Difference between revisions of "PUMA 500"

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== Linky ==
 
== Linky ==
  
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Galéria obrázkov
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* [http://www.robotika.sk/projects/pumarobot/PumaGallery.html Galéria obrázkov].
  
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'''Technický popis'''
  
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<dl>
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* [http://www.robotics.utexas.edu/simulations/Subjects/Robotics/Puma%20Dynamic%20Control/index.htm UNIMATE Puma 562 MARK III] stručný popis.
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Technický popis
 
  
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<dd>UNIMATE Puma 562 MARK III - strucny popis
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* [http://www.rpautomation.com/Robotspecs/robotspecs2.htm PUMA Robot Specifications] stručné charakteristiky celej rodiny Puma robotov.
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        </dd><dt><a href="http://www.robotics.utexas.edu/simulations/Subjects/Robotics/Puma%20Dynamic%20Control/index.htm" add_date="1169658539" last_visit="1169664044" last_modified="1169664053" icon="data:" last_charset="windows-1252" id="rdf:#$GE1N51">Puma Dynamic Control</a>
 
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</dt>
 
  
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'''Firmy, servis a podpora'''
  
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<dt><a href="http://www.rpautomation.com/Robotspecs/robotspecs2.htm" add_date="1169663932" last_modified="1169663957" id="rdf:#$i2DSl1">PUMA Robot Specifications</a>
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* [http://pages.prodigy.net/tridentrobotics/ Mark V Automation Corp. PUMA] Firma zabezpečuje servis a podporu pre Unimation PUMA roboty.
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</dt><dd>Strucne charakteristiky celej family
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 +
* [http://www-users.cs.umn.edu/%7Evoyles/ Puma retrofit] Puma retrofit project
  
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        </dd>
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* [http://www.roboticsonline.com/public/articles/details.cfm?id=729 PUMA Robot Becomes Part of American History] Správa o zaradení robota do múzea Smithsonian.
  
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* [http://www.roboticsonline.com/public/articles/index.cfm?cat=299 PUMA Robot Pioneers] Fotografia tvorcov robota
  
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Firmy, servis a podpora
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* [http://www.rpautomation.com/ RP Automation]  Your Puma Robot Specialists
 +
RP Automation is dedicated to the highest standards of excellence and service of Puma robots.
 +
With 24 hour availability, we are un-surpassed in customer satisfaction.
  
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<dt><a href="http://pages.prodigy.net/tridentrobotics/" add_date="1169644747" last_visit="1169662819" last_modified="1169662919" last_charset="ISO-8859-1" id="rdf:#$tE1N51">Mark V Automation Corp. PUMA</a>
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* [http://www.cs.cmu.edu/%7Edeadslug/puma.html Unimation PUMA Info]
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</dt><dd>Unimation PUMA Support company
 
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        </dd>
 
  
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<dt><a href="http://www-users.cs.umn.edu/%7Evoyles/" add_date="1161072108" last_visit="1169663797" last_modified="1169663813" last_charset="ISO-8859-1" id="rdf:#$uUjzK1">Puma retrofit</a>
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'''Software'''
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</dt><dd>Puma retrofit project
 
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        </dd>
 
  
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* [http://en.wikipedia.org/wiki/Variable_Assembly_Language PUMA Variable Assembly Language] - Wikipedia, the free encyclopedia
  
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* [http://www.cs.cmu.edu/~deadslug/puma.html Unimation PUMA Info] - vela linkov nefungovalo
  
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<dt><a href="http://www.roboticsonline.com/public/articles/details.cfm?id=729" add_date="1169640234" last_charset="ISO-8859-1" id="rdf:#$oE1N51">PUMA Robot Becomes Part of American History at the Smithsonian - Robotics Online</a>
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'''Nadšenci'''
  
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</dt><dd>Robotics Online is a full-service news and information site for industrial robotics. Published by Robotic Industries Association (RIA), the site is rich in case studies, technical papers and articles. Its Buyer's Guide has a product finder and clickable maps for suppliers and integrators. An Ask the Experts forum makes Robotics Online a top resource for manufacturing best practices. The Career Center section connects top employers and job seekers in the robotics industry. Established in 1974, RIA is the only North American trade association organized exclusively to promote the robotics industry.
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* [http://bobodyne.com/web-docs/robots/Puma560/ Brynn's Puma 560]
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        </dd>
 
