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SCHUNK Mechatronics & Modular Robotics Dr. Roko Tschakarow

SCHUNK Mechatronics & Modular Robotics Dr. Roko Tschakarow. Topics. SCHUNK business units Factories Components and Solution Provider Mechatronics and Modular Robotics Applications. SCHUNK business units. Toolholding & Workholding . Automation. Lathe chucks. Rotary.

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SCHUNK Mechatronics & Modular Robotics Dr. Roko Tschakarow

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  1. SCHUNK Mechatronics & Modular RoboticsDr. Roko Tschakarow

  2. Topics • SCHUNK business units • Factories • Components and Solution Provider • Mechatronics and Modular Robotics • Applications

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

  4. SCHUNK factories

  5. 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

  6. Servo Components and Robotic Joints • Overview over the different robotic components • Each in 3 sizes PG PR PW Servo electric2 Finger Parallel Gripper Servo electricRotary Joint Servo electric Pan Tilt Unit PDU PSM PLS Servo Positioning Drive with Gear Head Servo motors with integrated Position Control Servo Linear Actuator

  7. PowerCube Building Block Design

  8. 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: • Miniaturization &Costs • Min. Sound emission • Reliable, Dependable • Internal Media • Absolute Encoder • Graceful Degradation • Min. power dissipation • Best Weight-Torque-Ratio • 10 kg payload @ 7DOF

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

  10. Software for Configuration and Simulation Rotary Modules Linear Modules Sensors Grippers Configuration / Simulation / Control

  11. New Grippers and Robotic Hands Reconfigurable light weight modular robots and robotic hands

  12. KeMotion Robot Control Ethernet KeTopT50 CP 242/B KBUS CompactFlash DM272/A FM260/A FM265/A CAN optionaldiv. I/O-KartenüberKBUS 24VPowerSupply

  13. Force Torque Sensors Force Torque Sensors in 13 sizes Smallest diameter: 17 mm CAN

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

  15. Robotic Hand SDH

  16. Robotic Hand SDH

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

  18. x f Mk . .. ∆f = Mk . ∆x + Dk . ∆x + Kk . ∆x 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

  19. 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

  20. Measuring and Lab Robots Samplers: • Measuring robots • Lab robots • Clean room robots • Outdoor robots Polysius, Beckum Bayer, Morristown, NJ Geo++, Garbsen

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

  22. Mobile Manipulation in Research Mobile Manipulation, Cognition, Localization, etc: Idaho National Labs Georgia Tech Atlanta Georgia Tech Atlanta Mobile Robots, Amherst

  23. Care providing robots - Research Robots in Rehabilitation, Care and Service Care providing robot FRIEND AMaRob, IAT, Bremen Cotesys TUM, Munich Care-O-Bot Fraunhofer IPA

  24. 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

  25. Thank you for your attention.

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