escrito por: nido robotics€¦ · sibiu nano - assembly manual (english) with this guide you will...

Sibiu Nano - Assembly Manual (English)With this guide you will learn how to assemble your Sibiu Nano Maker Kit.

Escrito por: Nido Robotics

Sibiu Nano - Assembly Manual (English) Borrador: 2019-01-22ID de guía: 20 -

Este documento fue generado el 2019-10-04 02:18:54 AM (MST).

© 2019 nido.dozuki.com/ Página 1 de 31

INTRODUCCIÓN

Do you have a Sibiu Nano Kit? Now you can start the assembly process. It is a simple procedurefollowing these steps. You wont have to solder or pot.




Paso 1 — Structure components

2 x Side panels

2 x Upper clamps 2 x Middle clamps 2 x Lower clamps

4 x Motor brackets 2 x Vertical motor brackets.

2 x Front mounts 2 x Rear mounts

1 x Rear shaft

1 x Bottom panel

1 x Float




Paso 2 — Bottom panel sub-assembly

1 x Bottom panel

2 x Lower clamps

4 x R6 7/8 Screws (Bag 1)

Starting the assembly. The first step is the bottom sub-assembly. The lower clamps are installedon the bottom panel slots with its correspondent screws.




Paso 3 — Motors sub-assembly

2 x Front mounts

2 x Rear mounts

4 x Motor brackets

8x R6 7/8 Screws (Bag 1)

In this step, the motor brackets are installed into the mounts' slots.

Install 2 screws per bracket.

Every motor bracket must be installed with the rounded edge facing outward as shown on thepicture 2

The position of each motor sub-assembly on the picture 2.




Paso 4 — Top sub-assembly

2 x Upper clamps

2 x Vertical motor brackets


The vertical motors brackets are assembled to the upper clamps arranging the top sub-assembly.

The lateral slot on the brackets must be facing inward the sub-assembly just like shown in thepictures.




Paso 5 — Assembling the side panels into the bottom sub-assembly

2 x Side panels

1 x Bottom sub-assembly


The bottom sub-assembly is installed into the side panels' slots.

The bottom sub-assembly is symmetric, so the orientation does not matter.

For the next steps, keep in mind the orientation shown in the picture 1.

Red arrow: Front

Blue arrow: Rear




Paso 6 — Motors sub-assembly to side panels

2 x Front motors sub-assembly

2 x Rear motors sub-assembly


Remember the position of the motors sub-assemblies (picture 1) when installing them into the sidepanels.

The mounts are fitted into the side panels' slots.

After this step, the frame should look like picture 3




Paso 7 — Preparing the battery flanges

2 x flanges with o-rings set and silicon grease tube

1 x front battery end cap (no holes)

1 x rear battery end cap (2 holes)

12 x M3x14 screws (Bag 3)

Before installing the battery enclosure, the flanges must be assembled with their end caps and o-rings. The front battery flange is shown at picture 3.

First of all, apply a little amount of silicon grease on the o-rings.

Use the screws for installing the end caps.

It is important to avoid the presence of any particles or dust on the o-rings.




Paso 8 — Battery enclosure installation

1 x Acrylic tube (200 mm)

1 x Bottom + Motors sub-assembly

The bottom clamps must have the non-slip tape, as shown in the picture.

Put the battery enclosure on the bottom clamps. The front end cap must be resting on the frontmounts as shown in the picture 2.




Paso 9 — Mid clamps assembly

2 x Mid clamps

4 x M3x25 Screws (Bag 4)


12 x M3 nuts

The slots remarked at the picture 1 must be facing upwards.

Introduce the M3x25 screws and joint the motor mounts with the mid clamps (picture 3).




Paso 10 — Mid clamps assembly

Now, introduce the M3x18 screws to join the mid clamps and the lower clamps.

Using the upper hole of the mid clamp it will be easier (picture 1).

A small deviation of the clamps' holes may block the nut. If this is your case, you can introduce thescrew from the bottom.

Paso 11 — Assembling the float to the top sub-assembly

2 x R6 - 7/8 Screws (Bag 1)

4 x R8 - 1" Screws (Bag 9)

Put the top sub-assembly on the frame (without screws).




