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␈↓↓␈↓α␈↓β␈↓∧␈↓ ↓H
␈↓α␈↓ ↓H
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␈↓ ∧πUNIMATION INC.␈↓ ↓H
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 ␈↓ ↓H
␈↓↓␈↓ ∧pTECHNICAL PROPOSAL AND BID␈↓ ↓H
␈↓ ↓H
␈↓ ↓H
␈↓ βqIn response to General Motors Specifications for their␈↓ ↓H
␈↓ ∧CPUMA SYSTEM-Manipulator and Controls␈↓ ↓H
␈↓ ¬GDated January 17,1977␈↓ ↓H
␈↓ ↓H
␈↓ ¬{RFQ #7056-18␈↓ ↓H
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␈↓↓␈↓α␈↓β␈↓∧␈↓↓␈↓ ¬∀SPECIFICATIONS SUMMARY␈↓ ↓H
␈↓ ↓H
MANIPULATOR␈↓ ↓H
␈↓ ↓H
␈↓ ↓H
Shoulder Height-␈↓ βP␈↓ ∧(␈↓ ¬␈↓ ¬X610  mm␈↓ ↓H
Upper Arm link length-␈↓ ∧(␈↓ ¬␈↓ ¬X400  mm␈↓ ↓H
Forearm link length-␈↓ ∧(␈↓ ¬␈↓ ¬X400  mm␈↓ ↓H
Wrist envelope diameter-␈↓ ∧(␈↓ ¬␈↓ ¬X80   mm␈↓ ↓H
␈↓ ↓H
Manipulator weight-␈↓ ∧(␈↓ ¬␈↓ ¬X40kg max.␈↓ ↓H
␈↓ ↓H
Arm swing range-␈↓ βP␈↓ ∧(␈↓ ¬␈↓ ¬X270 deg. min.␈↓ ↓H
Shoulder rotation-␈↓ βP␈↓ ∧(␈↓ ¬␈↓ ¬X180 deg. min.␈↓ ↓H
Elbow rotation-␈↓ βP␈↓ ∧(␈↓ ¬␈↓ ¬X240 deg. min.␈↓ ↓H
Wrist bend-␈↓ αx␈↓ βP␈↓ ∧(␈↓ ¬␈↓ ¬X220 deg. min.␈↓ ↓H
Wrist rotate-␈↓ βP␈↓ ∧(␈↓ ¬␈↓ ¬X360 deg. min.␈↓ ↓H
Wrist roll (optional axis)-␈↓ ∧(␈↓ ¬␈↓ ¬X360 deg. min.␈↓ ↓H
␈↓ ↓H
Arm swing-␈↓ αx␈↓ βP␈↓ ∧(␈↓ ¬␈↓ ¬X135 deg/sec␈↓ ↓H
Arm shoulder and elbow rotate␈↓ ↓H
sufficient to meet vertical and␈↓ ↓H
horizontal slew rate specs. of ␈↓ ¬␈↓ ¬X500 and 1000 mm/sec␈↓ ↓H
␈↓ ↓H
Wrist bend-␈↓ αx␈↓ βP␈↓ ∧(␈↓ ¬␈↓ ¬X360 deg/sec␈↓ ↓H
Wrist rotate-␈↓ βP␈↓ ∧(␈↓ ¬␈↓ ¬X360 deg/sec␈↓ ↓H
Wrist roll (opt.)-␈↓ βP␈↓ ∧(␈↓ ¬␈↓ ¬X360 deg/sec␈↓ ↓H
␈↓ ↓H
All motions designed for critical or overdamped motion.␈↓ ↓H
1G maximum part center acceleration with maximum load.␈↓ ↓H
␈↓ ↓H
Repeatability of playback of "place to teach" motions- within .1mm, assumming␈↓ ↓H
repeating motion with same load and conditions.␈↓ ↓H
␈↓ ↓H
Max load capacity-␈↓ βP␈↓ ∧(␈↓ ¬3.5 kg. including gripper and fittings.␈↓ ↓H
Max force capacity-␈↓ ∧(␈↓ ¬6  kg. min. in any direction.␈↓ ↓H
