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The increasing number of application fields are a clear sign of this development. The broader the range of applications and the greater the required flexibility of the respective gripper, the more it usually costs if such a gripper module has to cope with several products. Figure 2.4 clearly shows this fact. Naturally, for many automation tasks a simple but relatively unflexible gripper will be sufficient. For more demanding applications, a special construction, possibly in combination with standard grippers, is required. Only applications which do not allow the gripper to be changed and have to deal with numerous different workpieces make a highly flexible gripper solution a necessary investment. Special solutions currently on the market are close to their efficiency limits in relation to payload and velocity. As a result, “artificial hands” are mainly used for service robots and in Research & Development today. 44 1>ÌiÊvii`}Ê>Ê«ÀiÃà ÃÕÀVi\ÊÀ>ÕviÀÊ*® Ó°ÎÊ ,LÌÊÃÌÀÞ À««iÀÊÌiV}ÞÊ>`ʺÀLÌÊÀiÛÕÌ»Êi>ÀÞÊ}Ê>`ÊÊ>`°Ê /iÊwÀÃÌÊÞi>ÀÃÊÜiÀiÊV>À>VÌiÀâi`ÊLÞÊ>ÊiÕ«À>ÊÜVÊÜiÀiÊVÕÀLi`Ê LÞÊ«À>VÌV>Ê`À>ÜL>Vð /iÊÌiÀÊÀLÌÊÃÊ`iÀÛi`ÊvÀÊÌiÊâiVÊÜÀ`ʺÀLÌ>»ÊÜVÊ Ü>ÃÊÕÃi`ÊÌÊ`iÃVÀLiÊÌiÊ«>ÀÌÊvÊÌiÊÃiÀv]ÊÌiÊ>À`ÜÀ}ÊÃ>Ûi]Ê ÀÊÃÕLÃÃÛiÊÃiÀÛ>ÌÊÊÌiÊÌi>ÌiÀÊ«ÀiiÀiÊvÊ,ÃÃÕ¼ÃÊ1ÛiÀ Ã>Ê,LÌÃÊ,°1°,°®ÊLÞÊ>ÀiÊ>«iÊ£nä£În®ÊÊ£Ó£°ÊÕÀ}ÊÌ>ÌÊ ÌiÊ«iÀ`]ÊÛ>ÀÕÃÊÌiÀÃÊvÀÊiV>V>Ê>ViÃÊÜiÀiÊÊÕÃi°Ê 7À`ÃÊÃÕVÊ>ÃÊÃÕ>ÌÀÃ]Ê>ÕÌ>ÌÃ]ÊÀ>Ì>Ê>ViÃÊ>`ÊÌiÀÃÊ ÜiÀiÊVÀVÕ>Ì}°Ê-ViÊÌiÊÕ>`Ê>ÃÊViÊVÃiÀÊÌÊÌiÊ`i>Ê vÊi>Ì}ÊÃiÌiÃÊ`>}iÀÕÃÊ«ÞÃV>ÊÜÀ°Ê"ÞÊÌiÊ VVi«ÌÊvÊÌiÊÀLÌÊ>ÃÊ>ÊÕÛiÀÃ>ʺÃ>Ûi»ÊÌ>}ÊÛiÀÊ>ÊvÊÌiÊ ÜÀÊÀi>ÃÊÕÌ`>Ìi`° /iÊLi}}ÊvÊÌiÊxäÃÊÜ>ÃÊÌiÊÃÌ>ÀÌÊvÊÃÌ>Ì>ÀÞÊÀLÌÊ`iÛi «iÌ°Ê/iÊLÀ>V`ÊvÊiÀ}iÊiÛÊ>`ÊiÊ}iLiÀ}iÀ]Ê 1>Ìi]ÊÜ>ÃÊ>ÊÀLÌÊÜi}}ÊÌÜÊÌÃÊ>`ÊÜ>ÃÊVÌÀi`ÊLÞÊ>Ê «À}À>ÊÃÌÀi`ÊÊ>Ê>}iÌVÊ`ÀÕ°Ê1>ÌiÊÜ>ÃÊwÀÃÌÊÃÌ>i`ÊÊ >ÌÊiiÀ>ÊÌÀÃÊʣȣ°ÊiVivÀÌÊÌiÊ>ÕÌÌÛiÊ`ÕÃÌÀÞÊ>ÃÊ LiiÊ>`ÊÜÊVÌÕiÊÌÊLiÊÌiÊ`ÀÛ}ÊvÀViÊvÊ`ÕÃÌÀ>ÊÀLÌÊ `iÛi«iÌ° Ê {x Syntelmann II Electric tele manipulator with 9 degrees of freedom per arm, posi- tion- and force-controlled, sensors for forces, sounds, temperatures (in front); operator with exo-skeleton transducer system, force feedback system, and stereo image transmis- sion system (in the back). (Source: K. H. Dröge) Evolution or Revolution 2 So-called “human” robots were already one of the goals of early robotics. In 1963, researchers at Rancho Los Amigos Hospital in Downey, California, constructed the Rancho Arm for the support of physically challenged people. At the Massachusetts Institute of Technology (MIT) in 1968, Marvin Minsky developed the Tentacle Arm with twelve joints designed to reach around obstacles Victor Scheinmann, a Mechanical Engineering student working in the Stanford Artificial Intelligence Laboratory (SAIL), developed the Stanford Arm in 1969. This 6degree of freedom (6-dof) all-electric mechanical manipulator was hardly a human-like hand but one of the first “robots” designed exclusively for computer control and micro surgery. Projects included the assembly of a Model A water- pump in 1974 and this is how the “arm” development found its way into the automotive industry. 