Minimalist Robotics Motivation Robots must be inexpensive and

Minimalist Robotics Motivation: “Robots must be inexpensive and easy to apply. The factory floor user is not interested in, and cannot support, complex technology. ” Brian Carlisle, Adept Technology For Manufacturing: • Part Geometry in Known • Motions are Repetitive • Design changes Intermittently • Primary Criteria: Cost, Throughput, Reliability Status Quo: • Fixed (Hard) Automation • Robotics is viewed as Overkill • Workcell Layout is a Black Art

Minimalist Robotics - Modular Hardware - Simple Sensors and Actuators - Rigorous Scientific Models - Efficient Design/Layout Software “Apply Robotics algorithms to Automation hardware” J. Canny and K. Goldberg, “RISC” for Robotics (1994) • • • Whiney (1978, 1986, 1993) Lozano-Perez, Mason, and Taylor (1984) Mason and Erdmann (1986), Mason (1986, 1991) Peshkin and Sanderson (1986) Mishra (1992), Latombe (1992) Brooks (1986), Kanade (1992)

• 1860: Interchangeable Parts • 1910: Assembly Lines • 2000: Building Assembly Lines from Interchangeable Parts Rapid Deployment Automation (RDA) Goal: Reduce time to set up an assembly line by 10 x. APPROACH: Modular Hardware: • High-Speed Robot Arms • Flexible Feeders and Fixtures • Standard Interfaces Simulation/Design Software:

Digital Workcell • User-Friendly CAD Tools • Import of IGES Product Models • Throughput Prediction

Minimalist Robotics Taking it too far? A really minimalist robot! “The efficiency derives from the lack of velocities, accelerations, and generalized forces. ” • D. Hillis, MIT