Paso 12 — Assembling the float to the top sub-assembly

Put the float on the top of the frame. Use the R8 - 1" screws on the hloles marked in the picture 2.

The orientation of the float is the following (picture 3)

Red arow: front

Blue arrow: Rear

Paso 13 — Frame finished

The frame is finished, lets continuewith the electronics and thrustersassembly.




Paso 14 — Electronics Assembly. For PCB's model 0.4 (white PCB's) go to next step.

First of all, lets install every penetrator to the rear electronics end cap.

Put a little amount of silicon grease on every penetrators' o-ring.

At the picture 2, a diagram o the thrusters connection is shown. Check carefully the numeration ofeach thruster which defines the position in the frame, and into the end cap.

At the picture 3 you can see the rest of the penetrators layout.

When installing the lights penetrator, the black connector must be removed from the yellow cable.Pull up the tab carefully and pull the cable out. After introducing the penetrator, put it back again.

In order to introduce the battery cable, pass one wire first and then the other. They may be difficultto introduce into the nut. If necessary, remove the heat-shrink and put it back again after installingthe penetrator.

Motor configuration varies depending on the PCB model of your Nano. If your Nano has the PCBmodel 0.4, please follow the next step for the right thruster configuration.




Paso 15 — Thruster assembly for PCB's 0.4 (white PCB's)

Please follow this scheme for a rightmotor configuration in PCB's model0.4 (white PCB's).

Paso 16 — Penetrator installation

The installation of each penetrator must be done as follows:

Put the o-ring into the slot of the penetrator's head.

Install the penetrator in the end cap, and the nut in the other side.

After installing all the penetrators, the end cap should look like the pictures 2 and 3.

Don't forget the silicon grease into every o-ring, this will ensure a longer life and perfect watertightness.




Paso 17 — Installing the end cap into the flange


In this step the electronics end cap is installed into the flange

Consider the orientation of the flange (picture 2). One of the 4 inner holes must match with one ofthe 6 outer holes in the upper side of the flange.

Paso 18 — Electronics assembly

Now it is the time to connect everything to the brain of your Sibiu Nano.

The position of the electronics is like shown at the pictures, with the Raspberry on the left, and thePixhawk on the right.




Paso 19 — Thruster connection (except for PCB's 0.4)

For the thrusters, each one has 3 wires. You have to connect each one to the corresponding port.

In the picture 1, you can see the port of every thruster attending to their numeration and theirposition from the end cap.

In the second picture, the sequence of the wires for each motor is shown. The thruster 3 is invertedfrom the rest of the motors.

In the picture 3 you can see the final look of the connections.

This step can be more confortable if you remove the ESCs that are close to the connectors.

For PCB's 0.4 refer to the next step.




Paso 20 — Thruster connection for PCB's 0.4

Thruster configuration for PCB's 0.4

Paso 21 — PCB to Flange Assembly

Use two M3 x 6 screws to fix theplastic plate to the flange as shownin the picture.

Use two M3 x 6 screws to fix theplastic plate to the flange as shownin the picture.




Paso 22 — Battery Compartment Endcap

Install the second vent plug and theother tip of the battery cable in thebattery endcap. To insert the batterycable follow the same procedurementioned in the Step 14.

Paso 23 — Connecting the pressure sensor and the lights

The pressure sensor is connected to the I2C port of the Pixhawk (picture 1).

If you have Lumen lights, pictures 2 and 3 show how to connect them.

Connect the red and black wires to the blue terminal block next to the motors terminals. Red to"PM" and black to "GND".

Then, connect the yellow wire to the to the "Lights" terminal next to the Pixhawk (picture 3).




Paso 24 — Lights on v0.4 version PCB

You have to put the connector likethe photo.

Black: GND

Red: VCC

Yellow: SIG

Paso 25 — Tether and battery connection

Connect the tether to the blue terminal next to the Ethernet connector of the Raspberry Pi 3.

Then, connect the battery to the 3.5 mm bullet connectors (picture 2).




Paso 26 — Closing the electronics enclosure

Everything is connected. Now lets prepare the enclosure for closing it.

