Table Of ContentINDUSTRIAL
ROBOT
SPECIFICATIONS
INDUSTRIAL
ROBOT
SPECIFICATIONS
Compiled by
AndreCugy
and
Kogan Page
Consultant Editor
Adrian Ioannou
Compiled and edited for Kogan Page by: John Simpson
Design and Layout: Paul Kime
Typesetting: Julia Talbut
First published in 1983 in France by Hermes Publishing,
51 rue Rennequin, 75017 Paris
This (revised and updated) edition first published in Great Britain in 1984
by Kogan Page Ltd, 120 Pentonville Road,
London N1 9JN
Copyright © Hermes Publishing and Kogan Page Ltd 1984
All rights reserved
British Library Cataloguing in Publication Data
Cugy, Andre
Industrial robot specifications.
1. Robots, Industrial
I. Title II. Tombs, Margaret
629.8' 92 TS191
ISBN-13: 978-0-85038-769-8 e-ISBN-13: 978-1-4684-8446-5
001: 10.1007/978-1-4684-8446-5
Spottiswoode Ballantyne Ltd. Colchester and London
Contents
Foreword 7
Introduction 9
Part 1: Principal Robot Applications
17
1.1 Industrial Applications Index: Manufacturing and Assembly Robots 19
1.2lndustrial Applications Index: Automated Guided Vehicles 35
1.3 Industrial Applications Index: Vision Systems 36
Part 2: Technical Specifications 37
2.1 Technical Specifications: Manufacturing and Assembly Robots 39
2.2 Technical Specifications: Automated Guided Vehicles 322
2.3 Technical Specifications: Vision Systems 326
Part 3: Directory of Manufacturers 327
and Distributors
3.1 Directory of Manufacturers 329
3.2 Directory of Distributors 343
Foreword
The industrial application of robots is growing steadily.
This is reflected in the number of manufacturers now in
volved in the field of robotics. Thanks to pioneers such as
Joseph Engelberger of Unimation Inc, industry has seen
their rapid deployment in all areas of manufacturing.
Manufacturers of robots and robotic equipment have
increased their production levels and at the same time
have made great efforts to improve and adapt their pro
ducts to allow them to be used for a wider range of appli
cations. The demand for ever more sophisticated robotic
devices has made the choice of robot for a particular
application an extremely hard one. Industrial Robot
Specifications has been compiled to enable users to
assess robotics in the context of their own needs.
The book contains detailed information on over 300
robots manufactured and distributed under licence
throughout Europe. More than 90 companies are cov
ered, and details are given of their distributors and
agents, regional addresses and names of key contacts.
Information is provided on robots as diverse as simple
teaching machines, costing perhaps £1500, to those
highly sophisticated computer-controlled robot devices
commonly found in flexible manufacturing systems,
costing tens of thousands of pounds each.
Introduction
Industrial Robot Specifications is divided into three sec adjustable mechanisms that command manipulation.
tions, for ease of use. Part 1 comprises details of principal
Today's industrial robots, while varying widely in
applications and lists all European robots by classifica
shape, size and capabilities, generally consist of three
tion, from assembly robots to palletizing robots; also
basic components: the manipulator, the control system,
included in the section are vision systems and automated
and the power supply that drives the manipulator.
guided vehicles. Part 2, the main technical specification
section, contains detailed specifications for over 300
The manipulator system
robots. Each specification gives precise information on
Manipulators are the mechanical devices that do the
such aspects of a robot's physical make-up as: axis
work and provide dexterity by pneumatic, hydraulic or
movement; accuracy and repeatability; main applica
electric drive systems that can perform as many as six
tions; number of axes; arm and wrist movements; opera
independent co-ordinated motions (see Figure 1.1).
ting space and speed; the type of drive power employed;
control system used, including type and size of memory,
and the language used for the control program. At the
foot of each specification, where possible, an elevation Shoulder rotation
/®
or plan diagram has been included. Finally, Part 3, the
directory of manufacturers and distributors, lists
Elbow rotation
manufacturers' addresses and telephone numbers and,
where possible, the names of key contacts and agents.