Drive system-␈↓ βP␈↓ ∧(␈↓ ¬D.C. Electric Motors.Totally internal, easily accessable.␈↓ ↓H
Power Consumption-␈↓ ∧(␈↓ ¬500 watts peak. (from controller power supply).␈↓ ↓H
Feedback devices-␈↓ βP␈↓ ∧(␈↓ ¬Optical Incremental Encoders on each motor shaft.␈↓ ↓H
␈↓ α ␈↓ αx␈↓ βP␈↓ ∧(␈↓ ¬Tachometers as required.␈↓ ↓H
␈↓ ↓H
Mounting-␈↓ αx␈↓ βP␈↓ ∧(␈↓ ¬Base mounted with 4 bolts and alignment pins.␈↓ ↓H
Mounting Fixture-␈↓ βP␈↓ ∧(␈↓ ¬Allows conveyor side mounting, also holds electronics.␈↓ ↓H
␈↓ ↓H
␈↓ ↓H
␈↓↓␈↓α␈↓β␈↓∧␈↓↓␈↓ ∧eSPECIFICATIONS SUMMARY (cont.)␈↓ ↓H
␈↓ ↓H
␈↓ ↓H
CONTROL SYSTEM␈↓ ↓H
␈↓ ↓H
Power amplifiers-␈↓ βP␈↓ ∧(␈↓ ¬D.C. type linear and switching amplifiers.␈↓ ↓H
Error summing-␈↓ βP␈↓ ∧(␈↓ ¬Digital, for no drift or offset errors.␈↓ ↓H
Motion limit stops-␈↓ βP␈↓ ∧(␈↓ ¬Mechanical, Electrical and Software limits on all joints␈↓ ↓H
Power sequencing-␈↓ βP␈↓ ∧(␈↓ ¬Solid State␈↓ ↓H
Control sequencing-␈↓ ∧(␈↓ ¬FET switches and software control.␈↓ ↓H
Weight-␈↓ αx␈↓ βP␈↓ ∧(␈↓ ¬40kg. max including power supply, and computer.␈↓ ↓H
Size-␈↓ α ␈↓ αx␈↓ βP␈↓ ∧(␈↓ ¬18"W x 18"D x15"H.  Enclosed, fan cooled box␈↓ ↓H
␈↓ α ␈↓ αx␈↓ βP␈↓ ∧(␈↓ ¬on slides with handles.␈↓ ↓H
Connections-␈↓ βP␈↓ ∧(␈↓ ¬All quick connect type plugs to GM specs.␈↓ ↓H
Power Reqd.-␈↓ βP␈↓ ∧(␈↓ ¬115/230VAC- 700 watts max.␈↓ ↓H
␈↓ ↓H
Computer-␈↓ αx␈↓ βP␈↓ ∧(␈↓ ¬DEC, LSI-11 computer␈↓ ↓H
Memory-␈↓ αx␈↓ βP␈↓ ∧(␈↓ ¬PROM, mos RAM␈↓ ↓H
Capacity-␈↓ αx␈↓ βP␈↓ ∧(␈↓ ¬Minimum of 256 program steps total, expandable.␈↓ ↓H
External Controls-␈↓ βP␈↓ ∧(␈↓ ¬Interfaces to TTL or 110 VAC inputs or outputs␈↓ ↓H
␈↓ α ␈↓ αx␈↓ βP␈↓ ∧(␈↓ ¬minimum of 8 each.␈↓ ↓H
Storage-␈↓ αx␈↓ βP␈↓ ∧(␈↓ ¬Cassette or PROM permanent backup program storage.␈↓ ↓H
Repeating-␈↓ αx␈↓ βP␈↓ ∧(␈↓ ¬Software implemented conditional branching.␈↓ ↓H
Collision Protection-␈↓ ∧(␈↓ ¬Software, and electronic trajectory deviation␈↓ ↓H
␈↓ α ␈↓ αx␈↓ βP␈↓ ∧(␈↓ ¬sensing and shutdown.  External switch outputs.␈↓ ↓H
