mobile gripping systems

Mobile Gripping SystemsTomorrow starts Today

Superior Clamping and Gripping

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Heinz-Dieter Schunk Henrik A. Schunk Kristina I. Schunk

Top Performance in the Team

SCHUNK is the world’s No. 1 for clamping technology and gripping systems – from the smallest parallel gripper to the largest chuck jaw program.

In order to boost efficiency, SCHUNK customers have bought more than 2 000 000 precision toolholders, 1 000 000 gripping modules, and 100 000 lathe chucks and stationary workholding systems so far.

This makes us proud and motivates us to attain new top performances.

As a competence leader, we recognize and develop standards with a large potential for the future, which will drive the rapid progress in many industries.

Our customers profit from the expert knowledge, the experience and the team spirit of more than 2000 employees on our innovative family-owned company.

The Schunk family wishes you improved end results with our quality products.

Henrik A. Schunk, Kristina I. Schunk and Heinz-Dieter Schunk


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Mobile production assistantwith Powerball lightweightArm LWA 4P

PowerCube PR

PowerCube PG

PowerCube PW

19951993 1996 1998 2006 2007

SDH1. Expert DaysRobot walker

Lightweight modules PRLLightweight arm LWA 3Lightweight arm LWA 2


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At SCHUNK, ground-breaking Mobile Gripping Systems have always been part of everyday work

More than 1500 lightweight arms installed, more than 15000 swivel and gripping modules, more than 300 customers all over the world and more than 16 years of mechatronics experience make SCHUNK one of the most im-portant developers and vendors of mobile gripping systems for an extremely wide range of applications.

On the economic side of things, service robotics is be-coming increasingly dynamic. Our mechatronic grippers, gripping hands, rotary modules, lightweight arms and our modular system already set the standards today. Whether in the professional or private environment – SCHUNK is driving development. Proactive, as a partner, and within a network.

As a pioneer, we are continuously redefining the feasibility limits of industrial reality. With unique products and devel-opments, we are characterizing the functions of inspection systems, applications on mobile platforms and human/ machine interactions in the area of robotics.

From our perspective, the interplay between humans and robots shows a development from “in succession” in the past, through “in parallel” at the present to “in unison” in the future. Against this backdrop, we are currently develop-ing our solutions for tomorrow's mobile gripping systems.

PowerballLightweight Arm LWA 4P

5-finger hand product study, close to series production

SCHUNK is shaping the future of service robotics through the continuous development and production of standardized components for humans and robots to cooperate with one another.

2008 2010

Lightweight modules PRLLightweight arm LWA 3

Electric gripper PG-plusLightweight modules PRL-plusCare-O-bot® 3

2011 2013


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Research

The Fraunhofer Institute for Production Technology and Automation IPA in Stuttgart is a pioneer in service robot-ics. The Care-O-bot® 3 flagship project needed a light and agile manipulator with a gripping hand to form the basis for researching future applications. For this purpose, the IPA installed the SCHUNK high-performance lightweight arm based on PRL modules with light cast connections and the SCHUNK gripping hand SDH-2 with tactile sensors in its Care-O-bot® 3. The design is ideal for mobile use and fulfills all the requirements in within minimal space

Quality assurance

Cement needs very precise characteristics, depending on the specification. For this purpose, the Plant Construction Division of ThyssenKrupp AG has equipped a fully auto-mated laboratory with a highly flexible handling device. For example, the SCHUNK 5-axis lightweight arm with PRL modules and mechatronic PG 70 gripper. This handles the sensitive cement samples fully automatically. The robot is mounted on a mobile, battery-operated carrier system and moves to the various stations in this way. The solution enables exceptionally low-cost and modularly expandable quality control. The special feature: humans and robots share the working area in the cement laboratory.

Domestic care

The care sector is also increasingly using the advantages of mobile gripping systems in order to allow that people can continue to live independently within their own four walls as long as possible. The potential of human/robot collaboration in this area ranges from domestic care and rehabilitation applications through to prostheses and orthoses which are becoming more and more effective. Even here, components from SCHUNK are also playing a decisive role at the cutting edge of development. One example of this is the FRIEND, a service robot developed for people with paraplegia by researchers at the University of Bremen; this relies on the high qualities of the LWA 4D with 7 degrees of freedom and the 3-finger industrial hand SDH-2.

Sample Applications of Mobile Gripping Systems in Service Robotics


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Exploration

All over the world, old military ordnance endangers the lives of people and animals. The remote-controlled EOD robot developed by the Harris company for the US mili-tary makes it possible to safely remove explosive weap-ons without risking life and limb. The manipulators used here have to be sturdy, highly flexible and very sensitive. Therefore, the modular lightweight arm with 6 degrees of freedom from SCHUNK based on PRL rotary modules and sensitive PG grippers was integrated into Harris' EOD robots.

