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Minimalist Robotics

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

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Minimalist Robotics

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  1. 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

  2. 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)

  3. 1860: 1910: 2000: Interchangeable Parts Assembly Lines Building Assembly Lines from Interchangeable Parts Rapid Deployment Automation (RDA) Goal: Reduce time to set up an assembly line by 10x. APPROACH: Modular Hardware: High-Speed Robot Arms Flexible Feeders and Fixtures Standard Interfaces Simulation/Design Software:

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

  5. 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

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