Power Failure-␈↓ βP␈↓ ∧(␈↓ ¬Failsafe type brakes on shoulder and elbow joints␈↓ ↓H
␈↓ α ␈↓ αx␈↓ βP␈↓ ∧(␈↓ ¬to support arm in case of power failure.␈↓ ↓H
␈↓ α ␈↓ αx␈↓ βP␈↓ ∧(␈↓ ¬Memory battery backup power supply for 1 hr. ␈↓ ↓H
␈↓ α ␈↓ αx␈↓ βP␈↓ ∧(␈↓ ¬power outages.␈↓ ↓H
␈↓ ↓H
␈↓ ↓H
SOFTWARE AND TEACHING␈↓ ↓H
␈↓ ↓H
␈↓ ↓H
Software type-␈↓ βP␈↓ ∧(␈↓ ¬High level, similar to VAL language.␈↓ ↓H
Input/Output-␈↓ βP␈↓ ∧(␈↓ ¬Assignable function button box. With␈↓ ↓H
␈↓ α ␈↓ αx␈↓ βP␈↓ ∧(␈↓ ¬optional 3 axis joystick.␈↓ ↓H
␈↓ ↓H
Important Software Features-␈↓ ¬Point to point mode or continuous path mode␈↓ ↓H
␈↓ α ␈↓ αx␈↓ βP␈↓ ∧(␈↓ ¬Speed control on a motion by motion basis.␈↓ ↓H
␈↓ α ␈↓ αx␈↓ βP␈↓ ∧(␈↓ ¬Provision of correcting or updating positions.␈↓ ↓H
␈↓ α ␈↓ αx␈↓ βP␈↓ ∧(␈↓ ¬Allows addition, deletions,and changes of steps or␈↓ ↓H
␈↓ α ␈↓ αx␈↓ βP␈↓ ∧(␈↓ ¬groups of steps.␈↓ ↓H
␈↓ α ␈↓ αx␈↓ βP␈↓ ∧(␈↓ ¬Incremental teach mode, in various coordinate␈↓ ↓H
␈↓ α ␈↓ αx␈↓ βP␈↓ ∧(␈↓ ¬systems.␈↓ ↓H
␈↓ α ␈↓ αx␈↓ βP␈↓ ∧(␈↓ ¬Many more extras as a subset of VAL language.␈↓ ↓H
␈↓↓␈↓α␈↓β␈↓∧␈↓α␈↓ ∧hUNIMATION␈↓ ↓H
␈↓ ↓H
␈↓↓␈↓ ¬≡PUMA SYSTEM PROPOSAL␈↓ ↓H
␈↓ ↓H
␈↓ ↓H
␈↓ ¬,Mechanical System Design␈↓ ↓H
␈↓ ↓H
␈↓ α Unimation,␈αInc.␈αproposes␈αto␈αdevelop␈αan␈αall␈αelectric␈α5␈αaxis␈α(optionally␈α6-axis)␈αanthropomorphic␈↓ ↓H
␈↓ ↓Hconfiguration␈α
manipulator␈α
to␈αmeet␈αthe␈αGeneral␈αMotors␈αCorp.␈αPUMA␈αsystem␈αrequirements.␈αWe␈αhave␈↓ ↓H
␈↓ ↓Hchosen␈α
an␈α
equal␈α
link␈α
length,␈α
all␈α
parallel␈α
or␈αnormal␈αaxis␈αconfiguration␈αas␈αthis␈αresults␈αin␈αthe␈αmaximum␈↓ ↓H
␈↓ ↓Hworking␈αvolume␈αwith␈αminimum␈αmanipulator␈αmass␈αand␈αwork␈αspace␈αintrusion.␈↓ ↓H
␈↓ ↓H
␈↓ α The␈αdimensions␈αof␈αthe␈αlinks␈αhave␈αbeen␈αchosen␈αto␈αallow␈αthe␈αmanipulator␈αto␈αreach␈αall␈αpoints␈αin␈↓ ↓H
␈↓ ↓Hthe␈α⊂primary␈α⊂work␈α⊂area␈α⊂and␈α⊂nearly␈α⊂all␈α∂of␈α∂the␈α∂overall␈α∂working␈α∂volume␈α∂specified␈α∂in␈α∂the␈α∂Functional␈↓ ↓H
