedom of motion provided by our own wrists.
Legs Mounting
Arm zeroG Arm
ToolInterface
The support provided by our shoulder, elbow, and arm muscles are replicated by the zeroG® Arm.
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g g
Like our legs, zeroG mounting systems provide mobility and a sturdy base.
Example Applications
DrillingGrinding Part Holding & Other…
Riveting Fastening
Mounting:
Fixed and mobile solutions
zeroG Arm:
Weightless payload
Gimbal:
Gimbal technology to
Tool Interface:
Designed parts to attach
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to interface [to] the customer environment
g p ymanipulation with highest freedom of motion
gyprovide angular freedom of motion to payload
g pto wide range of industrial tools and parts
Why choose zeroG®?
Value Proposition
Boost Productivity Reduce Injuries Improve QualityBoost Productivity Reduce Injuries Improve QualityInjuries due to overexertion and repetitive stress
impose heavy costs on companies and their employees; zeroG® technology can often reduce injuries to zero for tasks involving use of tools
and maneuvering parts
Quality can be improved by reduced error rates from fatigue associated with repetitive motion tasks, along with greater precision with heavy tools.
zeroG dramatically boosts productivity by letting you work faster and longer
without fatigue or strain
Competitive Advantageand maneuvering parts.
Proven• Already in use by many of the top manufacturing companies in the world, with numerous installations for a variety of challenging applications
Performance• Unmatched freedom of motion allows users to maneuver as if there were no lift assist provided.• zeroG® systems deliver a dramatic increase in productivity due to applications.
Cost Effective• Standard components allow for commonality of engineering and design standards vs. custom solutions that are expensive, cumbersome and not repeatable• Lower total cost of ownership per installed system when compared to
h l i
• zeroG systems deliver a dramatic increase in productivity due to operators being able to work longer with reduced fatigue. • Powered arms (pneumatic, hydraulic, actuated) offer limited range of motion and introduce reaction delay
Flexibility • Modular, flexible design allows components to be used in many
other solutions.• Lets users rely on existing skills and experience with little or no additional training required.
Virtually No Maintenance Required• Simplicity of design allows zeroG® to have few moving parts and minimal maintenance requirements.
different applications and redeployed as needed.Energy Efficient• Requires no compressed air, hydraulic or electrical power. Operation is 100% mechanical, saving power costs and eliminating the need for additional cabling/hoses.
Small Footprint
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qSmall Footprint• zeroG® systems can be mounted from virtually any component or location. Other systems require floor or overhead mounting.
zeroG® System Architecture
Saturn™ series solutions use set
Mounting zeroG® Arm Gimbal Tool Interface
Mobile zeroG4 Saturn™ Series Ring & Set ScrewsSaturn series solutions use set screws as the tool (payload) interface.Single Link Single Link + Static Link
Double LinkMini StandMini Stand
TelescopingStand
S1
zeroG2Double Link + Static Link
w/Z‐AxisMini Stand
Creeper CartS2
Fixed
Leveling Block
Dynamic
Preset
Cover
Silicone
Quad StandQuad Standw/Z‐Axis MAG™ Series
180 135 90 180EX
Mechanical InterfaceMAG™ series solutions require a uniquely fitted mechanical tool (payload) interface.
Gantry
Fixed
DockingPolyco
Hook
Light Jib Floor PostLinear Rail
180 135 90 180EX
180
Spatial Constraints & Mobility
Range of Motion Required
Key ConsiderationsPayload (Tool) Weight
Range of Motion Required
Key ConsiderationsPayload (Tool) Usage & Orientation
Work Environment
Key ConsiderationsPayload (Tool) Shape,
Structural Characteristics,
Key Considerations
SecureHookHeavy Jib
w/Z‐AxisHeavy Jib
Tool Interface
G2 Static Link
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Work Environment Cover, Docking, Leveling Center of Gravity, Cables, Attachments and Handling Locations
Quick Reference Guide – Mounting
Mobile Options
Mini Standw/Z‐Axis
Quad StandMini Stand GantryTelescopingStand
Creeper Cart Light JibHeavy JibQuad Standw/Z‐Axis
Floor PostLinear Rail
Mi i St d U d i G2 li ti th t i bilit ithi th
Fixed OptionsLi R il U d i li ti th t i i d l t l f
Heavy Jibw/z‐Axis
G2 StaticLink
Mini Stand: Used in zeroG2 applications that require mobility within the work environment.Options: Z‐Axis adjustable version
Quad Stand: Used in zeroG4 applications that require mobility within the work environment.