46 /iấ-ịèi>ằấĩ>ấ`iiôi`ấLịấiĩ>iVèiấấiLế}]ấ i>ị]ấô>>iấèấèiấ`iiôièấvấèiấ-è>v`ấấấèiấ 1-]ấLếèấ``ấèấĩèè>`ấèiấèièấvấèi -ịèi>ấĩ>ấVi`ấLịấèiấi>ấèịấvấ`ếV> èấ>`ấ-ViViấèấ>iấiô>ấấV>iấvấếVi>ấôĩiấô>èấ V>è>èôiấấèấ>iấế>ấấVè>>èi`ấ>i>ấ/iấ>iấ -ịèi>ấĩ>ấếi`ấ>ấ>ấ>LLi>èấvấ-ịV/ii>ô ế>èằấ/iấ>ôế>èấĩ>ấiàếôôi`ấĩèấèĩấ>`]ấiấvấ >`}ấ>ấô>ị>`ấvấểx}ấ>`ấèiấèiấvấôiv}ấ}ôiV ấôi>èấấôiV`èấvấièiấôiViấôè}ấ vấĩôiViấĩiiấôiVấ`iấ>`ấ>}iấè>`ếViấĩVấ ôĩii`ấèiấ> "ấèiấL>ấvấèiấ-è>`v`ấ]ấèiấ*}>>Liấ1i>ấ >ôế>èấvấiLịấ*1đấĩ>ấ`iiôi`ấ>`ấ>ấiấvấ èấLèấ>ấVii`ấLịấ1>èấLi}>ấĩ}ấ>èấèiấii>ấ èấ/iVV>ấièiấấÊần /iấwèấViV>ịấ>>>LiấVVôếèiVèi`ấLèấ >i`ấ/ẻấ/iấ/ĩấ/đấĩ>ấ`iiôi`ấLịấ,V>`ấấvấ èiấV>èấ>Vấô>èấấÊầẻấếèấ>ấ>ấLèấĩèấ >ấV>i`ấôếèiõi`ấ ếiV>ấèấ đ]ấèiấwèấèịôiấvấ èiấ/ẻấĩ>ấị`>ếV>ịấôĩii`ấ>`ấèấ>>>Liấấèiấ>ièấ ếèấwiấịi>ấ>èiấấÊần -ấè`ếVi`ấèấwèấiiVèVVèấLèấấÊầ{ấ7i}}ấ Êểx}]ấèiấ,ấẩấĩ>ấ>Liấèấiấô>ị>`ấếôấèấẩ}ấèấ>ôôí >èiịấVèấfnọ]ọọọấ>`ấ>>}i`ấèấVôiấĩèấÊẩấiiVèVấôếè "Viấèiấè>ấLè>ViấvấLèấVèấĩiiấVi`ấếiếấ >>èấ>`ấVôièấiiấvĩi`]ấ>ịấ`vvi}ấấấ ô>ị>`ấV>ô>Vèịấ>`ấĩô>Viấ/iấ,ấẩọ]ấvấií>ôi]ấ> >}i`ấ>ấô>ị>`ấvấẩọ} {ầ IRB 6 by ASEA with 6kg payload capacity (source: ABB) IRB 60 by ASEA with 60kg payload capacity (source: ABB) Evolution or Revolution 2 Meanwhile every larger robot producer offers a broad range of robot kinematics for various needs. These kinematics and its vari- ants are detailed in Chapter 4. At this point we are concentrating on comparing renowned robot producers and their products today and 30 years ago. A direct comparison of kinematics and its controllers shows a clear trend: Major progress has been made in drive and control technology as well as in software for robots, i. e. develop- ments which are not always obvious at first sight. Special kinematics were developed for handling presses in order to significantly increase the cycle time of robots. The Bilsing-Unimate, which you can see in the picture, is a good example of a highly individual solution which can hardly be used for any other purpose. Limited application was responsible for uncompetitive prices with the result that standard kinematics are mainly used for press handling today. 48 Ã}Ê1>ÌiÊÀLÌÊvÀÊ«ÀiÃÃÊ>`}ÊÃÕÀVi\ÊÀ>ÕviÀÊ*® 6>ÀÕÃÊÀLÌÊ}iiÀ>ÌÃÊLÞÊ1ÊÃÕÀVi\Ê1® { MBB-VFW robot with controller (source: Fraunhofer IPA) Evolution or Revolution 2 In 1984 the MBB VFW managed a regular payload of 50kg up to a maximum 200kg while it weighed a solid 2,350kg. The approximate list price of $165,000 compared to an industrial worker‘s $10,000 labor costs (incl. ancillary wage costs) per year. Looking at these