chain reaction deliverable template

Virtual demonstration centre – Robotics Version 1

03/2021

WPT3

D.T3.2.10

Page I

Project information

Project Index Number: CE1519

Project Acronym: CHAIN REACTIONS

Project Title: Driving smart industrial growth through value chain innovation

Website: https://www.interreg-central.eu/Content.Node/CHAIN-REACTIONS.html

Start Date of the Pro-ject:

01.04.2019

Duration: 36 Months

Document Control page

Deliverable Title: DT3.2.10 – Joint implementation report for the pilot in the advanced manu-facturing sector – virtual demonstration centre – robotics

Lead Contractor of the Deliverable:

PP5 – RDA Pilsen

Authors: PP5 – RDA

Contractual Delivery Date:

31.01.2022

Actual Delivery Date: 25.03.2021

https://www.interreg-central.eu/Content.Node/CHAIN-REACTIONS.html

Page II

Table of content

1 Introduction ......................................................................................... 1

2 Robot ................................................................................................. 1

3 Industrial Robots classification .................................................................. 2

3.1 Generation of industrial robots ............................................................................................. 3

3.2 Single-purpose robots ........................................................................................................... 3

3.3 Multi-purpose robots ............................................................................................................ 3

3.4 With a fixed program ............................................................................................................ 3

3.5 With flexible program ........................................................................................................... 3

3.6 Cognitive robots .................................................................................................................... 4

3.7 Programmable robots ........................................................................................................... 4

3.8 Synchronous robots............................................................................................................... 4

4 Collaborative robots ............................................................................... 4

4.1 Manufacturers ....................................................................................................................... 5

4.2 Basic parameters ................................................................................................................... 7

4.3 Collaborative robots library ................................................................................................... 9

4.3.1 Universal robots ....................................................................................................... 9

4.3.2 KUKA ....................................................................................................................... 15

4.3.3 Fanuc ...................................................................................................................... 18

4.3.4 ABB ......................................................................................................................... 23

4.3.5 Kawasaki ................................................................................................................. 24

4.3.6 MABI ....................................................................................................................... 26

4.3.7 Rethink .................................................................................................................... 27

4.3.8 Yaskawa .................................................................................................................. 27

4.4 End-effectors library ............................................................................................................ 28

4.4.1 Robotiq ................................................................................................................... 28

4.4.2 OnRobot ................................................................................................................. 29

4.4.3 Schunk .................................................................................................................... 31

4.4.4 Schmalz ................................................................................................................... 32

4.4.5 Zimmer group ......................................................................................................... 33

5 Resources ........................................................................................... 34

1 INTRODUCTION

Robotization is a process involving robots in manufacturing and other industrial areas. It can also be used in non-industrial areas such as in the military, medicine, aviation, transport or even in households can be found all kinds of robots helping to make our lives easier. Recently, the number of robots being used by companies to boost productivity has rapidly increased. More and more human jobs are being replaced by robots. [1] Robotization aims to decrease production costs, improving production management and increasing flexibility, as well as increasing competitiveness. It is not just an attempt to replace human labor with a robot, but to reduce the proportion of human labor in a dangerous, harmful, unpleasant, and difficult to access environment. Those robots should learn human tasks and solve them quicker, more effec-tively with better quality output. From an economical point of view, it can seem like a big investment for companies, but it has a fast return on investment. [1] This term goes hand in hand with the term automation. One definition says that from the point of view of industrialization, automation is the successor of mechanization, which means that human activity is replaced by technical devices or machines and automata. The machine uses artificial intelligence to perform predetermined tasks. Production processes are automated to increase labor productivity, im-prove product quality and worker safety. Repetitive activities that can be monotonous for a person due to their still the same sequence of actions and movements tend to be automated, even to save not only time but also energy and money. Human activity is automated even where it also brings the increased quality of production. [1]