Linear Rail: Used in applications that require increased lateral range of motion along a fixed path in the work environment. Common uses include permanent mounting behind work table or following an assembly line, often times in areas where a cart cannot be used on the shop floor.Options: 48”, 73”, 96”, 144” span
H Jib U d i li i h l b i ll d b fl l l
Compatible:
Compatible:
Options: Z‐Axis adjustable version
Creeper Cart: Used in applications that are near ground level and that may require low vertical profile for clearance.Options: Max Payload (Tool) Weight
13.5lb, 25lb, 36lb
Heavy Jib: Used in applications that can only be installed above floor level and do not require mobility. Common uses take advantage of the ability to “swing” the zeroG system to multiple workstations and for stowage.Options: 24”, 30”, 36”, 48”, 63”, 72” span
Light Jib: Used in applications that can only be installed above floor level
Compatible:
Compatible:
Compatible:
, ,
Telescoping Stand: Used in applications that require vertical range of motion while also clearing low “ceiling”.Options: Mini version
and do not require mobility. Common uses take advantage of the ability to “swing” the zeroG system to multiple workstations and for stowage.Options: 24”, 30”, 36”, 48”, 63”, 72” span
Floor Post: Used in applications that require permanent installation to the shop floor. Counterweight not required.
Compatible:
Compatible:
Compatible:
Gantry: Used in applications that require mobility and increased lateralOptions: 24”, 48”, 72” Height
G2 Static Link: Used in applications that require up to 35” of added reach from a fixed mounting location.Options: 16”, 24”, 30” spanCompatible:
Compatible:
Compatible:
Gantry: Used in applications that require mobility and increased lateral range of motion without having to relocate the stand. Common uses include straddling a work table, following an assembly line, or spanning a large gap.Options: 48”, 72”, 96”, 144” span
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Quick Reference Guide – zeroG® Arm
zeroG4® Single LinkDynamic
Preset
Plastic
zeroG4® Double Link
zeroG4®Single Link + Static Link
zeroG4®Double Link + Static Link
Fixed
Silicone
Secure*Hook
zeroG2®
zeroG4® & zeroG2® Character Docking Cover
zeroG4® Double Link• Lift 10‐36lbs• Vertical Travel 32”H i l R h 34”
Leveling Block
H k U d i li ti
Docking describes the method of stowage of the zeroG® system when not in use or between operations.
While not required, covers offer protection from external factors like dust, water, light contact, sparks, and can also mitigate pinch points.
D i U d h
Leveling blocks align a zeroG® arm with gravity ensuring the arm is balanced and does not drift.
(Options that enhance zeroG arm performance for particular application)
Silicone: Added protection
• Horizontal Reach 34”
zeroG4® Double Link + Static Link• Lift 10‐36lbs• Vertical Travel 32”• Horizontal Reach 50”
Hook: Used in applications that require temporary “docking” of the zeroG arm. Not intended for use as a secure dock for tool changing.
Plastic: Protection from light dust, debris & overspray. Not intended for heat or spark exposure. Disposable.
Dynamic: In this configuration, the zeroG® arm floats most freely, and without friction at the joints.
Dynamic: Used when frequent and rapid adjustment of zeroG® leveling under load is required. Best paired with mobile mounting solutions. Silicone: Added protection
from light dust, debris & overspray. Intended for use in environments with heat or spark exposure, and helps mitigate pinch points.
zeroG4® Single Link• Lift 10‐42lbs• Vertical Travel 16”• Horizontal Reach 17”
zeroG4® Single Link + Static Link
Secure: Used in applications that require the arm to be docked into a secure position when not in use. This will not allow
Preset: Used in applications that require only occasional adjustment of zeroG® leveling while in service.