power and price levels it is obvious that robot producers were hardly able to sell their products. At the same time the ROBOT 625 by Reis Obernburg had the same kinematic principle as the MBB-VFW. The ROBOT 625 only weighed 750kg at a regular payload of 25kg, a clear improvement on the weight/payload ratio. Even with its 64 inputs and 32 outputs it exceeded the MBB-VFM by the factor 4. In addition, it offered a significantly larger workspace and at $80,000 cost less than half the price. 50 ,""/ÊÈÓxÊ>`}ÊÌÀÊ LVÃÊÃÕÀVi\ÊÀ>ÕviÀÊ *® ,""/ÊÈÓxÊÃÕÀVi\Ê,iî ,""/ÊÈÓxÊÃÕÀVi\Ê,iî ÃÊ>Õv>VÌÕÀiÀÃÊÌiÊVÕ`ÊÌÊvviÀÊÀiÊÌ>ÊiÊÌÊÌÀiiÊ `vviÀiÌÊÕÃ}Ê>`Ê«>Þ>`ÊV>Ìi}ÀiÃÊÌÊÜ>ÃÊiÃÃiÌ>ÊvÀÊÌiÊÊ ÌÊw`ÊÌiÊÀ}ÌÊ>««V>ÌÃÊvÀÊÌiÀÊi>ÌVðÊ/ÃÊÃÌÕ>ÌÊ>ÃÊ ÌÊV>}i`ÊÕV]ÊÜÌÊÌiÊ`vviÀiViÊÌ>ÌÊ>Õv>VÌÕÀiÀÃÊÜÊ vviÀÊ>ÊLÀ>`ÊÀ>}iÊvÊÕÃ}Ê>`Ê«>Þ>`Ê«ÌÃÊ>`]ÊÌiÀivÀi]Ê >ÀiÊ>LiÊÌÊiiÌÊ>ÃÌÊ>ÞÊ>««V>Ì°Ê x£ [...]... applications to their key applications as shown by the figures on plans for the VW robot application Bosch first used the SCARA SR 800 for internal purposes while current systems are used for the most diverse assembly tasks 2 Plans for the use of a VW robot for feeding Typical application of a VW robot for inserting tooling machines (source: Fraunhofer IPA) the spare wheel into the Golf II (source: Fraunhofer IPA)... this book The photographs and figures illustrate the impressive number of different companies in Germany which were engaged in the production of robots Robots initially started out in the U.S but today‘s world production is mainly situated in Japan, Sweden and Germany Fast growing markets in China and India are setting out to enter the market with their own products Major Japanese companies building robots... systems (3) Spherecoordinate devices (5) Vertical tilt arm devices 11% 5% 40% 8% 16% (2) Cylindercoordinate devices 20% (1) Cartesian devices State:12/19 83 100% = 134 industrial robots Figure 2.8 Proportion of kinematic types distribution (source: Fraunhofer IPA) 19 83 statistics show the distribution of robot types used in Germany (figure 2.8) Basis of the statistics were 134 three-axis robots In comparison,... Robot control unit in 1982 (source: Fraunhofer IPA) 56 Evolution or Revolution Former machine/operator interface (source: Fraunhofer IPA) In terms of user-friendly machine operator interfaces, enormous improvements have been made which are illustrated by some examples of robot programming devices 2 Modern machine operator interfaces particularly show a trend towards user-specific interfaces which can... Current SCARA-Roboter SR 8 (source: Bosch Rexroth) now sold by Stäubli 52 Evolution or Revolution Just a few robot producers survived the stiffening competition during the first years In the first robot catalogs published in the former German Democratic Republic (19 83 edition