MCA Template - Mobile Automation 04.20...Microsoft PowerPoint - MCA Template - Mobile Automation...
Transcript of MCA Template - Mobile Automation 04.20...Microsoft PowerPoint - MCA Template - Mobile Automation...
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4/22/2015 1
Servo Solutions For Mobile Automation Challenges
April 21st, 2015Shane A Beilke
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Presenter
Contact: Shane A Beilke
ADVANCEDMotion Controls
3805 Calle Tecate, Camarillo CA 93102
Phone: 805.389.1935
Email: sbeilke@a‐m‐c.com
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Sponsors:
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Problem StatementWith automation expanding out of the factory, machine builders are faced with a varying set of new challenges. Mobile platforms are expected to operate in extended environments and carry their own power source; all while being light weight and compact. To meet the current and future needs of the market, enabling technologies need to be applied and discovered.
At the forefront of the enabling technologies are servo drive controls. Servo control not only make a robot or mobile platform move, they can also be solutions to the other design requirements. As a an integral component to any mobile solution, servos can help with power efficiency, communication, agility and dexterity.
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AgendaMobile Automation
– Mobile vs Factory Automation– Mobile Challenges
Mobile Systems– Components
Bots and Solutions– Cobots– Unmanned Systems– Autonomous Vehicles
Summary– Applications– Servo Axes– Technologies
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Machinery EvolutionPre‐Industrial Inventions
Industrial Revolution
Industrial Automation
Mobile Automation
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Mobile vs FactoryMobile Factory
Environment Transportable/IncreasedShock and Vibration
Stationary/Minimal Shock and Vibration
Temperature Extremes Modest Temperature Range
Wide Range of Extremes Controlled and Known
Power Finite Infinite
Onboard Peripheral
DC/Lower Voltages AC or DC/Low to High Voltages
Machine Interface Wireless Hardwired
Tethered Limited Range
Maintenance Unscheduled/ExposureBased Schedules/Usage Based
Remote/Accessibility On-site Personnel
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Mobile SystemController (Host)
– Supervisory Control– Safety/Sensors Algorithms
Sensors– Provide Data About Environment
Communication– Link to Operator
Interfaces– Components Communication
Servo Drive– Controls the Motor(s)
Feedback– Provides Positional Information of
Motor/Load
Servo Motor– Moves Mechanics
of Robots– Manipulators/Traction Axes
Sensors
Power
Power Management
Interfaces
Comm’s
Mechanics
Traction /Propulsion
Steering /Manipulators
Controller
Servo Drives
Motors
Feedback
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Servo ControlThe Servo Drive and/or Controller is able to efficiently control the….
– Torque– Velocity– Position
…of the servo motor (each axes of control).
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Motor TypesMotor Types
– AC Induction• Large Loads• Traction/Propulsion
– Permanent Magnet• Stepper
– Manipulator Positioning
• Servo– Brushed for Grippers– Brushless for Traction/Propulsion and Manipulators
– Low Inductance– High Pole Counts– Dual Winding
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PowerA mobile robot either carries it’s power source or is tethered to an external source. Both of these solutions have drawbacks.
Tethered– Travel Limited by length of tether– Added weight and size to system– Considerable Voltage drop in DC
cabling
On Board Power– Power is Finite– Batteries are Heavy– Batteries take up space on robot– Batteries add to the expense
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Where Are Mobile Robots Used?
‐Homes‐Offices‐Factories‐Hospitals‐Farms‐Mines‐Warehouses‐Parking‐Transportation‐Hotels
...expanding uses everywhere.