Obviously, in a book of this nature, the compiler is very
much at the mercy of a manufacturer's willingness or,
indeed, ability to provide him with sufficiently detailed
technical information and, as a result, while every effort
has been made to make this book as comprehensive and
as detailed as possible, the reader will find certain inform Wrist bend
ation lacking. In such cases the reader should approach
the technical manager, or director, of the manufacturer
in question, for more detailed advice and information.
Flange
Furthermore, where prices are quoted (in terms of a
rotation
guide to costs) these were correct at the time of going to
press, but are subject to change and here, too, the manu
facturer should be approached directly or through one of
Wrist rotation
the company's recognized agents or distributors.
In principle, this work is concerned only with industrial
Figure 1.1 An industrial robot's arm movements
robots. The reader will notice, however, that some of the
entries are at the limit of the accepted definition of the Axes
industrial robot (depending on the definition used) and These motions are referred to as axes or degrees of free
perhaps have more in common with manipulators or dom. In practice most robots have between three and six
robot tools. Some robots seem not to qualify for classifi axes. Not all applications require as many as six axes. For
cation at all (for example, the wire guided trolley) and yet instance work transfer may only require three axes,
others (for example, vision systems), though obvious whereas paint spraying requires five or six axes.
candidates for inclusion, are not covered by the accepted
definition. The type of movement of each axis
Finally, a brief introductory section is included which There are only two basic types of movement -linear and
aims to explain the terms and abbreviations used in the circular. These exist in various combinations. There have
text; it also serves as a guide to what the specifications been other articulations devised - most notably the 'ele
actually mean in terms of application and efficiency of phant's trunk'. These are usually developed in response
operation. to a particular application, which in the case of the
elephant's trunk was paint spraying. On balance, there is
Key Terms Used in the Text little to suggest that these developments are significantly
better than, say, the addition of an extra axis.
One feature which a device must possess if it is to rank as
a robot is the ability to operate automatically, on its own. The speed of movement of each axis
This means that there must be in-built intelligence, or a This is always quoted in either 0 Is, mlsor radls, depend
programmable memory, or simply an arrangement of ing on whether movements are radial or linear. It is often
10 Introduction
necessary to translate 0/ s into a linear measure in order to
relate it to a process requirement. Where all axes m~:)Ve
simultaneously the calculations become rather complica
ted and the speed of the movement can only be related to
the application. In this case, a feature known as 'linear' or
'circular interpolation' is usually part of the softw~re
package. With linear interpolation the rob?t can ~es.cn~e
a straight line between two points, defl~ed within Its
working volume. With circular int~rpolatlo.n the r?b?t
can draw a circle defined by three pOints, designed within
its working volume. In both cases the speed of movement
is determined largely by the computer software and the Cam-operated hand
degree of mechanical accuracy required.
The range of movement of each axIs . ..
This is, quite simply, how far an aXIs Will m.ove,. ~Ither In
degrees (for circular axis movements), or In mlilimetres
(for linear axis movements).
The working volume of the robot
Because robots have many axes, working volumes often
have many evolutions. This is particularly true of robots
possessing only radial movements. Since the tas~ to be
completed must be within this working volume, It must
be accurately described.
Wide-opening hand
Feedback devices
Feedback devices on a manipulator's joints send data to
the control system regarding motions or positions. This
feedback comes from sensors such as potentiometers,
encoders and resolvers, which measure the angular posi
tion of each joint. The measured positions are compared
with commanded positions, and any differences are cor
rected by signals sent to the appropriate joint actuator. A
gripping device or tool, often called ~he 'hand' '. is ~ount
ed at the outermost joint of the manipulator. It IS thiS tool
that customizes the robot for a given application since it is
usually designed specifically for the task to be performed
(see Figure 1.2). The load capacity of the system is a p~ac
tical limit placed by the design of the robot mechanism
and the control circuits. In most cases it can be quoted by
manufacturers in terms of a 'moment', eg 10kg acting
l00mm from the tip of the last axis (or mounting plate).
Exceeding the capacity usually causes a c~~res~onding Cam-operated hand with
inside and outside jaws
downgrading of the accuracy and repeatability figures.