Fixed: Used in applications
Positionable: In this configuration, the zeroG® arm is more positionable with slight friction at the joints.
• Lift 10‐42lbs• Vertical Travel 16”• Horizontal Reach 34”zeroG2®• Lift 0‐10lbsV ti l T l 29”
movement or floating.
NomenclatureDistal Link Proximal LinkEnd Block
Centering: Added components improve the zeroG arm response to repetitive tasks. Left Hand & Right Hand centering
Fixed: Used in applications that do not require adjustment of zeroG® leveling while in service such with fixed mounting solutions.
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• Vertical Travel 29”• Horizontal Reach 29”
Hinge
Engage leveling block here
Engage Gimbalhere
Right Hand centering available.
Quick Reference Guide – Gimbal
Gimbal Selection Guide‐135 ‐90‐180
Step 1 Saturn (Ring) vs. MAG: Will a ring be fit around the payload (Tool)?Yes → Saturn No → MAG
S1: Heavy Applications MAG gimbals are an alternative to Ring
‐180EX
Saturn™
Style:
Step 2
S1: Heavy ApplicationsTypically > 15lb payload
S2: Light ApplicationsTypically < 15lb payload
MAG gimbals are an alternative to Ring gimbals and provide similar functionality, but require a special Tool Interface to engage the payload.
Saturn
Maximize Range Of Motion: Choose a gimbal that best maintains “orthogonal bearing axis” in all orientations that the tool is used When selected properly the gimbal will
MAG™
axis in all orientations that the tool is used. When selected properly, the gimbal will operate in what is called the “Ortho Zone” (Green), and avoids the “Blind Spot” (Red).
Ri Si i Ch M /Mi P l d Di
Test: While in use, the first axis (ring axis or axis closest to the tool) should stay pointed within the ortho zone. Ideally, the ring axis is never pointed toward the blind spot.Tip: MAG series gimbals operate the same as their counterpart Saturn series. The first axis
Ring Sizing Charts – Max/Min Payload Diameter
S1 Max Min
Small 3.08” 1.58”
Medium 4.08” 2.58”
S2 Max Min
Size 0 1.84” Zero
Size 1 3.00” 1.50”
Post Extensions: See
Accessories
FarNearStep 3 Locate Payload (Tool):Where must the payload be positioned relative to the arm: Above or Below? Near or Far?
Important Factors
p g p pis achieved without a Ring, but the same considerations apply.
Above
Large 4.89” 3.39” Size 2 4.16” 2.66”
Size 3 5.32” 3.82”
Size 4 6.47” 4.97”
Note: Solid ring, must clear body
Note: Ring comes in halves.
Demo Kit Slide for usage.Gimbal Above / Below
Important Factors:• All gimbal styles can be used above or below.• Style 135, 90, 180EX provide far location• Style 180, provides Near location• Gimbal accessories provide additional location adjustment
Below
Post Rotation Lock: Adjusts rotation allowed about zeroG® arm endblock.
Quick Release: Allows
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Work Area & Operator: Ensure equipment clears the work area and is not an obstruction to the operator when using the tool (payload).
Step 4Qpayload to be removed from zeroG equipment with ease.
Quick Reference Guide – Tool Interface
Grinding Other Tools…
Drilling
Set Screws
ToolInterface
Designed to Fit Tool Interface
Set Screws ToolInterface
Designed to Fit Tool Interface
Tool Interface
FasteningTool
Interface
Riveting
Set Screws
ToolInterface
Standard ‐ Saturn™ SeriesThe most common tool interface utilizes set screws in conjunction with a Saturn Series Gimbal. Set screws thread through the ring to position and secure the payload inside the ring. Set screw packs are provided with all Saturn Series gimbals for ease of installation.
Standard Saturn™ Series Designed to Fit MAG™ Series
Set Screws
Designed to Fit ‐MAG™ SeriesWhen a ring will not fit around the center of gravity of a payload, MAG Series Gimbals are used in combination with fit‐for‐purpose components designed and tested by Equipois.
