Post on 24-Apr-2018
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mobile_robotics
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Page: 2Product Presentation Mobile Robotics | IBD – Team Mobile Robotics| 03.2016| www.kuka.com
_aktuelle Automatisierung mit Robotern Roboterdichte / 10.000 Beschäftigte
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Japan Germany USA UK China Brasil India
Automotive
General Industry
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Page: 3Product Presentation Mobile Robotics | IBD – Team Mobile Robotics| 03.2016| www.kuka.com
_neue Herausforderungen in der Produktion
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Globalisierung
Veränderungen des Konsumentenverhaltens
Erhöhung der Produktvielfalt
� Trend weg von Massenproduktion hin zur individuellen Produktion (bis Losgröße 1)
Heutige Automatisierungslösungen sind darauf (noch) nicht abgestimmtÄnderungen des Produkts oder der Stückzahlen führt zu hohem Aufwand
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Page: 4Product Presentation Mobile Robotics | IBD – Team Mobile Robotics| 03.2016| www.kuka.com
_neue Herausforderungen in der Produktion
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_vollautomation _manuelle Fertigung
Niedrige pro-Stück-Kosten
Unflexibel bei Änderungen
Sehr flexibel bei Änderungen
Teuer, speziell in Hochlohnländern
VS
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Page: 5Product Presentation Mobile Robotics | IBD – Team Mobile Robotics| 03.2016| www.kuka.com
_herausforderungen in der Produktion
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_problematik der Vollautomatisierung− Hohes Investitionsvolumen− Hoher Platzbedarf− Änderungen des Workflow führt zu hohem Aufwand− Auch für mittlere und kleine Firmen notwendig− Kostendruck− Fachkräftemangel
_trends der Automation− Modulare, skalierbare Lösungen, flexibel an Workflowänderungen anpassbar
− Teilautomatisierung von ständig sich wiederholenden Prozessen/Aufgaben
− Automatisierung von Hol- und Bringaufgaben
Nur für große Firmen Umsetzbar!
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Page: 6Product Presentation Mobile Robotics | IBD – Team Mobile Robotics| 03.2016| www.kuka.com
_ziel: Das Beste aus beiden Fertigungswelten verbinden
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_station 1 _station 2
_station 3 _station 3
Voraussetzungen- MRK (Mensch-Maschine-Kollaboration)-fähiger Roboter- Automatisierung mit hoher Flexibilität durch den Einsatz mobiler Lösungen
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Page: 7Insert presentation title | Insert name | Insert date | www.kuka.com
_KUKA Mobile Robotics Product Overview
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Page: 8Product Presentation Mobile Robotics | IBD – Team Mobile Robotics| 03.2016| www.kuka.com
_KUKA Mobile Robotics
KMP - KUKA Mobile Platforms KMR - KUKA Mobile Robots
Payload
< 400kg 1,5t > 3t
KMP 400(field test)
KMP omniMove(available, projectbased)
KMP 1500(in development)
Robot type
LBR iiwa Quantec
KMR iiwa(field test)
KMR Quantec(available, projectbased)
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Page: 9Insert presentation title | Insert name | Insert date | www.kuka.com
_KUKA omniMovedrive technology
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Page: 10Product Presentation Mobile Robotics | IBD – Team Mobile Robotics| 03.2016| www.kuka.com
omniWheel basics
� The omniWheel consists of 2 rim disks and up to 9 rollers
� Rollers are arranged in 45°
� The complete wheel is propelled by an electrical motor [1]
� Rollers are free-wheeling
� Wheels are available in three sizes
45°
[1]
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Page: 11Product Presentation Mobile Robotics | IBD – Team Mobile Robotics| 03.2016| www.kuka.com
omniMove®– unlimited maneuverability
Moving Straight Ahead
All wheels move at the same speed and in the same direction.
Moving Sideways
Each wheel moves in the opposite direction to the one next to it. All wheels move at the same speed.
Moving diagonally
Each pair of wheels across a diagonal moves at the same speed, while the two pairs move at different speeds; all wheels rotate in the same direction.
Rotation
The two sides move at the same speed in opposite directions.
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Page: 12Product Presentation Mobile Robotics | IBD – Team Mobile Robotics| 03.2016| www.kuka.com
Video 01
KUKA_MobilePlatforms_DriveConcept_wl
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Page: 13Product Presentation Mobile Robotics | IBD – Team Mobile Robotics| 03.2016| www.kuka.com
Space saving technology…
� Reduction of logistics space (= more production space)
� No special tillage necessary (standard cement)
� No floor abrasion
� Highest positional accuracy up to +/- 1 mm
steered conventionally omniMove®
� Reduction of manoeuvring space, in this case up to 50% � Reduction of manoeuvring space, in this case up to 60%
Space for turning circle
tricycle principle principleomniMove®
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Page: 14Product Presentation Mobile Robotics | IBD – Team Mobile Robotics| 03.2016| www.kuka.com
… with more flexibility
With a conventional drive, the production need to adapt to the car.
omniMove® knows far less movement limits than conventional drives
With KUKA omniMove® products, the vehicles fit seamlessly into the production.