␈↓ ↓HRequirements␈α∪Section␈α∪of␈α∪the␈α∪RFQ.␈α∪As␈α∩an␈α∩added␈α∩feature␈α∩of␈α∩this␈α∩configuration,␈α∩large␈α∩additional␈↓ ↓H
␈↓ ↓Hworking␈α⊃volumes␈α⊃are␈α⊃also␈α⊃available␈α⊃outside␈α⊃the␈α⊂defined␈α⊂regions.␈α⊂Furthermore,␈α⊂multiple␈α⊂solutions␈↓ ↓H
␈↓ ↓H(different␈αarm␈αgeometries␈αresulting␈αin␈αthe␈αsame␈αterminal␈αpoint),␈αallow␈αthe␈αarm␈αto␈αreach␈αmost␈αpoints␈↓ ↓H
␈↓ ↓Hin␈α∞different␈α∞configurations,␈α∞a␈α∞definite␈α∞advantage␈α∞when␈α∞obstacles␈α∞must␈α∞be␈α∞avoided␈α∞while␈α
moving␈α
or␈↓ ↓H
␈↓ ↓Hwhile␈αpicking␈αor␈αplacing.␈↓ ↓H
␈↓ ↓H
␈↓ α Direct␈αcurrent,␈αpermanent␈αmagnet␈αelectric␈αmotors␈αwill␈αbe␈αused␈αon␈αall␈αaxes.␈αThese␈αdrive␈αunits␈↓ ↓H
␈↓ ↓Hwill␈α
be␈α
integrated␈α
power-feedback␈αunits,␈αall␈αhaving␈αmotor,␈αposition␈αencoder,␈αtachometer,␈αand␈αbrake␈↓ ↓H
␈↓ ↓H(joints␈α∂1,2,3␈α∂only)␈α∂in␈α∂one␈α∞unit,␈α∞on␈α∞a␈α∞single␈α∞common␈α∞shaft.␈α∞The␈α∞drive␈α∞units␈α∞will␈α∞be␈α∞placed␈α∞for␈α∞easy␈↓ ↓H
␈↓ ↓Haccessability␈α∩and␈α∩will␈α∩generally␈α∩be␈α∩coupled␈α∩by␈α∩tubular,␈α∩high␈α∩speed␈α∩extension␈α∩shafts␈α∩to␈α⊃suitable␈↓ ↓H
␈↓ ↓Hgearing␈αlocated␈αat␈αeach␈αjoint.␈↓ ↓H
␈↓ ↓H
␈↓ α By␈α
placing␈α
all␈α
motors␈α
away␈α
from␈α
each␈α
joint,␈α
AND␈α
away␈α
from␈αany␈αcritical␈αlength␈αdetermining␈↓ ↓H
␈↓ ↓Hstructure,␈α∞effects␈α∞of␈α∞motor␈α∞heating␈α
on␈α
structural␈α
dimensions␈α
will␈α
be␈α
minimized.␈α
In␈α
addition,␈α
partial␈↓ ↓H
␈↓ ↓Hmass␈αbalancing␈αwill␈αsignificantly␈αreduce␈αsteady␈αstate␈αpower␈αrequirements.␈↓ ↓H
␈↓ ↓H
␈↓ α The␈α⊃drive␈α⊃units␈α⊃for␈α⊃joints␈α⊃1,2,3␈α⊃(shoulder␈α⊃and␈α⊃elbow)␈α⊂will␈α⊂be␈α⊂nearly␈α⊂identical.␈α⊂Access␈α⊂to␈↓ ↓H
␈↓ ↓Hthese␈α⊂units␈α⊂will␈α⊂be␈α⊂from␈α∂the␈α∂back␈α∂of␈α∂the␈α∂arm␈α∂structure,␈α∂by␈α∂merely␈α∂removing␈α∂protective␈α∂covers.␈↓ ↓H
␈↓ ↓HThis␈αwill␈αallow␈αquick␈αand␈αeasy␈αremoval␈αof␈αan␈αentire␈αdrive␈αunit.␈αThese␈αthree␈αaxis␈αdrives␈αwill␈αalso␈αbe␈↓ ↓H
␈↓ ↓Hfitted␈αwith␈αcommon␈αshaft␈αmounted␈αfailsafe␈αbrakes␈αto␈αsupport␈αthe␈αmanipulator␈αin␈αthe␈αevent␈αof␈αpower␈↓ ↓H