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Standard – Saturn™ Series Designed to Fit – MAG™ Series
When to use zeroG®
zeroG® solutions are used in a variety of applications, and ultimately intended to eliminate injuries, boost productivity and increase quality of work. Consider your application: if any of the following sound familiar, you will likely find benefit in the use of a zeroG system.
Heavy Payload (any duration)
Light Payload (long duration)
Overhead Tool Use Overhead Tool Use
Inside / Enclosed Use
High Repetitions
Awkward Posture
Injury Prone and Risk of Injury
Tool Damage
Process Bottleneck
Skilled Labor Required
Operator Turnover Operator Turnover
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Appendix – Gimbal Demo Kit
‐180
‐135
‐90
Possible
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‐180EX
S1 shown, same for S2
Configurations & Adjustment
Kit Number: 101‐1850
Appendix – Custom Engineering & CAD Models
• CAD models available upon request. Please specify preferred export format:
Equipois Inc. Uses Solidworks CADCAD models available upon request. Please specify preferred export format: Parasolid, STEP or IGES.
• Signed NDA required.
• Engineering resources are available to support custom application requirements. Custom work is typically focused on the Tool Interface and/or Mounting elements of a zeroG system
Custom Design Services – Applications Engineering
typically focused on the Tool Interface and/or Mounting elements of a zeroG system.
• Equipois requires a physical tool (payload) for evaluation, design and validation. Attachments, cables or any other peripherals must also be included. In some cases, CAD models can replace the physical tool (payload) when accompanied by images center of gravity and other relevantphysical tool (payload) when accompanied by images, center of gravity and other relevant structural information.
• Accepted Export Formato Solidworks 2011 or Older (Preferred)o Solidworks 2011 or Older (Preferred)o Parasolido STEPo IGES
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Appendix – Installation & Service Programs
Field Application Engineers (FAE’s) can be dispatched to provide on‐site support and are the field extension of our Application Engineering (AE) department.
Installation• Equipois offers installation support through our FAE team including:
Equipment assembly System testing and fine tuning System testing and fine tuning Operator training
• Daily rates apply
Maintenance• Choose from two different maintenance agreements: Silver & Gold
Coverage Gold Silver
Preventative Maintenance
Operator & Technician Trainingp g
Extended Warranty
Extended Life Assurance
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Appendix – Glossary of Terms
Application Refers to a situation where zeroG® equipment may be used.
BOM Bill Of Materials: List of component parts of a complete system.
Centering Method of biasing the movement of a zeroG® arm, often for repetitive tasks.
Distal Distal identifies an object (relative to another) away from the body or mount (see Figure 1).
Docking Docking describes the method of stowage of the zeroG® system when not in use or between operations.
End block Part of the zeroG® arm that connects to the gimbal (see Figure 1).
Gimbal Subsystem name of equipment that provides angular range of motion to the payload (see Figure 2)Gimbal Subsystem name of equipment that provides angular range of motion to the payload (see Figure 2).
Iso & Iso Elastic The characteristic of equal force throughout lift range.
Leveling Block Leveling blocks align a zeroG® arm with gravity ensuring the arm is balanced and does not drift.
Link Term used in combination with proximal/distal to identify a section of the zeroG® arm (see Figure 1).
Mounting Subsystem name referring to the equipment that supports the zeroG® Arm (see Figure 2).
Payload The object or system of objects attached to the zeroG® system.
Proximal Proximal identifies an object (relative to another) close to the body or mount (see Figure 1).
Quick Release Method of removing the payload from the zeroG® system with ease.Quick Release Method of removing the payload from the zeroG system with ease.
ROM Range Of Motion: Refers to allowable movement of a zeroG® system.
Tool Interface Subsystem name referring to the equipment that physically touches the payload (see Figure 2).
zeroG® Arm Subsystem name referring to the zeroG2/G4 arm, leveling block, docking & cover (see Figure 2).
Distal Link Proximal LinkEnd Block
Engage leveling block here
Engage Gimbalhere
Figure 2: zeroG® System Architecture
Equipois Inc. 15Figure 1: zeroG® Arm Nomenclature
Hinge
block herehere