2 ROBOT

Previously, the term robot was associated with artificial man, but now the term is used to describe a system in which mechanical, electrical, and electronic elements based on information technology are integrated. It is controlled automatically or by a computer. The robot can perform most human activi-ties, but it does not have biological properties like living beings. [1] Robots are used for production, machine operation, handling, and assembly. They can perform tasks such as loading and unloading parts from machines, packaging, assembling, testing and measuring, moving parts, handling parts on machine tools, or positioning parts and pick & place applications. [1] There are a large number of robots, which are divided according to use, function, design, or construc-tion, whether they are kitchen robots, or imitations of people and animals, so-called androids, or var-ious manipulators. There is no one way to classify robots, but they are divided from several different points of view. Robot-type handling devices can be classified, for example, according to kinematic structure, several degrees of freedom, drives used, control method, programming, workspace geom-etry, or motion characteristics. One type of classification of robotic devices is shown in the following figure. [2]

Figure 1: Classification of robots by type

3 INDUSTRIAL ROBOTS CLASSIFICATION

Industrial robots include those used to make products or handle products. Their construction is more complicated than with conventional manipulators and the control is provided by a computer. These robots perform either predominantly manipulative tasks, where they move objects and tools from place to place, or production-technological tasks such as drilling, turning, plasma cutting, welding, or painting, and so on. [3] The robot consists of several parts, which can be divided into running gear, positioning, orientation, and output heads, while the structure is usually mounted on a linear unit. Other parts are the drive system, compact arm, gripping head, and wrist, which are used to guide cables and also to connect equipment used for gripping parts or welding, etc. It also contains positioners, optical position sen-sors, and joints to allow rotation. [3]

Figure 2: Multipurpose industrial robot [4]

Robotic devices

Single Purpose

Feeders

Synchronous Programmable

Multipurpose

Synchronous Programmable

Fixed program

Flexible program

Cognitive robots

3.1 Generation of industrial robots

Industrial robots can be divided into five generations according to the level of intelligence, starting with zero, which includes manipulators and non-feedback robots, which means that in the event of a failure, the machine stops and waits for the adjuster to arrive. The first generation contains robots that already provide some feedback and can work with several human-set programs and switch between them. The robots of the second group have optimization capabilities, where they select the optimal one from the given programs according to the specified criteria. The third-generation includes robots that can create their program based on the experience gained. The input parameter is only the target, but the path to its fulfilment is left to the intelligence of the control system. The last, fourth generation is represented by robots, which are autonomous and have a certain social behaviour, so they choose the goals and their fulfilment themselves. [3]

3.2 Single-purpose robots

The basic features of single-purpose robots are the limited possibilities of movement, which is adapted to the given application, which also corresponds to the level of control and the overall design, drives, and technology used. In practice, they are usually not located as a separate automation element but are part of the machine being operated. Here they perform a defined movement, which is, for exam-ple, the manipulation of objects. They usually do not have their drive but are dependent on the ma-chine on which they are located. [3] Single-purpose robots include the simplest type, which is the so-called feeders. They form one unit with the controlled machine, where they are also controlled by it. This type is most often used in the automation of technological processes. [3]

3.3 Multi-purpose robots

Unlike single-purpose ones, universal robots have a higher level of control as well as a wider range of handling options, they can be adapted to various technologies, they have their drive and control. The design of the structure takes into account the range of motion, the number of degrees of freedom, the maximum load, and the positioning accuracy. There can be two versions of multi-purpose robots, sta-tionary, where the robot is not able to move from place to place because it is fixed, but the movement can be allowed by placing it on certain travels. The second design is mobile, where the robots can move and are not firmly connected to one place. These robots use elements of artificial intelligence. [3] Three types of robots can be included in this category, which are robots:

3.4 With a fixed program

A typical feature of robots with a fixed program is the simple design of the control unit, where the control program does not change during the work process and is constant. [3]

3.5 With flexible program

With this type, the control program can be changed during the process and thus respond to certain changes, there is also the possibility of switching programs according to the scene in which the manip-ulation mechanisms are located. Most of them are such devices with adaptive control and belong to the top of the design of industrial robots. [3]

3.6 Cognitive robots

Cognitive robots are among the robots with a certain degree of artificial intelligence. They are equipped with the possibility of perception and rational thinking, hence the name cognitive, which is also used in psychology to denote the types of cognitive activities, which are perception, comprehen-sion, reasoning, memory, or imagination. Based on these possibilities, the robot can perform activities such as perception and recognition of the environment, creating an internal model of the environment, and based on that to decide on its activities. He can also influence the environment in which he moves and manipulates objects and, last but not least, it can communicate with humans. The goals to be achieved are set in advance by a human and the robot's attention is focused on achieving them. [5] The following types belong to both categories, i.e. single-purpose, and multi-purpose robots:

