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SCHUNK Mechatronics & Modular Robotics
Dr. Roko Tschakarow
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Author: Roko Tschakarow
Topics
» SCHUNK business units
» Factories
» Components and Solution Provider
» Mechatronics and Modular Robotics
» Applications
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Author: Roko Tschakarow
SCHUNK business units
Toolholding & Workholding
Toolholders
Stationary Lathe chucks Chuck jaws
workholding
Automation
Grippers
Modular
Robotics
Hydraulic
Expansion
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Rotary
Linear
Robot
accessories
Industry
solutions
GEMOTEC
Image
processing
Author: Roko Tschakarow
SCHUNK factories
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Author: Roko Tschakarow
The idea of Modular Robotics
 Brushless Servo
 Standard Industrial Networking
 Integrated Electronics
 Modular ‚Building Block‘ System
 Light Weight Design
 Modular Robotics – what good is it?
1993
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Author: Roko Tschakarow
Servo Components and Robotic Joints
 Overview over the different robotic components
 Each in 3 sizes
PG
PR
Servo electric
2 Finger Parallel Gripper
PW
Servo electric
Rotary Joint
Servo electric
Pan Tilt Unit
PDU
PSM
Servo motors with integrated
Position Control
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PLS
Servo Positioning Drive with
Gear Head
Servo Linear Actuator
Author: Roko Tschakarow
PowerCube Building Block Design
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Author: Roko Tschakarow
Modular Robots in Light Weight Design
Light Weight design for Modular Robots in Service Apps
?
Targets for a Light Weight Modular Robot capable for modern robotic applications:
•Min. power dissipation
•Internal Media
•Miniaturization &Costs
•Best Weight-Torque-Ratio
•Absolute Encoder
•Min. Sound emission
•10 kg payload @ 7DOF
•Graceful Degradation
•Reliable, Dependable
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Author: Roko Tschakarow
New Light Weight Robotic Joints
Connector
CPU
Hollow Shaft
Motor
Magnetic Brake
Absolute Encoder
3Phase Power Bridge
Housing
Rotary Robotic Joints
- 4 sizes
- Light weight design
- Excellent Weight-Torq.-Ratio
- quiet
- modular and reconfigurable
- Internal cabling
Light Weight Bearings
Tooth belt gears
Lightweight-HD gears
High stiffness
Aluminium-alloy
hounsing
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Author: Roko Tschakarow
Software for Configuration and Simulation
Rotary Modules
Linear Modules
Sensors
Grippers
Configuration / Simulation / Control
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Author: Roko Tschakarow
New Grippers and Robotic Hands
Reconfigurable light weight modular
robots and robotic hands
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Author: Roko Tschakarow
KeMotion Robot Control
Ethernet
KeTop T50
CP 242/B
KBUS
Compact
Flash
DM 272/A
FM 260/A
FM 265/A
CAN
optional div. I/O-Karten
über KBUS
24V
PowerSupply
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Author: Roko Tschakarow
Force Torque Sensors
Force Torque Sensors in 13 sizes
Smallest diameter: 17 mm
CAN
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Author: Roko Tschakarow
Components for Image Processing
Vision Sensor SVS
Stereo Vision and TOF
cameras
3D based on laser
range finders
In combination with Pan-Tilt-Units
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Author: Roko Tschakarow
Robotic Hand SDH
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Author: Roko Tschakarow
Robotic Hand SDH
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Author: Roko Tschakarow
SCHUNK – Mechatronics & Robotics
Conventional
Solutions
Academia
Applied
Research
Gripper modules
Rotary modules
Linear modules
Robot accessor.
Special grippers
Linear systems
Lightweight Robots
Module combinat´s
•Lightweight Robots
•Robotic Hands
•Lightweight Robots
•Robotic Hands
•New modules
Industrial automation
Factory automation
Universities
Corporate Research
New applications
for Service&
Personal Robots
Components
• Handling/Machining
Lab automation
• Pharma
• Life Sciences
• Semicon/Solar
• Medical
• Chem
Testbed automation
• Indoor / Outdoor
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Author: Roko Tschakarow
Real Components for Real Robots
Dependable and Reliable:
• Light Weight Robots
• Robotic joints
• Robotic hands
• Force Torque Sensors
• Image Processing
• Configuration software
• Control software
R&D work:
• Force / Impedance /
Admittance control
• Visual Servoing
• Sampling and Safety Robots
• Mobile Manipulation
• Rehabilitation Robots
• Medical Robots
• Locomotion
Mass-Spring-Damper-Model
Mk
∆f
..
x
f
.
= Mk . ∆x + Dk . ∆x + Kk . ∆x
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Author: Roko Tschakarow
Security, Defence, Space Robots
 Sampling robots, Tracking robots, EOD
robots, Rescue robots
 Security and military robot systems
 Prototyping for space robots
NASA JPL
Pasadena
Harris,
Florida
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Author: Roko Tschakarow
Measuring and Lab Robots
Samplers:
 Measuring robots
 Lab robots
 Clean room robots
 Outdoor robots
Polysius,
Beckum
Bayer,
Morristown, NJ
Geo++,
Garbsen
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Author: Roko Tschakarow
Service Robots and Agents
Robots in logistics, mobility solutions, Energy:
Areva,
Erlangen
Semprom
DFKI, Bremen
Still
Hamburg
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Siemens,
Stuttgart
Semprom
DFKI, Bremen
Author: Roko Tschakarow
Mobile Manipulation in Research
Mobile Manipulation, Cognition, Localization, etc:
Idaho National Labs
Georgia Tech
Atlanta
Mobile Robots,
Amherst
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Georgia Tech
Atlanta
Author: Roko Tschakarow
Care providing robots - Research
Robots in Rehabilitation, Care and Service
Care providing robot FRIEND
AMaRob, IAT, Bremen
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Care-O-Bot
Fraunhofer IPA
Cotesys
TUM, Munich
Author: Roko Tschakarow
Summary
-
Beneficial Partnership in R&D for Robotics
national and international Robotic Programs
e.g. ECHORD, next call: Network robots
Expert Days on Service Robotics
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Author: Roko Tschakarow
Thank you for your attention.
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Author: Roko Tschakarow

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