  
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<dt><a href="http://www.roboticsonline.com/public/articles/index.cfm?cat=299" add_date="1169640214" last_visit="1169640222" last_charset="ISO-8859-1" id="rdf:#$nE1N51">PUMA Robot Pioneers - Robotics Online</a>
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* [http://dsz123.net/Projects/RobotArm/ dsz123] Puma u dalsieho nadsenca
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</dt><dd>Robotics Online is a full-service news and information site for industrial robotics. Published by Robotic Industries Association (RIA), the site is rich in case studies, technical papers and articles. Its Buyer's Guide has a product finder and clickable maps for suppliers and integrators. An Ask the Experts forum makes Robotics Online a top resource for manufacturing best practices. The Career Center section connects top employers and job seekers in the robotics industry. Established in 1974, RIA is the only North American trade association organized exclusively to promote the robotics industry.
 
−
        </dd>
 
  
−
<dd>RP Automation is dedicated to the highest standards of excellence and service of Puma robots. With 24 hour availability, we are un-surpassed in customer satisfaction.
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'''Aplikácie a výskum'''
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        </dd><dt><a href="http://www.cs.cmu.edu/%7Edeadslug/puma.html" add_date="1169644680" last_visit="1169664056" last_modified="1169664076" icon="data:image/x-icon;base64,AAABAAEAEBAAAAAAAABoBQAAFgAAACgAAAAQAAAAIAAAAAEACAAAAAAAQAEAAAAAAAAAAAAAAAAAAAAAAAAAAAAA////AICAgAAAAIAAgACAAMDAwAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAQEBAQEBAQEBAgMEAQEBAQEBBQIBAgIFAgEBAgUBAQEBAQUFBQICAgEBAQUCAQEBAQEBAQUCBQEBBQECAgEBAQEBAQEBAQEBBQMFAwEBAQEBAQEBBQUBBAQDAwUBAQEBAQEBAgIDAwQEAwIBAQEBAQEBAQEBAgMDAwMFAQEBAQEBAQEBAwMDAwMDAwUBAQEBAQEBAgUCAwEDAwMDBQEBAQEBAQUBBQQBAwMDAwQBAQEBAQEBAQUFAQMDAwMDAQEBAQEBAQEDAQEBAQUDBAIBAQEBAQEEBQEBAQEBAgMFAQEBAQEBAQEBAQEBAQUDBQEBAQEBAQEBAQEBAQEFBQEBAQAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA=" last_charset="ISO-8859-1" id="rdf:#$sE1N51">Unimation PUMA Info</a>
 
  
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</dt>
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* [http://lci.isr.ist.utl.pt/projects/puma/index.html ICLab at ISR] - PUMA 560 Testbed. An open control architecture has been implemented to allow the development of advanced control algorithms for a PUMA 560.
  
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Software
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* [http://www.barello.net/Papers/Motion_Control/index.htm Motion Control also for PUMA?]
  
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* [http://www-lar.deis.unibo.it/equipments/puma/index.html#photo Puma 562] Simulation and Control of a Puma Robot.
  
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<dt><a href="http://en.wikipedia.org/wiki/Variable_Assembly_Language" add_date="1169647473" last_visit="1169663753" last_modified="1169663061" icon="data:image/x-icon;base64,AAABAAEAEBAQAAEABAAoAQAAFgAAACgAAAAQAAAAIAAAAAEABAAAAAAAAAAAAAAAAAAAAAAAEAAAAAAAAAAEAgQAhIOEAMjHyABIR0gA6ejpAGlqaQCpqKkAKCgoAPz9/AAZGBkAmJiYANjZ2ABXWFcAent6ALm6uQA8OjwAiIiIiIiIiIiIiI4oiL6IiIiIgzuIV4iIiIhndo53KIiIiB/WvXoYiIiIfEZfWBSIiIEGi/foqoiIgzuL84i9iIjpGIoMiEHoiMkos3FojmiLlUipYliEWIF+iDe0GoRa7D6GPbjcu1yIiIiIiIiIiIiIiIiIiIiIiIiIiIiIiIgAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA" last_charset="UTF-8" id="rdf:#$yE1N51">PUMA Variable Assembly Language - Wikipedia, the free encyclopedia</a>
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* [http://pumapaint.rwu.edu/PumaPaint.html Puma Paint] Puma robot painting online
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</dt>
 