Figure 1.2 Examples of end effectors or grippers
The controller
The various motions of the robot and their sequence are
trolled. What often confuses people is when the phrases
stored in the memory of the control. It is the control that
ROM, RAM, PROM are quoted in the specifications. The
interacts with the machines, conveyors, or tools with
active memory of a computer is volatile and is described
which the robot works. Controls vary in complexity; they
by so many 'K' of RAM (Random Access Memory). The
may be as simple as stepping switches or as sophisticated
long-term memory is non-volatile and is described by so
as computers.
many 'K' of ROM (Read-Only Memory) or PROM (Pro
grammable Read-Only Memory). When 'K' is quoted it
The type of memory in the controller
relates to the amount of information that can be retained
There are two types of memory associated with the
in the memory.
robot's custom computer: volatile and non-volatile. Vola
tile memory is one which is erased when the robot system
The size of the memory and whether it can be extended
is 'powered down' or an emergency power cut occurs.
The size of the memory has a direct relationship to the
Non-volatile memory is not erased on power down. All
performance of a robot system. Again, the difference
robot systems have both volatile and non-volatile
between volatile and non-volatile memory is important.
memory. They have different functions. The non-volatile
The larger the volatile memory is the more sophisticated
memory keeps all the information about how the system
the software can be. The more sophisticated the soft
works and what jobs have been taught. The volatile
ware the better the control and the more extensive the
memory is where calculations are done and systems con-
features, such as linear interpolation, can be.
Introduction 11
The larger the non-volatile memory the greater the
number of jobs that can be held. Often, non-volatile
memory can be extended by the use of disk storage or
magnetic tape storage. In this case the size of the fixed,
non-volatile memory is only important in that it limits the
size of the program that can be taught.
There are two forms of robot control: point to point
B
(PTP) and continuous path (CP). A point to point robot
can be programmed to stop at any predetermined point, Path followed
but movement is not controlled between such points. A
continuous path robot can follow an irregular path
exactly. Point to point robots usually offer greater accur
acy and repeatability, because of their fixed stop and 4. Straight line motion
point positioning.
Path control
The following robot path control illustrations are
expressed in two dimensions only. The process of
moving through a series of points may be carried out in
two distinct ways: point to point, in which the motion
pauses at each point to plan the next step; and continu
ous path, in which the next path is planned during execu Path followed
tion of the previous one. The latter results in a smoother
motion but uses more memory and could produce a
speed penalty, causing uneconomic motion over large
steps. 5. Circular-arc interpolation
/'. "
/ "
"
"
"
B
Path followed
6. Along global or tool axes
1. One axis at a time
Path followed
\\\\\\
Path followed
2. Both axes at same speed 7. Weaving motion along linear,
average path (useful for welding)
Teaching a robot
The success of a robot depends on how well it is taught,
so the method of teaching is very important. Most
robots, when taught, are put into a teach mode and are
taught either manually or on a point to point system.
Typically, manual teach systems are used for paint spray
ing. Manual teaching is often called 'teach by doing' and
B can be quick and effective, providing that a high level of
Path followed
accuracy is not required. Other applications requiring
higher levels of accuracy are manually taught by the point
3. Joint interpolated motion
to point system. (I n this system the robot is under power.)
12 Introduction
The human operator leads the robot through all steps of Repeatability relates to the robot's ability to return
the operation, one step at a time, recording each move in again and again to the taught position. As the majority of
the robot memory. The robot is switched to a special robots are used in this way, repeatability is more import
'teach' mode during this process, which reduces its oper ant than accuracy although, clearly, if a robot has good
ation speeds, and gives full command of all robot move repeatability but is not accurate, then it is of little use in
ments to the teacher. With linear interpolation, provided critical applications such as arc welding or mechanical
the route required by the robot is a straight one, the assembly.
points plotted can be from two or 200 centimetres apart.