Laboratory use

Whether at ThyssenKrupp in Beckum, at Geo++ in Garbsen or Bayer in Morristown, New Jersey, mobile gripping system components from SCHUNK are used all over the world in highly specialized measuring robots, in laboratory auto-mation and in clean room robots for tasks which demand absolute precision and repeat accuracy combined with high safety requirements.

Logistics

In the logistics sector, a close relationship between the individual processes represents the ideal starting point for exploiting optimization potential. With perfectly coordinat-ed components from the modular system, mobile gripping systems from SCHUNK offer made-to-measure and extreme-ly efficient solutions for automated warehouse logistics and goods packaging; examples of these are the warehouse robots that have proven themselves in practice at STILL in Hamburg and Siemens in Stuttgart.

Inspection service

At the nuclear power station inspection service provider, Areva iNDT, in Erlangen, an increased temperature range is just as much part of the everyday working environment as radioactivity. Here, the SCHUNK component gripping system used in Areva iNDT robots does all the work when inspect-ing welds and pipe connections. Non-destructive mate-rial inspection is performed with the highest reliability, accuracy and availability as well as under the most extreme conditions, in order to ensure plant safety.


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SDH servo-electric 3-Finger Gripping HandTaking the human hand as its model

The SDH multi-jointed 3-finger gripping hand masters form-fit and force-fit gripping of an extremely wide range of objects, which means it can be used both in service robotics as well as in industrial applications. Two fingers can change their orientation, making the SDH suitable for an extremely wide variety of gripping scenarios, and characterizing it by high flexibility with regard to shape, size and orientation of the objects to be gripped.

Pressure and surface recognition is accomplished by an optional tactile sensor system. This means it is possible to detect during the gripping procedure whether the object has been optimally gripped or if a correction is required. The high maximum gripping force, similar to that of the human hand, can be sensitively monitored and controlled using the integrated sensors.

Central grip Central grip

Cylindrical grip Precision grip

MM Award 2012


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SDH servo-electric 3-Finger Gripping Hand

Technical data

Integrated control unit in the wrist

Tactile sensor matrices in each finger phalanx

Designation SDH

ID 0306452

Overall length [mm] 253 Angular velocity max. [°/s] 210

Finger length [mm] 155 Torque (proximal joint) [Nm] 2.1

Finger spacing [mm] 66 Torque (distal joint) [Nm] 1.4

Relationship to human hand 1.4 : 1 Resolution [°] 0.011

Number of fingers 3 Weight [kg] 1.95

Degrees of freedom 7 IP class [IP] 54

Degrees of freedom per finger 2 Power supply [V DC] 24

Degrees of freedom 2-finger rotation 1 Rated current [A] 2

Absolute encoder 7 Max. current when gripping [A] 5

Tactile sensor matrices 6 Interface CAN | RS232


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Designation WSG (incl. FWA 115 and measuring finger)

ID 31000905

Stroke per finger [mm] 55

Min./max. gripping force [N] 5 / 120

Nominal force [N] 80

Recommended workpiece weight [kg] 0.8

Max. permissible finger length (at nominal force) [mm]

170

Repeat accuracy [mm] ±0.013

Max. speed [mm/s] 420

Max. acceleration [mm/s²] 5000

Weight [kg] 1.2

IP class [IP] 20

Max./max. ambient temperature [°C] 5 / 50

Power supply [V DC] 24

Rated current [A] 0.9

Max. total current [A] 1.5

Parameterization interface CAN / Ethernet

Field bus interface CAN / Ethernet

Sensitive handling – configured in 2 minutes. The WSG is a sensitive gripper that communicates via CAN or Ethernet TCP/IP. At the same time, it has an integrated web server for configuration and diagnosis. That makes programming, putting it into operation, remote maintenance and its provision with updates extremely simple. The communica-tion protocols and the integrated control and regulation electronics ensure maximum flexibility when integrated into higher-order systems. The gripper is equipped with an internal Micro-SD card for saving programs and docu-ments. As a result, the settings of a gripper can be repli-cated quickly and easily, and transferred to any number of modules.

With its electronics integrated in the claw jaws, the WSG is able to measure the forces that occur during gripping by means of sensors. As a result, an extremely wide range of workpieces, including sensitive ones, can be safely and reliably handled with one gripper.