␈↓ ↓Hfailure,␈αand␈αwhen␈αshut␈αdown.␈↓ ↓H
␈↓ ↓H
␈↓ α The␈α⊃wrist␈α⊃degrees␈α⊃of␈α⊃freedom␈α⊃will␈α⊃consist␈α⊃of␈α⊃a␈α⊃2␈α⊃or␈α⊃3␈α⊃axis␈α⊃differential␈α⊃unit,␈α⊃driven␈α⊃by␈↓ ↓H
␈↓ ↓Helectric␈α
drive␈α
units␈α
mounted␈α
near␈α
the␈αelbow.␈αThese␈αelectric␈αdrive␈αunits␈αwill␈αeach␈αconsist␈αof␈αa␈αhigh␈↓ ↓H
␈↓ ↓Hperformance␈α
torque␈α
motor,␈α
coupled␈α
by␈α
a␈α
torque␈α
tube␈α
type␈α
shaft␈α
to␈α
the␈α
wrist␈α
gearing.␈α
The␈α2␈αand␈α3␈↓ ↓H
␈↓ ↓Haxis␈α∂wrists␈α∂will␈α∂not␈α∞be␈α∞the␈α∞same,␈α∞but␈α∞will␈α∞be␈α∞interchangeable␈α∞and␈α∞have␈α∞the␈α∞same␈α∞link␈α∞lengths␈α∞and␈↓ ↓H
␈↓ ↓Hexternal␈α∃dimensions.␈α∃As␈α∃an␈α∃aid␈α∃to␈α∃efficient␈α∃computer␈α∃control␈α∀of␈α∀this␈α∀manipulator,␈α∀the␈α∀wrist␈↓ ↓H
␈↓ ↓Hgeometry␈αwill␈αfeature␈αintersecting␈αand␈αperpendicular␈αaxes.␈↓ ↓H
␈↓ ↓H
␈↓ α The␈α∞manipulator␈α∞structure␈α∞will␈α
be␈α
characterized␈α
by␈α
large␈α
section,␈α
thin␈α
wall,␈α
tubular,␈α
formed␈↓ ↓H
␈↓ ↓Hand␈α⊃seamed␈α⊃high␈α⊃strength␈α⊃sheet␈α⊃aluminum␈α⊃shells,␈α⊃anodized␈α⊃for␈α⊂scratch␈α⊂and␈α⊂corrosion␈α⊂resistance.␈↓ ↓H
␈↓ ↓HGearboxes,␈α∂and␈α∂bearing␈α∂housings␈α∂will␈α∂be␈α∞manufactured␈α∞from␈α∞n.c.␈α∞machined␈α∞aluminum␈α∞plate␈α∞and␈α∞bar,␈↓ ↓H
␈↓ ↓Hand␈α∞Almag␈α∞castings.␈α∞All␈α∞power␈α∞train␈α
gearing␈α
will␈α
be␈α
of␈α
heat␈α
treated,␈α
alloy␈α
steel␈α
gears␈α
operating␈α
in␈↓ ↓H
␈↓ ↓Hsealed␈α
and␈αshielded␈αgrease␈αpacked␈αhousings.␈αLarge␈αdiameter␈α(e.g.-␈αan␈α11␈αinch␈αdiameter␈αswing␈αmotion␈↓ ↓H
␈↓ ↓Hdrive␈α∂gear),␈α∂high␈α∂ratio␈α∂gearing␈α∂will␈α∂maximize␈α∂drive␈α∞stiffness␈α∞and␈α∞minimize␈α∞backlash␈α∞and␈α∞gear␈α∞wear␈↓ ↓H
␈↓ ↓Hadjustments.␈↓ ↓H
␈↓ ↓H
␈↓ α The␈α∀tubular␈α∀monocoque␈α∀type␈α∀manipulator␈α∀structure␈α∀will␈α∀fully␈α∀contain␈α∀all␈α∀wires,␈α∪drives,␈↓ ↓H
␈↓ ↓Hplumbing,␈αetc.␈αLarge␈αsection␈αbearings␈αand␈αtubular␈αshafts␈αat␈αeach␈αjoint␈αwill␈αact␈αas␈αinterjoint␈αconduits.␈↓ ↓H
␈↓ ↓HOptional␈αforced␈αair␈αcooling␈αwill␈αintake␈αair␈αat␈αthe␈α"head"␈αand␈αpressurize␈αthe␈αarm.␈αExhaust␈αwill␈αbe␈αout␈↓ ↓H