3.7 Programmable robots

This is a type of robot where the device is functionally dependent on the control program. The robots themselves are completely independent of the machine being operated. They have their drive, design, and functions. It follows the set program by a person. [5]

3.8 Synchronous robots

Also called teleoperators, or exoskeletons, are devices where their control is performed by a person to amplify and facilitate the movement quantities caused by the manager. These manipulators are independent of the machine being operated but transmit remotely the commands of a person who takes the position of the control and evaluation unit, and the manipulator then becomes the output unit that performs the movement. The use of such devices is in the field of medicine, for scientific and military purposes, or in laboratories and environments with unfavourable, dangerous conditions. Re-motely controlled robots can also work with dangerous, radioactive substances. [5]

4 COLLABORATIVE ROBOTS

This chapter deals with the characteristics of collaborative robots, analysis of their manufacturers and the safety of robotic workplaces. This type of robot is designed to share the workspace with people, helping them to handle various tasks, such as those requiring high precision. They are widely used in activities such as a screwdriver, welding, gluing, measuring, and placing objects. Unlike humans, they can do monotonous activities constantly, without a break at the same speed and quality. The big difference from industrial robots is that they work near humans and do not have barriers around them, so there is a great emphasis on safety. The robot contains sensors that detect the touch of a foreign object or human and stops im-mediately to prevent human injury or damage to the robot. It also includes a camera for capturing objects and the environment. [6]

Figure 3: Collaborative robot [6]

Levels of robotic application [7]:

1) Conventional – the robot is in the protection zone and the operator is denied access 2) Coexistence - the use of another workplace is allowed to enter the robot's workspace 3) Cooperation - the operator and the robot work at the same workplace but without mutual

cooperation 4) Collaboration - direct cooperation of the operator with the robot

Conventional robots Collaborative robots protection zones direct cooperation with man

safety is ensured by motion sensors when entering the workplace safety elements built directly into the robot

high demands on programming knowledge simple programming

demanding setup quick setup and commissioning

complex conversion to another type of operation flexible use

large area requirements small space requirements

higher purchase price with relatively high inci-dental costs

lower purchase price and faster return on investment

4.1 Manufacturers

Since the 1990s, collaborative robots have been a part of our society. But especially nowadays has grown the profile of cobots with automation and sensor technologies and artificial intelligence. Inter-est in collaborative robots has begun to rapidly rise since 2016, with experts predicting that up to 434,000 units will be sold in 2025. More and more companies are increasing their products as the cobots become more mainstream. [9] There is a list of the best collaborative robotic companies. Automation News installed more than 450,000 industrial robots by 2017. As expected, this method is due to the growing interest in collabo-rative robots. Another global robot brand is ABB s.r.o., which has reached the limit of 300,000 indus-trial robots, as well as Yaskawa. KUKA AG is also one of the world's leading manufacturers with a total of approximately 80,000 installed robots. Universal Robots A/S is engaged in manufacturing focused only on collaborative robots and is among the leaders in its field on the world market. UR robots are installed all over the world, eg in Nissan or Yokohama. Stäubli, Epson, Kawasaki, Rethink Robotics and

Denso Wave also work with collaborative robotics as well as Vecna, Robotiq, Omron, Locus robotics or Festo. [10] List of the most used collaborative robots

4.2 Basic parameters

This subchapter deals with the technical parameters of collaborative robots. According to this specifi-cation, it is decided in which work space and for which work activity the collaborative robot is most suitable. Specifications:

Handling load [kg] – maximum weight permissible for robot construction

Range [mm] – the maximum position in which the robot is able to work

Controlled axes – determine the number of swivel joints Performance:

Repeatability [mm] - expresses how many times and with what accuracy the robot is able to return to the same position. The range is given with a tolerance of hundreds of millimeters.