  
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<dd>VAL is a computer-based control system and language designed specifically for use with Unimation Inc. industrial robots.
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* [http://helix.gatech.edu/Students/SiouxWill/ourproject.html PUMA robot project]. Interfacing Force/Torque sensor on Puma 500
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        </dd><dt><a href="http://www.rpautomation.com/" add_date="1169644369" last_visit="1169663819" last_modified="1169663849" last_charset="ISO-8859-1" id="rdf:#$qE1N51">RP Automation: Your Puma Robot Specialists</a>
 
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</dt>
 
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<dd>http://www.cs.cmu.edu/~deadslug/puma.html
 
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Unimation PUMA Info - vela linkov nefungovalo</DD>
 
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Nadšenci
 
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<dt><a href="http://bobodyne.com/web-docs/robots/Puma560/">Brynn's Puma 560</a>
 
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</dt><dd>Robot Puma 560 u nadsenca Brynna </dd>
 
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<dt><a href="http://dsz123.net/Projects/RobotArm/">dsz123 - Robotic Arm PUMA</a>
 
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</dt><dd>Robotic Arm u dalsieho nadsenca
 
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        </dd>
 
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Aplikácie a výskum
 
−
 
 
−
<dt><a href="http://lci.isr.ist.utl.pt/projects/puma/index.html" add_date="1169663580" last_visit="1169663959" last_modified="1169663972" last_charset="ISO-8859-1" id="rdf:#$h2DSl1">ICLab at ISR - PUMA 560 Testbed</a>
 
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</dt><dd>An open control architecture has been implemented to allow the development of advanced control algorithms for a PUMA 560, notably:
 
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        </dd>
 
−
 
 
−
 
 
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<dt><a href="http://www.barello.net/Papers/Motion_Control/index.htm" add_date="1169644811" last_visit="1169664032" last_charset="windows-1252" id="rdf:#$uE1N51">Motion Control also for PUMA?</a>
 
−
        </dt>
 
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<dt><a href="http://www-lar.deis.unibo.it/equipments/puma/index.html#photo" add_date="1169639747" last_visit="1169663759" last_modified="1169663795" last_charset="ISO-8859-15" id="rdf:#$mE1N51">Puma 562</a>
 
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</dt>
 
−
 
 
−
 
 
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<dd>Simulation and Control of a Puma Robot
 
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        </dd><dt><a href="http://pumapaint.rwu.edu/PumaPaint.html" add_date="1169663200" last_visit="1169663264" last_modified="1169663224" last_charset="ISO-8859-1" id="rdf:#$6VCSl1">Puma Paint</a>
 
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</dt><dd>Puma robot painting online
 
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        </dd>
 
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<dt><a href="http://helix.gatech.edu/Students/SiouxWill/ourproject.html" add_date="1169647421" last_visit="1169663262" last_modified="1169663289" last_charset="ISO-8859-1" id="rdf:#$xE1N51">PUMA robot project</a>
 
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</dt><dd>Interfacing Force/Torque sensor on Puma 500
 
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        </dd>
 

Revision as of 13:48, 6 February 2007

Občianske združenie Robotika.SK sa stalo hrdým majiteľom vyradeného exemplára robota Puma radu P-500. Ako vidno na obrázkoch, je to robot mladík, vyrobený v roku 1983, najazdených má zhruba 1210 hodín. Robota vyrobila britská pobočka americkej firmy Unimation, riadiaca jednotka bola upravená fínskou firmou NOKIA (áno, tá Nokia). Dôvodom na úpravy bola predovšetkým iná napájacia sieť ako v Amerike (220/11O V) a doplnenie galvanicky oddelených vstupov a výstupov. Robot je bumbrlíček so spotrebou asi 1,5 kW.

Robot je zrejme funkčný, ale zatiaľ sme ho nezapojili. Určite však nefunguje v plnom rozsahu, pretože jedna z dosiek výkonových obvodov je zhorená. Aj v minulosti koncové stupne odchádzali, ako vidno aj na obrázkoch, výkonové tranzistory boli nahrádzané TESLA KD 503.

