Mr. Stabby

From NYC Resistor Wiki
Jump to navigation Jump to search


Mr. Stabby is a heavy pneumatic robot arm. It was manufactured by Amatrol in the 80's. Most of our information about its provenance comes from its nameplate.

Mr. Stabby arrived at the NYCR's original Bridge Street location in November, 2009.

In 2010, Mr. Stabby was hooked up to a phone bridge for the TechCrunch Disrupt Hack Day. As of December, 2023, Mr. Stabby is looking for a new home.

Nameplate data[edit]

Model 830-PR1-C4
Date of mfg. 9-19-88
S/O number 5788 Serial #1178
Institution CCNY
Recommended hydraulic oil blank
Equipment Mercury robot arm
Drive type pneu
Control type soln
Voltage: control, power, phase 115VAC, 1.75cfm, S
Maximum pressure 100 PSI
Maximum temperature 100° F

Technical information[edit]

Mr. Stabby has five degrees of freedom:

  1. Grasper open/close
  2. Grasper CW/CCW
  3. Arm extend/retract
  4. Shoulder up/down
  5. Shoulder CW/CCW

The only feedback available is limit switches, so it will be difficult/impossible to drive the actuators to intermediate positions.

Pneumatic valves[edit]

The pneumatic valves used in the robot are NVSP4216-0009F. These are 2-position, 4-way, 5-ported valves. Each has two solenoids. The solenoids are actuated by 120VAC.

External connectors[edit]

The electrical connections to Mr. Stabby are two AMP/TE 206036-1 connectors. These are 16-pin connectors, but they are not entirely populated. There are two connectors, labelled "1" and "2" on the outside of the robot.

Pinout diagram, facing the connector
Connector 1: Endstops
Pin Function
1 shoulder top -- goes to shared gnd?
2 shoulder rotation gnd
3 CCW shoulder
4 CW shoulder
5 Arm full extension endstop
6 Arm full retract endstop
7 Endstop wrist CCW
8 Endstop wrist CW
9 Endstop Common?
10 Endstop Common (for wrist)
11 shoulder bottom t1
12 shoulder bottom t2
13 Green ground to solenoids
14 Green ground to solenoids
15 unpopulated
16 unpopulated

Connector 2: Solenoids
Pin Function
1 valve 1 - solenoid 1
2 valve 1 - solenoid 2
3 unknown (guess: v2s1)
4 unknown (guess: v2s2)
5 unknown (guess: v3s1)
6 unknown (guess: v3s2)
7 unknown (guess: v4s1)
8 unknown (guess: v4s2)
9 unknown (guess: v5s1)
10 unknown (guess: v5s2)
11 value 1 - solenoid return
12 unknown (guess v2 return)
13 unknown (guess v3 return)
14 unknown (guess v4 return)
15 unknown (guess v5 return)
16 unpopulated

Wrist endstop connector[edit]

This is a keyed 3-pin in-line connector located inside the arm housing up top. I'm here numbering the pins 1..3 with 1 being at the oddly shaped end. "Clockwise" and "Counterclockwise" are considered from Mr. Stabby's perspective.

Pin Function Wire color
1 Common White
2 CW (clockwise) Black
3 CCW (counterclockwise) Black

Internal terminal block connections[edit]

Inside the cylindrical column is a ten-position terminal barrier block. It is isolated behind a plastic shield secured with two screws. In the following table, the connections are labelled from top to bottom, 1 through 10.

Position Purpose
1..10 unknown

2024 Overhaul[edit]

Adam is fixing up Mr. Stabby in order to give it away.

Date Work
February 2024 Replaced pressure gauges
February 2024 Created cable harness for solenoid valves
March 2024 Created cable harness for endstops


We're using AQH0223 solid-state relays to control the solenoids. One relay per solenoid. Quick hookup guide: pin 3 to logic ground. pin 2 to logic input; this directly drives an LED with Vf of 1.3V that needs a current of 20mA. You'll need a resistor inline with the input. If your input is 5V, that will be about 180 ohms; for 3.3 volts it will be 100 ohms. Pins 6 and 8 are the output pins; connect these in serial with your circuit. Pin 7 is missing, so you don't accidentally get the relay turned around.

Datasheet for AQH0223

Maintenance procedures[edit]

Whenever Mr. Stabby is in a state of partial disassembly, it shall be referred to as "Mr. Shambles".