Permitted ambient temperature [oc] - indicates the temperature range in which the cobot can operate

Power consumption [W] - indicates power consumption Movement:

Working range [0] - maximum degree of rotation of individual joints

Maximum speed [0/s; mm/s] - speed of rotation or displacement of joints Physical properties:

Dimensions [mm] - diameter or floor plan dimension

Weight [kg] - total weight of the robot in the unloaded state

Material - construction material

Connector type for the tool - specifies which tool can be installed on the robot

Classification IP (International Protection) - degree of protection against unpredictable human intervention in close proximity to the robot

Noise [dB] - intensity of the noise

Other parameters, which are given in the technical documentation of collaborative robots, include the properties of the controller and the control panel. Their weights, material and method of power supply or cable length are most often stated. An important part of the documentation is a list of areas in which the cobot is suitable to implement. The most common applications include: packaging and palletizing, assembly, "Pick and Place" operations, screwing, machine operation or quality control. [11]

PRODUCER Type

Sales representation and service in the Czech

Republic

Payload Reach Numbe

r of axes

Repeatability Purchase

price

UR UR3 (UR3e) ✔ 3 kg 500 mm 6 ±0,1 mm

19,750 €

UR UR5 (UR5e) ✔ 5 kg 850 mm 6 ±0,1 mm

23,900 €

UR UR10 (UR10e) ✔ 10 kg

1300 mm 6 ±0,1 mm

29,900 €

KUKA LBR iiwa7 ✔ 7kg 800 mm 7 ±0,1 mm

70,000 €

KUKA LBR iiwa 14 ✔ 14 kg 820 mm 7 ±0,15 mm

70,000 €

KUKA LBR iisy ✔ 3 kg 600 mm 6 ±0,1 mm

25,000 €

FANUC CR-4iA ✔ 4 kg 550 mm 6 ±0,013 mm

50,000 €


45,000 €

FANUC CR-7iAL ✔ 7 kg 911 mm 6 ±0,018 mm

45,000 €


75,000 €


55,000 €

ABB YuMi ✔ 2*0,5 kg 500 mm 6 ±0,02 mm

40,000 €

Kawasaki duAro1 × 2*2 kg 500 mm 4 ±0,05 mm

35,000 €

Kawasaki duAro2 × 2*2 kg 550 mm 4 ±0,05 mm

35,000 €

MABI Robotics Speedy 6 × 6 kg

800 mm 6 ±0,1 mm

50,000 €

MABI Robotics Speedy 12 × 12 kg

1250 mm 6 ±0,1 mm

55,000 €

Rethink Sawyer × 4 kg 1260 mm 6 ±0,1 mm

35,000 €

Yaskawa Motoman HC10 × 10 kg

1200 mm 6 ±0,1 mm

25,000 €

4.3 Collaborative robots library

This chapter shows an overview of collaborative robots with their specific names and which company manufactures them. Furthermore, each of them has a technical specification with the stated data and parameters, as well as, for example, the area of use of specific cobots. Along with these infor-mation goes pictures of each cobots to show how it looks like.

4.3.1 Universal robots

Universal robots - UR3

Technical specification

Dimension: Ø 128 mm

Payload: 11 kg

Payload: 3 kg

Reach: 500 mm

Controlled axes: 6 swivel joints

- base: ± 180°/s

- arm: ± 180°/s

- elbow: ± 180°/s

- wrist 1: ± 360°/s

- wrist 2: ± 360°/s

- wrist 3: ± 360°/s

Allowed ambient temperature: 0–50°

Classification IP: IP64

Repeatibility: ±0,1 mm

More information Area of use:

- packaging and palletizing

- screwing

- injection molding machine operation

- polishing

- laboratory analysis

- gluing, dosing and welding

- removal and storage

- quality control

- assembly

- operating machines

Universal robots - UR3e



Payload: 11,2 kg

Payload: 3 kg

Reach: 500 mm


- base: ± 180°/s

- arm: ± 180°/s

- elbow: ± 180°/s

- wrist 1: ± 360°/s

- wrist 2: ± 360°/s

- wrist 3: ± 360°/s






- screwing


- polishing




- quality control

- assembly





Payload: 18,4 kg

Payload: 5 kg

Reach: 850 mm


- base: ± 180°/s

- arm: ± 180°/s

- elbow: ± 180°/s

- wrist 1: ± 180°/s

- wrist 2: ± 180°/s

- wrist 3: ± 180°/s






- screwing


- polishing




- quality control

- assembly





Payload: 20,6 kg

Payload: 5 kg

Reach: 850 mm


- base: ± 180°/s

- arm: ± 180°/s

- elbow: ± 180°/s

- wrist 1: ± 180°/s

- wrist 2: ± 180°/s

- wrist 3: ± 180°/s






- screwing


- polishing




- quality control

- assembly





Payload: 28,9 kg

Payload: 10 kg

Reach: 1300 mm


- base: ± 120°/s

- arm: ± 120°/s

- elbow: ± 180°/s

- wrist 1: ± 180°/s

- wrist 2: ± 180°/s

- wrist 3: ± 180°/s






- screwing


- polishing




- quality control

- assembly





Payload: 33,5 kg

Payload: 10 kg

Reach: 1300 mm


- base: ± 120°/s

- arm: ± 120°/s

- elbow: ± 180°/s

- wrist 1: ± 180°/s

- wrist 2: ± 180°/s

- wrist 3: ± 180°/s






- screwing


- polishing




- quality control

- assembly


4.3.2 KUKA

KUKA - LBR iisy


Dimension: 510 mm x 600 mm

Payload: 18,8 kg

Payload: 3 kg

Reach: 600 mm





- handling on other machines

- measurement, testing and inspection

- palletizing

- other handling operations

- packaging and preparation of goods

- application of adhesive, sealant or similar material

- other coatings

- mechanical machining

- fastening

- insertion, mounting

- other assembly and disassembly operations

KUKA - LBR iiwa 7 R800


Dimension: 500 mm x 483 mm x 190 mm

Payload: 22 kg

Payload: 7 kg

Max. Reach: 800 mm


- axis 1: 98°/s

- axis 2: 98°/s

- axis 3: 100°/s

- axis 4: 130°/s

- axis 5: 140°/s

- axis 6: 180°/s

- axis 7: 180°/s

Allowed ambient temperature: 5°- 45°C






- palletizing




- other coatings


- fastening



KUKA - LBR iiwa 14 R820


Dimension: 500 mm x 483 mm x 190 mm

Payload: 30 kg

Payload: 14 kg

Max. Reach: 820 mm


- axis 1: 85°/s

- axis 2: 85°/s

- axis 3: 100°/s

- axis 4: 75°/s

- axis 5: 130°/s

- axis 6: 135°/s

- axis 7: 135°/s

Allowed ambient temperature: 5°- 45°C






- palletizing




- other coatings


- fastening



4.3.3 Fanuc

FANUC - CR-4iA



Payload: 48 kg

Max. Payload: 4 kg

Max. Reach: 550 mm


- axis 1: 340°

- axis 2: 150°

- axis 3: 354°

- axis 4: 380°

- axis 5: 200°

- axis 6: 720°

Max. speed: 500/1000 m/s

Allowed ambient temperature: +5°- +45°C




- electronic environment

- assembly of small components (manufacture of watches, toys)

- manufacture of automotive components

FANUC - CR-7iA



Payload: 53 kg

Max. Payload: 7 kg

Max. Reach: 717 mm


- axis 1: 340°

- axis 2: 166°

- axis 3: 373°

- axis 4: 380°

- axis 5: 240°

- axis 6: 720°






- automotive

- healthcare

- electronic industry

- food industry


- machinery industry

FANUC - CR-7iA/L



Payload: 55 kg

Max. Payload: 7 kg

Max. Reach: 911 mm


- axis 1: 340°

- axis 2: 166°

- axis 3: 383°

- axis 4: 380°

- axis 5: 240°

- axis 6: 720°






- automotive

- healthcare


- food industry



FANUC - CR-15iA



Payload: 255 kg

Max. Payload: 15 kg

Max. Reach: 1441 mm


- axis 1: 340°

- axis 2: 180°

- axis 3: 305°

- axis 4: 380°

- axis 5: 280°

- axis 6: 900°

Max. speed: 800 / 1500 m/s


Classification IP: IP54 / IP67



- automotive

- healthcare


- food industry



FANUC - CR-35iA



Payload: 990 kg

Max. Payload: 35 kg

Max. Reach: 1813 mm


- axis 1: 370°

- axis 2: 165°

- axis 3: 258°

- axis 4: 400°

- axis 5: 220°

- axis 6: 900°



Classification IP: IP54 / IP67



- automotive

- healthcare


- food industry



4.3.4 ABB

ABB - YuMi Technical specification

Celková plocha: 399 mm x 496 mm

Payload: 38 kg

Payload: 0,5 kg (no arm load)