␈↓ ↓Hpast␈α∪and␈α∪through␈α∪the␈α∩drive␈α∩motors␈α∩and␈α∩out␈α∩through␈α∩the␈α∩drive␈α∩unit␈α∩protective,␈α∩inspection␈α∩and␈↓ ↓H
␈↓ ↓Hmaintainance␈αcovers.␈↓ ↓H
␈↓ ↓H
␈↓ α A␈αseparate␈αair␈αline␈αand␈αintegral␈αsolenoind␈αvalve␈αassembly␈αwill␈αprovide␈αa␈αswitched␈αpressure␈αor␈↓ ↓H
␈↓ ↓Hvacuum␈α∪source␈α∪out␈α∪near␈α∪the␈α∪wrist␈α∪for␈α∪control␈α∪or␈α∪operation␈α∪of␈α∪a␈α∪terminal␈α∪effector␈α∩or␈α∩other␈↓ ↓H
␈↓ ↓Haccessories.␈α∂Internal␈α∂valve␈α∂placement,␈α∞even␈α∞on␈α∞a␈α∞manipulator␈α∞as␈α∞small␈α∞as␈α∞this,␈α∞minimizes␈α∞delay␈α∞and␈↓ ↓H
␈↓ ↓Himproves␈αcontrollability␈αof␈αpneumatic␈αgrippers,␈αetc.␈↓ ↓H
␈↓ ↓H
␈↓ α The␈αmotors,␈αdrives␈αand␈αstructure␈αwill␈αall␈αbe␈αselected␈αand␈αdesigned␈αto␈αproduces␈αa␈αmanipulator␈↓ ↓H
␈↓ ↓Hwith␈α⊂3.5kg␈α⊂load␈α⊂capacity␈α⊂and␈α⊂typically␈α⊂1g␈α⊂part␈α⊂center␈α⊂acceleration.␈α⊂Emphasis␈α⊂will␈α⊂be␈α⊂placed␈α⊂on␈α∂a␈↓ ↓H
␈↓ ↓Hrigid,␈α≠lightweight␈α≠design.␈α≠Unimation␈α≠Inc.␈α≠already␈α≠has␈α≠experience␈α≠with␈α≠manipulators␈α~having␈↓ ↓H
␈↓ ↓Haccelerations␈αin␈αexcess␈αof␈α4g's,␈αand␈αnatural␈αfrequencies␈αof␈αover␈α50hz.␈↓ ↓H
␈↓ ↓H
␈↓ α Four␈α∀through␈α∀the␈α∀base␈α∀bolts␈α∪will␈α∪hold␈α∪the␈α∪entire␈α∪manipulator␈α∪securely␈α∪in␈α∪place␈α∪on␈α∪its␈↓ ↓H
␈↓ ↓Hmounting␈α⊗structure.␈α⊗Base␈α⊗mounted␈α⊗precision␈α⊗placed␈α⊗dowel␈α⊗pins␈α⊗will␈α⊗allow␈α⊗repeated␈α∃accurate␈↓ ↓H
␈↓ ↓Hreplacement␈α∞of␈α∞the␈α∞manipulator.␈α∞The␈α∞mounting␈α∞structure␈α∞will␈α∞also␈α∞be␈α
the␈α
manipulator␈α
to␈α
conveyor␈↓ ↓H
␈↓ ↓Hattaching␈α∪structure.␈α∩By␈α∩applying␈α∩construction␈α∩and␈α∩design␈α∩approaches␈α∩outlined␈α∩above,␈α∩the␈α∩entire␈↓ ↓H
␈↓ ↓Hmanipulator␈αweight,␈αless␈αcontroller,␈αwill␈αbe␈αunder␈α40kg.␈↓ ↓H
␈↓ ↓H
␈↓ α To␈αmeet␈αrepeatability␈αrequirements,␈αincremental␈αrotary␈αoptical␈αencoders␈αhave␈αbeen␈αselected.␈↓ ↓H
␈↓ ↓HThese␈α
non-contacting,␈αglass␈αdisk␈αdevices,␈αwith␈αbi-directional␈αcounting␈αtracks␈αAND␈αzero␈αreferences␈↓ ↓H