by the Forschungszentrum des Werkzeugmaschinenbaus, Karl-Marx-Stadt) and nearly parallel in the Federal Republic of Germany (1984... out of 35 German robot producers listed in the 1984 Fraunhofer IPA catalog are present at the AUTOMATICA 2004 Producers such as Pfaff Industriemaschinen or Jungheinrich were two of the pioneers, just like large enterprises such as Siemens or Volkswagen However, most of the smaller robot producers simply could not cope with the target quantities A complete overview is bound to exceed the volume of this... edition by the Fraunhofer Institute for Manufacturing Engineering and Automation IPA in Stuttgart, Germany) all robot procucers and their products are listed 2 The 1984 Fraunhofer IPA catalog names approximately 80 producers while a much lower number appears in the AUTOMATICA 2004 Munich Germany exhibitors directory Although the AUTOMATICA 2004 fair just started in 2004, the reduced number of German... the figures 20 years later are quite much more impressive: In 20 03 an overall 2,522 three-axis robots were statistically registered by the VDMA; an overall 9,040 robots with six axes had already sold in Germany alone 9.040 6-axis and more 8.129 221 5-axis 266 20 03 1.598 4-axis 2002 1.204 2.522 3- axis 2.2 63 0 2.000 4.000 6.000 8.000 10.000 pieces Figure 2.9 Development of the German robotics market in. .. can be customized to meet individual requirements Significantly it can be seen the reduktion of hardware switcher and better graphical possibitlities The dynamic development of robotics is depicted in figure 2.12 Significantly it is visible that the productlife of a robot has declined also over the last years Modern machine/operator interface (source: ABB) KR 6 - 35 0 IR 700 IR 30 0 IR 400 IR 100 IR 200... their workspaces Camera technology is an essential part of the quality control of workpieces Image processing has developed into a robust and easily accessible technology as sufficient piece numbers of these sensors are currently offered on the market In addition, camera technology is directly connected to the digital camera mass market, which results in favorable prices at parallel development boosts . competition dur- ing the first years. In the first robot catalogs published in the former German Democratic Republic (19 83 edition by the Forschungszen- trum des Werkzeugmaschinenbaus, Karl-Marx-Stadt). rotations 3 rotations moving unit moving unit moving unit moving unit State:12/19 83 100% = 134 industrial robots Horizontal tilt arm devices Cartesian devices Cylinder- coordinate devices Sphere- coordinate. parallel in the Federal Republic of Germany (1984 edition by the Fraunhofer Institute for Manufacturing Engineering and Automation IPA in Stuttgart, Germany) all robot procucers and their products