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Page: 15Product Presentation Mobile Robotics | IBD – Team Mobile Robotics| 03.2016| www.kuka.com
Flexible turning point (yellow point) with omniMove technology
3 wheel – Conventional
Only one turning point possiblethis is fixed in the middle ofthe rear axle.
3-Rad - differential
center of rotation can variablybetween the center of the rightwheel and the center of the leftwheel on the rear axle.Adaptation by the direction ofrotation and speed of theindividual wheels.
omniMove®
The center of rotation is freelyconfigurable, it can be anywhere,whether at the car or at a pointin the arounded space. Youdetermine where it is located.Normally the center of rotationis at the center of the vehicle(yellow point).
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Page: 16Insert presentation title | Insert name | Insert date | www.kuka.com
_KUKA.NavigationSolutionclevere Autonomie für mobile Roboter
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Page: 17Product Presentation Mobile Robotics | IBD – Team Mobile Robotics| 03.2016| www.kuka.com
Navigationsmöglichkeiten
Au t o n om i t ä t
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KUKA Mobile Platform
KUKA Mobile Robot
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Page: 18Product Presentation Mobile Robotics | IBD – Team Mobile Robotics| 03.2016| www.kuka.com
Basic questions navigation� How does the world look like? → Mapping (Graph-Based SLAM)
+ =
� Where am I? → Localization (Particle filter)
� How to get from „A“ to „B“? → Path Planning
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Page: 19Product Presentation Mobile Robotics | IBD – Team Mobile Robotics| 03.2016| www.kuka.com
Video 02
KUKA_NavigationSolution
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Page: 20Product Presentation Mobile Robotics | IBD – Team Mobile Robotics| 03.2016| www.kuka.com
Object detection and tracking
� Cognition of arbitrary objects
based on laser scanner data and CAD model
� Object detection and tracking
� Laser-based detection of any objects
� Relative positioning to objects
� High positioning accuracy
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Page: 21Product Presentation Mobile Robotics | IBD – Team Mobile Robotics| 03.2016| www.kuka.com
_KUKA Mobile Platform 400
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Page: 22Product Presentation Mobile Robotics | IBD – Team Mobile Robotics| 03.2016| www.kuka.com
KMP omniMove safety features[+] Led-sound buzzer
2 x Laser scanner
8 x Ultrasound sensor [+] 2 x Emergency Stop
[+] RGB Led band
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Page: 23Product Presentation Mobile Robotics | IBD – Team Mobile Robotics| 03.2016| www.kuka.com
KMP omniMove safety features
[+] Protective safety fields Warning fields
[+] Obstacle detection using ultrasound sensors
[+] Visual signal
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Page: 24Product Presentation Mobile Robotics | IBD – Team Mobile Robotics| 03.2016| www.kuka.com
_KUKA Mobile Robot iiwaEntdecken Sie neue Horizonte flexibler
Automatisierungslösungen
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Page: 25Product Presentation Mobile Robotics | IBD – Team Mobile Robotics| 03.2016| www.kuka.com
Components of KMR iiwa
KUKA omniMove Wheel
Mecanum Wheel with KR Agilus motor
KUKA HBC
Wireless Joystick
KUKA safety sensors
SICK Laser scanner &Ultrasonic sensors
KUKA.NavigationSolution
Integrated Nav-Box PC for autonomous navigation
KUKA Sunrise.Workbench
for configuration and wireless programming
KUKA Sunrise Cabinet Extended
All driven by one controller
KUKA Li-Ion power control
For 8 hours battery autonomy
KMP omniMove 175
New mobile Platform
KUKA LBR iiwa robot arm
In two payload variants: 7 and 14 kg
KUKA Sunrise.OS
Controller operationg system based on JAVA
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Page: 26Product Presentation Mobile Robotics | IBD – Team Mobile Robotics| 03.2016| www.kuka.com
KMR iiwa functions
Autonomous navigation: KMR iiwa moves autonomously without risk of collision- Safe laser scanner for environment monitoring
- KUKA Navigation Solution offers a trajectory path planner for collision-free path planning
Maximum flexibility and unrestricted maneuverability- Omnidirectional mobile platform for limitless adaptability
- Null space motion for the robot arm to reach any position in workspace
- Cost-effectiveness in logistics management
± 1 mm
Utmost precision and simple operator control
- Fine localization feature in the navigation software
- Omnidirectional wheel technology enables “KMR iiwa” to maneuver safely to the desired position in confined spaces
HRC able - Safe work between human and robots- Integrated joint torque sensors in safe technology
- Safety-oriented position sensors
- Freely configurable safety controller for application risk assessment
Freely scalable modular system- Position and number of installed robots is variable
- Extend the mobile platform with application layer for external computer, all necessary hardware to fulfill application requirements
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Page: 27Product Presentation Mobile Robotics | IBD – Team Mobile Robotics| 03.2016| www.kuka.com
Video 07
R 501 - Autonomous transportation with mobile robot KMR iiwa_1080p
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mobile_robotics
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FOR YOUR ATTENTION!mobile_robotics