This is a great saving on both programming time required Drive system
by the operator and memory required in the computer's Hydraulically driven robots use an electrically driven
memory banks. The control system of the robot may be pump, control valves, a reservoir and a heat exchanger in
considered to be the most important sub-system; 90 per a system that employs fluid flow and pressure to actuate
cent of marketed industrial robots are equipped with the manipulator. This is the most popular form of drive
point to point control and only 10 per cent with continu system because hydraulic cylinders and motors are com
ous path control. Some models are offered with both pact and allow high levels of force and power, together
control systems. (Figure 1.3 shows, schematically, a with accurate control. The drives are divided into actua
typical control system used on an industrial robot.) tors and motors. Pneumatically driven robots are usually
connected to a resident compressed-air system in the
Accuracy and repeatability factory. This form of drive is found in about 30 per cent of
Many people believe that accuracy and repeatability are robots, although they are confined mainly to the limited
the same thing, but this is not so. When talking about a sequence devices. Pneumatic drives have the merit of
robot, accuracy relates to the robot's ability to return to a being cheaper than other methods, and their inherent
taught position within its established working area. This reliability means that maintenance costs can be kept
position is usually measured at the end of the last axis. down (although other types have also become more reli
Occasionally, when the robot is being used to manipulate able through progressive development). Unfortunately,
a tool, accuracy should be measured at a point that repre the system does not make for easy control of either speed
sents the furthest extension of the tool from the tip of the or position, two essential ingredients for any successful
last axis. robot.
Teach
Position-sensor data
Memory
1
Playback
Manipulator
... Playback
...
Servo-valve
...
Teach Hand control unit
Figure 1.3 Programming an industrial robot
Introduction 13
Electrical systems are directly coupled to manipulators more capability than non-servo robots. Another differ
and are used in some 20 per cent of robots. Typical forms ence from non-servo robots is that oil flow can be, and is,
are servo-motors, stepping motors, pulse motors and modulated by the servo-valves in a servo-controlled
linear and rotational solenoids. robot. Because of this, it is possible to control the
Currently, individual robots fall into one of two catego velocity, acceleration and deceleration of the various
ries: non-servo- or servo-controlled robots. Non-servo axes as they move between programmed points.
robots, so named because of their limited motions, are One feature of importance is that memory is generally
sometimes called 'end point', 'pick and place', 'bang larger and as a result more positions can be stored in
bang' or 'limited sequence' robots. Fixed but adjustable memory. Both continuous path and point to point opera
stops for each axis, by which the end positions of move tions are possible.
ment for the mechanical arm are set, define the range of Accuracy can be varied in a servo-controlled robot sim
motions for non-servo robots. Since non-servos alter ply by changing the magnitude of the error signal. This
nate between only two positions of movement in each can be useful in rounding corners of high-speed continu
axis, they are necessarily consigned to simple operations. ous motions. Drives are usually hydraulic or electric, and
Some, however, do have movable stops, inserted or use state-of-the-art servo-control technology. The cost
withdrawn automatically, that allow far more than two of a servo-controlled robot is from two to five times as
position motion. much as non-servos of a similar size. •
Non-servo robots are relatively inexpensive, are simple Many servo-controlled robots use mini-computers or
to program and require little maintenance. The typical microprocessors in their control systems and can execute
sequencing controls used can execute single programs of several hundred sequential steps.
some 24 consecutive steps. Virtually all have relatively
high speeds compared with the servo-controlled robots, Robot kinematics
generally because their manipulators are smaller and Four of the most common configurations used in robot
because a full flow of oil or air through the control valve is design are articulated (or jointed arm); Turret (or spheri
possible. Repeatability is good, especially in the smaller cal co-ordinate); Rtheta (or cylindrical co-ordinate) and
models. rectangular (or cartesian co-ordinate) configuration (see
Servo-controlled robots incorporate feedback devices Figure 1.5), Each configuration has its own advantages,
that continuously measure the position of each axis. The notably the work area required for the robot and the reach
manipulator arm can stop at any point within its total that the robot can attain, as well as its weight carrying
stroke (see Figure 1.4). Some ultra-sophisticated seven capacity. Articulated configurations describe an envel-
axes robots can stop at anyone of 4000 points in space.
Since they are able to position the tool or gripper any
where within this total space or working envelope (see
Figure 1.4), servo-controlled robots have considerably
- -ot--
1200
Rectangular (cartesian co-ordinate) Rtheta (cylindrical co-ordinate)
Turret (sperical co-ordinate) Articulated (jointed arm)
Figure 1.4 An example of a general purpose industrial robot· Figure 1.6 Industrial robot kinematics
(Little Giant, GEG)