Technical data

2-Finger Parallel Gripper WSGSimplest configuration – flexible control

2-Finger Parallel Gripper WSG 050

Figure with optimized centering sleeve in the base jaw


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Technical data

The PG-plus 70 is a servo-electric 2-finger parallel gripper with sensitive grip force control and a large stroke. It is universally applicable, highly flexible with a wide variety of parts, and suitable for sensitive components in a clean working environment. The control, regulating, and power electronics are completely integrated. The PG-plus 70 is also available in a dust-protected variant.

2-Finger Parallel Gripper PG-plus 70Universal applicability and sensitive gripping force control

2-Finger Parallel Gripper PG-plus 70 In application on page 12 and 14

2-Finger Parallel Gripper PG-plus 70 in dust-protected version

Designation PG-plus 70

ID 31000796

Designation PG-plus 70 in dust-protected version

ID 31000860

Stroke per finger [mm] 34 Weight [kg] 1.2

Min./max. gripping force [N] 30 / 200 IP class [IP] 20

Nominal force [N] 160 Max./max. ambient temperature [°C] 5 / 55

Recommended workpiece weight [kg] 1.0 Power supply [V DC] 24

Max. permissible finger length (at nominal force) [mm]

140 Rated current [A] 1.4

Repeat accuracy [mm] ±0.05 Max. total current [A] 1.8

Max. speed [mm/s] 82 Parameterization interface CAN / USB

Max. acceleration [mm/s²] 328 Field bus interface CANOpen DS 402


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1

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The most compact, powerful lightweight arm in the world with three highly-integrated Powerball modules offers 6 degrees of freedom. Integrated intelligence makes pow-erful, mobile handling possible as never before. Combin-ing it with the SDH 3-finger hand from SCHUNK not only increases the number of degrees of freedom by a further 7, but also permits typical tasks to be accomplished flexibly in the area of service robotics – seamlessly integrated, with-out external cabling.

Powerball Lightweight Arm LWA 4PThe lightweight arm with the world's best compact performance

Flat Change System FWS 115Page 17

2-Finger Parallel Gripper PG-plus 70Page 11

Electric control system

Encoder

Drive

Harmonic Drive® gear

Holding brake

Hollow shaft for internal cabling

1

2

3

4

5

6

Powerball ERB

MM Award 2012

• Suitable for mobile applications low energy use at 24 Volt DC

• High torque, speed, and repeat accuracy for quick acceleration, short cycle times and high process stability

• Complete integration of control unit and power electronics allows use without cabinet

• Compact quick change-system for easy and quick assembly of grippers and tools

• Internal cable feed-though with free lines expandable without cables in the way

• High power density and extremely compact Lightweight construction and new design provide for a weight/payload ratio of 2:1


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Technical data

Powerball Lightweight Arm LWA 4P

Designation LWA 4P

ID 0306960

Type 6 DOF lightweight robot

Number of axes 6

Max. useful load [kg] 6


Position feedback Pseudo-absolute position measurement

Drives Brushless servomotors with permanent-magnet brake

Pan-tilt unit flange Flat tool changer with free lines and power supply

Installation direction User-defined

Weight [kg] 12.5

IP class [IP] 40

Power supply 24 V DC / avg. 3 A / max. 14 A

Interface CANopen (CiA DS402:IEC61800-7-201)

Axis dataAxes Speed with nominal load Area

Axis 1 72 °/s ±170°

Axis 2 72 °/s ±170°

Axis 3 72 °/s ±155.5°

Axis 4 72 °/s ±170°

Axis 5 72 °/s ±170°

Axis 6 72 °/s ±170°

AccessoriesGripper WSG 50, PG-plus 70, MEG, SDH 2

Changer FWS 115

Robot control system ROS node (ROS.org) oder KEBA CP 242/A (KEBA.com)

Working space(Top view)

Working space(Right side)

Robot foot


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Mechatronic modules from SCHUNK are perfectly suited for use in service robotics. The LWA 4D with modules from the unique SCHUNK modular system is used as a mine detec-tor and in the area of modern rehabilitation systems, for example, and is integrated as a standard component in service robots worldwide.

The application range of the LWA 4D is rounded off perfectly in combination with the sensitive gripping systems from SCHUNK.