Max. Reach: 500 mm


- axis 1 rotace: 180°/s

- axis 2 paže: 180°/s

- axis 3 paže: 180°/s

- axis 4 wrist: 400°/s

- axis 5 ohýbání: 400°/s

- axis 6 otáčení: 400°/s

- axis 7 rotace: 180°/s





Další informace Area of use:

- electronic environment

- assembly of small components (manufacture of watches, toys)

- manufacture of automotive components

4.3.5 Kawasaki

Kawasaki - duAro1


Rozměr: 1700 mm x 600 mm x 620 mm

Payload: 200 kg

Payload: 2 kg

Max. Reach: 500 mm

Controlled axes: 4 (1 arm)

Lower arm Upper arm

Arm rotation –170 - +170 –140 - +500

Arm rotation –140 - +140 –140 - +140

Shift 0 - +150 0 - +150

Wrist rotation –360 - +360 –360 - +360




- assembly

- material manipulation

- loading and unloading material

- gluing seals


Kawasaki - duAro2


Rozměr: 1700 mm x 600 mm x 620 mm

Payload: 200 kg

Payload: 3 kg (1 arm)

Max. Reach: 550 mm

Controlled axes: 4 (1 arm)

Lower arm Upper arm

Arm rotation –170 - +170 –140 - +500

Arm rotation –130 - +140 –140 - +130

Shift 0 - +550 0 - +550

Wrist rotation –360 - +360 –360 - +360




- assembly



- gluing seals


4.3.6 MABI

MABI - Speedy 6


Weight: 28 kg

Payload: 6 kg

Max. reach: 800 mm

swivel joints: 6

A1 ±300 145 °/s

A2 ±90 145 °/s

A3 ±160 180 °/s

A4 ±300 180 °/s

A5 ±117,5 275 °/s

A6 ±180 275 °/s




- gathering



MABI - Speedy 12


Weight: 35 kg

Payload: 12 kg

Max. reach: 1250 mm

swivel joints: 6

A1 ±300 75 °/s

A2 ±90 75 °/s

A3 ±160 145 °/s

A4 ±300 145 °/s

A5 ±117,5 275 °/s

A6 ±180 275 °/s




- gathering


loading and unloading material

4.3.7 Rethink

Rethink Robotics - Sawyer


Weight: 19 kg

Payload: 4 kg

Max. reach: 1260 mm

swivel joints: 7

J0 - J3 ±350

J4 - J5 ±340

J6 ±540





-testing el. Circuit boards


4.3.8 Yaskawa

Yaskawa - Motoman HC10 Technical specification

Weight: 47 kg

Payload: 10 kg

Max. reach: 1200 mm

Swivel joints: 6

S ±180 130 °/s

L ±180 130 °/s

U ±355/-5 180 °/s

R ±180 180 °/s

B ±180 250 °/s

T ±180 250 °/s




assembly




4.4 End-effectors library

This subchapter is devoted to tools, the so-called end effectors of collaborative robots. End effectors are usually not part of the portfolio of manufacturers of the robots themselves. The best-known sup-pliers of these tools include:

Universal Robots A/S

Schmalz GmbH

Robotic Inc.

OnRobot A/S

Weiss Robotics GmbH & Co

Schunk GmbH & Co. KG The tools are suitable for collaborative robots from multiple manufacturers at the same time. They are constructed on the basis of standards and with regard to compatibility with the axes of the cobot arms. If the end effector cannot be connected to the robot, there are so-called adapters on the market, which perform the function of a connecting member between the tool and the robot. Different types of end effectors are available on the market, broken down by area of application.

4.4.1 Robotiq

Robotiq 2 - Finger adaptive robot gripper

Application

Operating machine

Gripping and moving

Assembly

Laboratory testing


Weight: 1 kg

Max. payload 5 kg

Compatible with: Universal Robots

Yaskawa

Aubo

Hanwha

Doosan Robotics

Advantages

Plug + Play integration quickly adapts to parts of various shapes and sizes.

Possibility to adjust position, speed, force.