Keep all the wires clear so they cannot be caught by the tube. Add some silica gel bags inside theenclosure for keeping it dry.

Now close the enclosure by pressing the tube against the flange.

After closing the enclosure, be sure that you tighten the vent plug at the end cap.




Paso 27 — Installing the propellers

3 x CCW propellers

3 x CW propellers


Put the propellers in the thrusters. It will be easier if you guide the props with the screwdriverinserted into one of the motor holes. You will be sure that it is aligned with the motor.

Install the CCW on the right side of the Sibiu Nano (thrusters 1, 3 and 5).

Install the CW on the left side (thrusters 2, 4 and 6).

Now, your enclosure should look like a squid like in the picture 2.




Paso 28 — Installing the electronics enclosure into the frame

Now lets assemble the tubes into the frame.


In the picture 1 the thrusters positions are shown (remember the numeration of the thrusterspenetrators).

In the picture 2 you can see the position of the enclosure into the frame. It must be touching therear shaft and with the electronics in the correct position (Raspberry to port, Pixhawk to starboard).

Put the thrusters in the brackets using the M3x18 screws.

If your ROV has Lumen lights, install the Lumen brackets in the side panels as shown in thepicture 3.

Every thruster cable must be clear from the propellers. They must be settled in the clamps' slots(next step).




Paso 29

Install the front thrusters with the cable curving inwards and pass them through the clamp slot.

Install the back thrusters with their cable curving outward and into the tube, as seen in the secondpicture.

Install the center thrusters with their cable facing inwards, at approximately 45º, so that the cableget hidden under the main top structure.

Paso 30 — Thursters installation and wiring

After installing the thrusters and the lights, put the top sub-assembly in its position.

Do you remember the slots in the clamps in picture 2? They will guide the cables safely away fromthe propellers.

The cables should look like the picture 3.




Paso 31 — Closing the top sub-assembly

With all the wiring clear, install the screws for assembling the upper clamps and the mid clamps.

The screw can be installed through the top structure holes as shown in the picture 1.

Finally, install the screws for the side panel to top sub-assembly holes (picture 3).




Paso 32 — Vacuum test

It is recommended to do a vacuum test. The test must be done on both enclosures at the sametime

Using the hand vacuum pump, raise the vacuum to 10 inHg.

Wait 10-15 minutes.

If the vacuum is under 9 inHg, the vacuum test has failed, so the penetrators, o-rings and externalcables must be checked.

This test does not guarantee the watertightness of the ROV at high depths, but it will let you knowif there is an evident vacuum issue.




Paso 33 — Ready to dive!

Your Sibiu Nano is now fullyassembled and Ready To Dive!

Paso 34 — Software Configuration

Open QGround and access the parameters tab (Image 1).

A new options panel will appear. Select the option MOT.




Paso 35

Select a thruster. a new screen bar will appear at the right-side.

For PCB's 0.3 open the 'normal' tab and change motors 3, 4, 5 and 6 to 'reverse' and leave 1 and 2in 'normal'.

For PCB's 0.4 open the 'normal' tal and change thrusters 1 and 2 to 'reverse' and leave 3, 4, 5 and6 in 'normal'.




Paso 36 — Software Configuration: Camera and Lights

In the settings menu select 'Camera'. Select output channel 8 (Imange 1).

In the settings menu select 'Lights' and then 'Lights 1' Channel 7.

Reboot the ROV in order for the changes to take place.




Paso 37

Select Settings/Sensors/Accelerometer. The Accelerometer Calibration bar will appear on the rightof your screen. Select ROLL90 and press O.K.

Put the ROV on a table or a hard surface and following the commands that appear in your screen,let it lay in its different axis.




Paso 38

Go to Settings/Sensors and click on Compass. A new Calibration Bar will appear at your right.Select ROLL90.

With the ROV in your hands randomly turn it over its axis, trying to accomplish different loops overits own axis.

If you do it correctly, the calibration bar will show it by setting the point in the green area, as shownin the third picture.




escrito por: nido robotics€¦ · sibiu nano - assembly manual (english) with this guide you will...

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