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Mobile Automation ChallengesCommunication
– Between Sub‐systems– Between Robot and
Controller/Host– Between Robots
Reliability– Critical Operations
Maintenance– Modular/Scalable Designs
Modularity– Platforms that can easily
accept different assemblies
Cost– Use COTS technology
Autonomy– Localization– Globalization
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Mobile Automation ChallengesPower –Finite/Heavy
– Efficiency of Sub‐Systems– Total system must be viewed
as a single unit
Traction –Speed/Acceleration/Climbing
– Voltage/Current Bursts/Current Extended Time
– How to get it all? (Motor and Drive Technologies)
Environment –Temp/Shock/Vibration/Altitude/Depth
– Wide Operating Range
Size/Weight– Need to be Compact and
Lightweight– Integration of Sub‐systems– Thermal Considerations– Cabling Complexity
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Types of Mobile Robots
Cobots– Security– Information Kiosk– Greeter– Material Handling– Inspection– Caregiver/Healthcare
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Types of Mobile Robots
Unmanned Vehicles– UAV/UAS– UGV– UUV– USV– AGV– AGC– ROV
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Types of Mobile Robots
Autonomous Vehicles– Tractors– Cars– Trucks– Buses– Retrofits
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UGVServo Solutions
– Traction– Steering– Turret– Joint Movement
• Shoulder• Elbow• Wrist
– Manipulators• Grippers• Hands• Probes
Needs:– Shock and Vibration– Compact Assemblies– Multiple Axes
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Merging Assemblies
Include other Sub‐Assemblies– Servos, Controller, Power Management….One Assembly
Solution:Custom Assemblies
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Multiple Axis Assemblies
Multiple Axes in One– One Enclosure/Multiple Axes
– One Carrier Card/Multiple Axes
Solution:Embedded DrivesCustom Carrier Board
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UUV, USV and ROVServo Solutions
– Propulsion– Control Surfaces– Camera Control
• Pan and Tilt
– Manipulating Arms– Grippers
Needs:– Conformal Coating– High Pressure Environments– Compact Designs
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Integrated Solutions
To save space and weight Servo Drives can be Integrated:
– Into Bot Chassis• Reduce Overall Volume• Reduce Weight
– Into Motor/Actuator• Reduce Wiring• Reduce Weight• Reduce Cost• More Robust
Solution:– Embedded Drives– Custom Assemblies
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UAV/UASServo Solutions
– Control Surfaces– Propulsion– Camera Control
• Pan and Tilt
Needs:– Small/Lightweight– Integrated Heatsink– High Altitude/Low Pressure
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Extended Environments
Humidity/Condensation– Conformal Coating
Shock/Vibration– Low Profile Components– Mechanical Adhesives
Pressures– Submersed in Non‐Compressible Fluid
– Thermal Dissiapation
0m
1000m
2000m
3000m
-1000m
-2000m
-3000m
-4000m
-5000m
-6000m
1 atm
0.9 atm
0.8 atm
100 atm
200 atm
300 atm
400 atm
500 atm
600 atm
0.7 atm
Air
Water
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Extended Environments
Extended Temps– Automotive Grade
Components– High Efficiency Designs
for Power Devices
Ingress Protection/Water Proof
– Plastic Cases– Gaskets– Connectors
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AGV and AGCServo Solutions
– Traction– Steering– Lift
Needs– Power/Large Currents– Compact– Permanent Magnet or
AC Induction Motors
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Integrated Intelligence
Motion– Jogs, Homes and Indexes– Motion Programs– Offload the Controller for Distributed Control
– Reduce Parts/Saves Volume
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Application Summary
Applications– Military– Agriculture– Research– Surveillance– Recon– Medical– First Responders
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Summary of Servo Axes
CamerasPropulsionTractionManipulators
GrippersHandsFingers
JointsShouldersElbowsWrists
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Enabling TechnologyPower Devices
– Size– Efficiency
• Thermal• Power
Processors– Size– Faster– Efficiency
• Thermal• Power• Lower Power Modes
Battery Technology– Power Density– Cost
Materials– Alloys– Plastics– Carbon Fiber
Intelligence– Localization– Autonomy– Algorithms
Data Collection– Sensors
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Gating Technologies
Power Density of Batteries
Data/Analysis vs Computational Power
Mechanics
Actuators
Pattern Recognition
Remote Operation
Sensor Integration
Mapping/Exploration
Autonomy
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Why Servos Are Robot CriticalSize and Weight
– robot can be smaller overall– servos can be placed closer to
load– enclosures no longer
dedicated to contain servos– servo motors have the
highest power density– less energy needed to move
robot– robot can operate longer on
finite power
Power and Efficiency– servo systems are the most
efficient devices for robotic platform movement
Environment– Temp– Shock/Vibration– Humidity– Condensation– Pressure
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Why Servo Drives from AMC
S i z e
We i g h t
Powe r E f f i c i e n c y
Powe r De n s i t y
I n t e l l i g e n c e
Custom Solutions
C o n f i g u r a b i l i t y
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Questions?
Contact: Shane A Beilke
ADVANCEDMotion Controls
3805 Calle Tecate, Camarillo CA 93102
Phone: 805.389.1935
Email: sbeilke@a‐m‐c.com
Contact: Warren Osak
Electromate
6221 Highway 7, Unit 5 Vaughn, Ontario, Canda L4H 0K8
Phone: 877.737.8698
Email: [email protected]
Thank you!