Robotiq 3 - Finger adaptive robot gripper

Application

Operating machine

Gripping and moving

Assembly

Laboratory testing


Weight: 2.3 kg

Max. payload 10 kg


Advantages

The best option for maximum versatility and flexibility

Possibility of gripping an object of any shape

4.4.2 OnRobot

OnRobot POLYSKIN TACTILE GRIPPER

Application

Packaging and palletizing

Assembly

Gripping and moving

Deburring, grinding, polishing

Quality testing, inspection

Operating machine


Weight: 1,1 kg

Max. payload 10 kg


KUKA

Kawasaki Robots

FANUC

TM Robot

Yaskawa

Nachi

Denso

Omron

Advantages

Specializing in sensitive gripping: both fingers can be individually adjusted

Tactile sensors on fingertips

The gripper can measure the conditions on the surface of the object and adjust the grip accordingly. Process

Especially suitable for working with fragile or irregular objects

OnRobot RG2-FT

Application


Assembly

Gripping and moving



Operating machine


Weight: 0,98 kg

Max. payload 4 kg


KUKA

Kawasaki Robots

FANUC

TM Robot

Yaskawa

Nachi

Denso

Omron

Advantages

It includes a force sensor, torsion sensor and a proximity sensor for accurate object detection

The gripper detects the threat of an object slipping before it happens

Especially suitable for precise assembly

OnRobot GECKO GRIPPER

Application


Assembly

Gripping and moving



Operating machine


Weight:

Max. payload 6,5 kg


KUKA

Kawasaki Robots

FANUC

TM Robot

Yaskawa

Nachi

Denso

Omron

Advantages

Generating so-called Van der Waals forces eliminates the need for vacuum grippers

It can also handle perforated or porous objects

4.4.3 Schunk

Schunk end-of-arm modular system - electric grippers

Application


Assembly

Gripping and moving

CNC

Screwing

Operating machine


Weight: 0,11-0,83 kg

Max. payload 0,07-1,25 kg

Compatible with: ELP - electrical linear modul

Advantages

Mechatronic gripping systems with direct connection

Automation of handling and assembly tasks

Force sensor

Torque sensor

Possibility of changing grippers

Schunk end-of-arm modular system - pneumatic grippers

Application


Assembly

Gripping and moving

CNC

Screwing

Operating machine


Weight: 0,08-39,8 kg

Max. payload 0,9-97,5 kg

Compatible with: Fanuc

Universal Robots

KUKA

Advantages

Pneumatic gripping systems with direct connection and integrated micro valves

Automation of handling and assembly tasks

Force sensor

Torque sensor

Possibility of changing grippers

4.4.4 Schmalz

Vacuum end effector starter set - VEE UR

Application

Assembly

Gripping and moving

CNC

Operating machine

Laboratory testing


Weight: 0,35 kg

Max. suction rate 42.5 l/min


Advantages

It contains modular components for assembling the end effector unit

Thanks to the integrated flange, it can be mounted on UR3, UR5 and UR10 robots

Electrical vacuum generator - cobotpump ECBPI

Application

Collaborative robots


Weight: 775 g

Max. suction rate 12 l/min

Compatible with: UR Robots

Advantages

A new generation of vacuum generators that do not need compressed air

4.4.5 Zimmer group

Zimmer group - pneumatic grippers

Application

Operating machine

Gripping and moving

Assembly



Weight: 0,14-88 kg

Max. payload

Compatible with:

Universal Robots

Yaskawa

Advantages

Pneumatic gripping system

Large selection of different models, from the strongest grippers to the standard for Uni Application

Includes built-in URCaps software to make it easier to control end effectors

Zimmer group - hybrid grippers

Application Operating machine

Gripping and moving

Assembly



Weight: 0,45 -1,45 kg

Max. payload


Yaskawa

Advantages

Hybrid system based on intelligent pneumatic grippers

Includes built-in URCaps software to make it easier to control end effectors

Výhody

Pneumatický uchopovací systém

Obsahuje vestavěný software URCaps pro usnadnění ovládání koncových efektorů

Velký výběr různých modelů, od nejsilnějších uchopovačů až po standardní pro uni použití

Zimmer group - pneumatic grippers

Použití

Obsluha stroje

Uchopování a přemisťování

Montáž

Balení a paletizace

5 RESOURCES

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chain reaction deliverable template

Documents