Question

Explain all sensors and actuators of following robots in detail.

• IRB 14000 Dual-arm YuMi

• IRB 660

• IRB 910SC SCARA

• KR QUANTEC extra

• festo octopusgripper

• NASA PUFFER

• piaggio gita cargo bot

• honda E2-DR

• KR 3 AGILUS

Answer 1

1 ) YuMi is the first truly collaborative dual armed robot, designed for a world in which humans and robots work together. It heralds a new era of robotic co-workers which are able to work side-by-side on
the same tasks as humans with extreme accuracy while ensuring the safety of those around it

YuMi is very precise and fast, returning to the same point in space over and over again to within 0.02 mm accuracy and moving at a maximum velocity of 1,500 mm/sec. This ensures the safety of human co-
workers on production lines and in fabricating cells.

Features
• The fifth-generation, integrated IRC5 controller with TrueMove and QuickMove™ motion control technology commands accuracy, speed, cycle-time, programmability and synchronization with external devices.
• I/O interfaces include Ethernet IP, Profibus, USB ports, DeviceNet™, communication port, emergency stop and air-to-hands. YuMi accepts a wide range of HMI devices including ABB’s teach pendant, industrial displays and commercially available tablets.
• The 100-240 volt power supply plugs into any power socket for worldwide versatility.

Benefits
• Can operate equally effectively side-by-side or face-to-face with human coworkers.
• Servo grippers (the “hands”) include options for built-in cameras.
• Real-time algorithms set a collision-free path for each arm customized for the required task.
• Padding protects coworkers in high-risk areas by absorbing force if contact is made

2 ) The IRB 660 4-axis robot comes in two versions: one with a payload handling capacity of 180 kg and a high-performance 250 kg, in both cases with a range of 3.15 m. The IRB 660 is a lastest generation palletizer that is considered faster than its predecessor. Engine power optimization and motion performance ensure significantly shorter cycle times and high throughput. It has IP67 degree of protection make the performance consistent even in the most difficult environments, Equipped with the IRC5 controller for quick and easy use, floor mounting.

Equipped with the latest IRC5 controller.

IRC5 is fifth generation robot controller. Its motion control technology, TrueMove & QuickMove, is key to the robot’s performance in terms of accuracy, speed, cycle-time, programmability and synchronization with external devices.
Based on advanced dynamic modeling, the IRC5 optimizes the performance of the robot for the physically shortest possible cycle time (QuickMove) and precise path accuracy (TrueMove). Together with a speed-independent path, predictable and high- performance behavior is delivered automatically, with no tuning required by the programmer.

RAPID programming language

The perfect combination of simplicity, flexibility and powerful- ness. RAPID is a truly unlimited language with hosts of advanced features and powerful support for many process applications.

Communication

The IRC5 supports the state-of-the-art field busses for I/O and is a well-behaved node in any plant network. Sensor interfaces, remote disk access and socket messaging are examples of the many powerful networking features.

3 ) Like the animal that inspired its creation, the OctopusGripper's 22 cm (8.6 in)-long tapered tentacle has two rows of suction cups. Its soft silicone structure has a chamber running along its length that causes the tentacle to bend inwards when compressed air is applied, wrapping itself around objects of varying shapes. Festo's engineers surrounded the chamber with a Lycra fiber cover to restrict its expansion and protect the silicone outer skin from bursting, while a wafer-thin polystyrene film has been installed in the middle of the tentacle to make sure that the structure only bends inwards.

Designed to grip securely but gently, so as not to crush or damage whatever it is holding, the small suction cups at the thin end of the tentacle attach to the surface of an object passively, but eight of the larger cups at the other end are connected to a vacuum line that can be actively engaged during the gripping process. Festo also says that the components installed within the tentacle are elastic and deformable, making for safe human/robot collaboration in the workplace
The OctopusGripper is controlled and regulated by the world's first pneumatic automation platform – the Festo Motion Terminal – which allows for precise control over compressed air flow rate and activation. This app-based software system can control more than 50 individual components.
Festo's Bionic Learning Network has designed two pneumatic robot arms with which to test the gripper's collaborative working potential. Agonist and antagonist interplay are applied for the movement of the BionicCobot's seven joints, which is programmed using the Motion Terminal interface, though it has a manual control panel on its side, too.

4 ) E2-DR is 1.68 meters high and weighs 85 kilograms, which includes a 1000-Wh lithion-ion battery good for a 90-minute operating time. At only 25 cm “thick,” it can squeeze through 30-cm gaps, a size which Honda designed towards because factories often have “shortcut” passages of about that width that can be used to get around blocked corridors. E2-DR has a total of 33 degrees of freedom, including 8 DoFs per arm, 6 DoFs per leg, 2 for its torso, and 1 for hands and head.

On its head, E2-DR is sporting two rotating Hokuyo laser rangefinders, a monocular camera with a synchronized LED flash, a SR4000 time of flight camera, and a stereo camera coupled to an infrared light projector. There are also cameras and a 3D sensor on each of the hands. It sounds like the expectation is that the robot will be almost entirely teleoperated, although some DRC-style flexible autonomy seems like it’ll be in the works eventually, especially since Asimo has plenty of autonomy already (https://spectrum.ieee.org/automaton/robotics/humanoids/honda-robotics-unveils-next-generation-asimo-robot).

The last piece of the puzzle here is making sure that E2-DR can handle real disasters, and that means making it dustproof, splashproof, and able to operate between -10 and 40 °C, all of which it can do. The robot’s joints use a labyrinth structure and grease to keep out contaminants, and Honda came up with a “segregated cooling structure” to move heat out of the E2-DR’s body. With an Intel Core-i7 CPU, a discrete GPU, and DC-DC converters that suck down 226 watts by themselves (not including the motor drivers), there’s a lot of heat to get rid of. Honda solved this by routing air ducts through E2-DR’s torso, with internal fans to keep the air moving. Heat producing hardware is attached to the outside of the ducts with thermal conducting sheets, and fins inside the ducts help to maximize cooling

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