Robot bol pôvodne používaný na výskumné účely v Slovenskej akadémii vied (SAV), okrem iného dokázal v spolupráci s vizuálnym systémom pohybovať figúrkami na šachovnici.

Zaujímavé je, že riadiaca jednotka obsahovala dvojjadrový (!) procesor od firmy Digital. Celá riadiaca jednotka bola postavená na základe počítača PDP?

Každý pohon robota má zabudovaný jednosmerný elektromotor s potenciometrickým snímačom polohy a inkrementálnym snímačom. Každý pohon riadila samostatná doska analógového servozosilňovača, ktorá bola riadená jedným číslicovým servozosilňovačom. Ten komunikoval priamo s procesorom.

Robot sa programoval v jazyku VAL (Variable Assembly Language). Jeho interpret je uložený v pamäti EEPROM, zadaná postupnosť príkazov môže byť uložená napr. na 5 1/4 palcovej diskete. Druhý spôsob riadenia spočíva v manuálnom učení, kedy sú motory vypnuté, obsluha môže ručne prejsť cez potrebné body a všetky požadované trajektórie sa priebežne ukladajú do pamäti.

Ďalšie technické údaje pribudnú postupne po preštudovaní manuálu.


História

Všetko začalo v roku 1969, kedy Victor Scheinman (Stanford University) vymyslel tzv. Stanfordské rameno, robota so šiestimi stupňami voľnosti, s komplet elektrickými pohonmi. Návrh mal realizovať pohyby podobné ľudskej ruke. To umožnilo presné sledovanie určenej trajektórie a otvorili sa možnosti k náročnejším aplikáciám. Pre priemysel bola zaujímavá preovšektým montáž a zváranie oblúkom. Neskôr Scheinman navrhol ďalšie rameno pre laboratórium umelej inteligencie na MIT ("MIT arm"). Návrhy potom odkúpila firma Unimation, kde ich ďalej rozvinuli podporovaní firmou General Motors a začali rameno predávať pod názvom Programmable Universal Machine for Assembly (PUMA). Robot bol komerčne veľmi úspešný, okrem iného je to asi najznámejší priemyselný robot používaný univerzitami. Firma Unimation ich vyrábala dlho, neskôr ich odkúpila firma Westinghouse a napokon so stratou predali švajčiarskej firme Staubli.


Popis

PUMA robot má 6 stupňov voľnosti a je primárne určený na priemyselnú montáž a zváranie. Celý systém sa skladá z ramena a riadiacej jednotky.

PumaArm.jpgPumaControl.jpg

Mechanická časť - rameno - je tvorená systémom šiestich osí, každú ovláda jeden jednosmerný elektromotor s permanentým magnetom a prevodovkou. Každý pohon má zabudovaný aj inkrementálny snímač a potenciometer. Riadenie robota spočíva v riadení polohy a rýchlosti všetkých šiestich kĺbov. Zmenu polohy a informáciu o rýchlosti získava systém z inkrementálnych snímačov. Potenciometre slúžia hlavne na určenie absolútnej polohy a na inicializáciu. Elektromotory vprvých troch kĺboch majú zabudovanú z bezpečnostných dôvodov aj elektromagnetickú brzdu, ktorá je aktívna pri vypnutom zdroji energie, takže pri náhlom výpadku energie sa rameno nezvalí ale ostane v pevnej polohe.

PumaArm1.jpg

Na konci ramena je pneumatické chápadlo, umožňujúce manipuláciu s predmetmi. Nevýhodou je potreba stlačeného vzduchu pre chápadlo.

PumaGrip.jpg

Linky

Technický popis

Firmy, servis a podpora

RP Automation is dedicated to the highest standards of excellence and service of Puma robots. With 24 hour availability, we are un-surpassed in customer satisfaction.

Software

Nadšenci

  • dsz123 Puma u dalsieho nadsenca

Aplikácie a výskum

  • ICLab at ISR - PUMA 560 Testbed. An open control architecture has been implemented to allow the development of advanced control algorithms for a PUMA 560.
  • Puma 562 Simulation and Control of a Puma Robot.
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