SCHUNK Mechatronics Modular Robotics Dr Roko Tschakarow Page

SCHUNK Mechatronics & Modular Robotics Dr. Roko Tschakarow Page 1 Author: Roko Tschakarow

Topics » SCHUNK business units » Factories » Components and Solution Provider » Mechatronics and Modular Robotics » Applications Page 2 Author: Roko Tschakarow

SCHUNK business units Toolholding & Workholding Toolholders Stationary Lathe chucks Chuck jaws workholding Automation Grippers Modular Robotics Hydraulic Expansion Page 3 Rotary Linear Robot accessories Industry solutions GEMOTEC Image processing Author: Roko Tschakarow

SCHUNK factories Page 4 Author: Roko Tschakarow

The idea of Modular Robotics § Brushless Servo § Standard Industrial Networking § Integrated Electronics § Modular ‚Building Block‘ System § Light Weight Design § Modular Robotics – what good is it? 1993 Page 5 Author: Roko Tschakarow

Servo Components and Robotic Joints § Overview over the different robotic components § Each in 3 sizes PG PR Servo electric 2 Finger Parallel Gripper PW Servo electric Rotary Joint Servo electric Pan Tilt Unit PDU PSM Servo motors with integrated Position Control Page 6 PLS Servo Positioning Drive with Gear Head Servo Linear Actuator Author: Roko Tschakarow

Power. Cube Building Block Design Page 7 Author: Roko Tschakarow

Modular Robots in Light Weight Design Light Weight design for Modular Robots in Service Apps ? Targets for a Light Weight Modular Robot capable for modern robotic applications: • Min. power dissipation • Internal Media • Miniaturization &Costs • Best Weight-Torque-Ratio • Absolute Encoder • Min. Sound emission • 10 kg payload @ 7 DOF • Graceful Degradation • Reliable, Dependable Page 8 Author: Roko Tschakarow

New Light Weight Robotic Joints Connector CPU Hollow Shaft Motor Magnetic Brake Absolute Encoder 3 Phase Power Bridge Housing Rotary Robotic Joints - 4 sizes - Light weight design - Excellent Weight-Torq. -Ratio - quiet - modular and reconfigurable - Internal cabling Light Weight Bearings Tooth belt gears Lightweight-HD gears High stiffness Aluminium-alloy hounsing Page 9 Author: Roko Tschakarow

Software for Configuration and Simulation Rotary Modules Linear Modules Sensors Grippers Configuration / Simulation / Control Page 10 Author: Roko Tschakarow

New Grippers and Robotic Hands Reconfigurable light weight modular robots and robotic hands Page 11 Author: Roko Tschakarow

Ke. Motion Robot Control Ethernet Ke. Top T 50 CP 242/B KBUS Compact Flash DM 272/A FM 260/A FM 265/A CAN optional div. I/O-Karten über KBUS 24 V Power. Supply Page 12 Author: Roko Tschakarow

Force Torque Sensors in 13 sizes Smallest diameter: 17 mm CAN Page 13 Author: Roko Tschakarow

Components for Image Processing Vision Sensor SVS Stereo Vision and TOF cameras 3 D based on laser range finders In combination with Pan-Tilt-Units Page 14 Author: Roko Tschakarow

Robotic Hand SDH Page 15 Author: Roko Tschakarow

Robotic Hand SDH Page 16 Author: Roko Tschakarow

SCHUNK – Mechatronics & Robotics Conventional Solutions Academia §Gripper modules §Rotary modules §Linear modules §Robot accessor. §Special grippers §Linear systems §Lightweight Robots §Module combinat´s Applied Research • Lightweight Robots • Robotic Hands • New modules Industrial automation Factory automation Universities Corporate Research New applications for Service& Personal Robots Components • Handling/Machining Lab automation • Pharma • Life Sciences • Semicon/Solar • Medical • Chem Testbed automation • Indoor / Outdoor Page 17 Author: Roko Tschakarow

Real Components for Real Robots Dependable and Reliable: • Light Weight Robots • Robotic joints • Robotic hands • Force Torque Sensors • Image Processing • Configuration software • Control software R&D work: • Force / Impedance / Admittance control • Visual Servoing • Sampling and Safety Robots • Mobile Manipulation • Rehabilitation Robots • Medical Robots • Locomotion Mass-Spring-Damper-Model Mk ∆f . . x f . = Mk. ∆x + Dk. ∆x + Kk. ∆x Page 18 Author: Roko Tschakarow

Security, Defence, Space Robots § Sampling robots, Tracking robots, EOD robots, Rescue robots § Security and military robot systems § Prototyping for space robots NASA JPL Pasadena Harris, Florida Page 19 Author: Roko Tschakarow

Measuring and Lab Robots Samplers: § Measuring robots § Lab robots § Clean room robots § Outdoor robots Polysius, Beckum Bayer, Morristown, NJ Geo++, Garbsen Page 20 Author: Roko Tschakarow

Service Robots and Agents Robots in logistics, mobility solutions, Energy: Areva, Erlangen Semprom DFKI, Bremen Still Hamburg Page 21 Siemens, Stuttgart Semprom DFKI, Bremen Author: Roko Tschakarow

Mobile Manipulation in Research Mobile Manipulation, Cognition, Localization, etc: Idaho National Labs Georgia Tech Atlanta Mobile Robots, Amherst Page 22 Georgia Tech Atlanta Author: Roko Tschakarow

Care providing robots - Research Robots in Rehabilitation, Care and Service Care providing robot FRIEND AMa. Rob, IAT, Bremen Page 23 Care-O-Bot Fraunhofer IPA Cotesys TUM, Munich Author: Roko Tschakarow

Summary - Beneficial Partnership in R&D for Robotics national and international Robotic Programs e. g. ECHORD, next call: Network robots Expert Days on Service Robotics Page 24 Author: Roko Tschakarow

Thank you for your attention. Page 25 Author: Roko Tschakarow