Dextrous Lightweight Arm LWA 4D

Flat Change System FWS 115Page 17

2-Finger Parallel GripperPG-plus 70Page 11

Proven thousands of times over


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Dextrous Lightweight Arm LWA 4D

Technical data

Designation LWA 4D

ID 0306962

Type 7 DOF lightweight robot

Number of axes 7

Max. useful load [kg] 10


Position feedback Pseudo-absolute position measurement

Drives Brushless servomotors with permanent magnet brake

Pan-tilt unit flange Flat tool changer with free lines and power

Installation direction User-defined

Weight [kg] 17.5

IP class [IP] 54

Power supply 24 V DC / avg. 5 A / max. 14 A

Interface CANopen (CiA DS402:IEC61800-7-201)

Axis dataAxes Speed with nominal load Area

Axis 1 40°/s ±180°

Axis 2 40°/s ±123°

Axis 3 40°/s ±180°

Axis 4 40°/s ±125°

Axis 5 40°/s ±180°

Axis 6 72°/s ±170°

Axis 7 72°/s ±170°

AccessoriesGripper WSG 50, PG-plus 70, MEG, SDH 2

Changer FWS 115

Robot control system ROS Node (ros.org)

Front view Side view Robot foot


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FZ

Fy

Fx

16

Force Torque Module FTM 115

Resolution Mx, My [Nm] ± 1/188

Resolution Mz [Nm] ± 1/376

Weight [kg] 1.0

Power supply [V DC] 24

Field bus interface CAN

Designation FTM 115

ID 30064043

Range of measurement Fx, Fy [N] ± 580

Range of measurement Fz [N] ± 1160

Range of measurement Mx, My [Nm] ± 20

Range of measurement Mz [Nm] ± 20

Resolution Fx, Fy [N] ± 1/4

Resolution Fz [N] ± 1/4

The Force Torque Module is a measuring system for all six degrees of freedom, and therefore it is possible to control and regulate the process forces in the robot. The FTM enables compliant behavior of a robot by limiting the maximum forces in the event of collision as well as compensation of displacements during grasping of objects. The integrated tool changer allows the module to be installed simply between the robot flange and end effector. The measuring electronic processor is integrated in the module. The measurement values can be interrogated via the CAN bus.

With integrated measuring technology

Technical data


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The changer has a small diameter and compact height of 15 mm, factors which make it outstandingly suited for exchanging different end effectors rapidly with just a few actions on the robot. It is suitable for the rapid, manual tool change due to its low weight and simple operation. The integrated adapter boards with spring-mounted gold contacts ensure that the power supply and signal lines are in perfect contact.

Designation FWK 115 head

ID 31000870

Electrical feed-throughs 10

Max. torque load Mx, My [Nm] 40

Max. torque load Mz [Nm] 100

Max. payload [kg] 10

Weight [kg] 0.2

Designation FWA 115 adapter

ID 31000871

Electrical feed-throughs 10

Max. torque load Mx, My [Nm] 40

Max. torque load Mz [Nm] 100

Max. payload [kg] 10

Weight [kg] 0.1

Flat Change System FWS 115Flexible in use due to low height

Adapter FWA 115

HeadFWK 115

Flat Change SystemFWS 115In application on page 12 and 14

Technical data


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A l w A y s A t t h e e n d o f f e b r u A r y

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During the annual Expert Days, SCHUNK promotes the interdisciplinary exchange between its customers and robotics experts from all over the world to encourage the development of the sector as a whole, as well as achiev-ing synergy effects in a targeted way.

Every year, at the end of February, the participants in the world's leading information event for service robot-ics can look forward to a feast of high-quality speakers from all over the world who present the latest trends, cutting-edge research projects and promising business models.

As a pioneer in service robotics and a leading expert for both clamping technology and gripping systems, SCHUNK develops standards with future potential. With the Expert Days, SCHUNK offers research industry and commerce specialists as well opportunity for an intensive exchange of ideas and a unique possibility to broaden their horizons. The event is always fully booked, and the enthusiastic response from the participants goes to show: SCHUNK is setting the trend for the future.

www.expertdays.schunk.com

The world's leading Symposium for applied Service Robotics

20102008 2009


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2013, Tom Green, www.roboticsbusinessreview.com

1919

What Expert Days offers is a fantastic opportunity, briefly between Labor Day and Spring Break, to glimpse the future of robotics as it inexorably moves into a position of primacy, to immerse oneself in stunning new products coming to mar-ket, and to get face time with the people who are making some of it happen.

Press Echo about Expert Days

2011 2012


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SCHUNK Mobile Greifsysteme GmbH

Bahnhofstr. 106 – 134D-74348 Lauffen/NeckarTel. +49-7133-103-2374 Fax +49-7133-103-94-2374

[email protected]

www.youtube.com/SCHUNKHQ

www.twitter.com SCHUNK_HQ

www.facebook.com/SCHUNK.HQ

Discover the Potential of Mobile Gripping Systems.

www.gb.schunk.com/mobile-gripping-systems

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