␈↓ ↓Hwill␈αbe␈αmounted␈αon␈αthe␈αdrive␈αmotor␈αshafts.␈αOn␈αa␈αsmall␈αarm,␈αhigh␈αperformance␈αis␈αcontingent␈αon␈αhigh␈↓ ↓H
␈↓ ↓Hmotor␈α∩torque␈α⊃to␈α⊃weight␈α⊃and␈α⊃torque␈α⊃to␈α⊃inertia␈α⊃ratios.␈α⊃Small,␈α⊃shaft␈α⊃mounted␈α⊃encoder␈α⊃disks␈α⊃have␈↓ ↓H
␈↓ ↓Hlower␈α
moments␈α
of␈α
inertia␈α
than␈α
most␈α
small␈α
resolvers␈α
or␈α
other␈α
high␈α
resolution␈αposition␈αtransducers.␈↓ ↓H
␈↓ ↓HFor␈α∪cost,␈α∪life␈α∪and␈α∪stability␈α∪reasons,␈α∪the␈α∩incremental␈α∩encoder␈α∩represents␈α∩a␈α∩best␈α∩choice␈α∩at␈α∩the␈↓ ↓H
␈↓ ↓Hpresent␈α⊂time.␈α⊂Laser␈α∂based␈α∂interferometric␈α∂measurements␈α∂may␈α∂become␈α∂realistic␈α∂in␈α∂the␈α∂future,␈α∂but␈↓ ↓H
␈↓ ↓Hnot␈αwithin␈αthe␈αtime␈αframe␈αof␈αthis␈αproject.␈↓ ↓H
␈↓ ↓H
␈↓ α Calibration␈αon␈αpower␈αturn␈αon␈αwill␈αbe␈αaccomplished␈αin␈αsoftware␈αby␈αslowly␈αdriving␈αall␈αjoints␈αto␈↓ ↓H
␈↓ ↓Helectrical␈α∞reference␈α∞stops␈α∞and␈α∞initializing␈α∞the␈α∞encoder␈α∞pulse␈α∞counters.␈α∞In␈α∞the␈α
event␈α
of␈α
arm␈α
motion␈↓ ↓H
␈↓ ↓Hconstraints␈α⊃preventing␈α⊃this␈α⊃initialization␈α⊃procedure,␈α⊃an␈α⊂optional␈α⊂analog␈α⊂coarse␈α⊂position␈α⊂reference␈↓ ↓H
␈↓ ↓Hunit␈α⊃can␈α⊃be␈α⊃made␈α⊃available.␈α⊃This␈α⊃will␈α⊃enable␈α⊃almost␈α⊃immediate␈α⊂initialization␈α⊂with␈α⊂only␈α⊂small␈α⊂arm␈↓ ↓H
␈↓ ↓Hsearch␈α∞motion␈α∞required.␈α∞In␈α∞motion␈α∞error␈α∞checking␈α
will␈α
occur␈α
on␈α
a␈α
continuous␈α
basis␈α
using␈α
the␈α
once␈↓ ↓H
␈↓ ↓Hper␈αturn␈αzero␈αreference␈αtrack␈αand␈αthe␈αcount␈αelectronics␈αcarry␈αlogic.␈↓ ↓H
␈↓ ↓H
␈↓ α To␈α∂prevent␈α∂accidental␈α∂runaway␈α∂arm␈α∂motion,␈α∂three␈α∞types␈α∞of␈α∞joint␈α∞travel␈α∞limit␈α∞stops␈α∞will␈α∞be␈↓ ↓H
␈↓ ↓Hemployed.␈α∂Mechanical,␈α∂electrical,␈α∞and␈α∞software␈α∞stops␈α∞will␈α∞constrain␈α∞arm␈α∞motion␈α∞to␈α∞user␈α∞selectable␈↓ ↓H
␈↓ ↓Hranges.␈αThis␈αis␈αan␈αessential␈αsafety␈αfeature␈αwhen␈αoperating␈αside␈αby␈αside␈αwith␈αhumans.␈↓ ↓H
␈↓ ↓H␈↓↓␈↓α␈↓β␈↓∧␈↓↓␈↓ ¬RCONTROL SYSTEM␈↓ ↓H
␈↓ ↓H
␈↓ ↓H
␈↓ α We␈α⊗have␈α∃selected␈α∃the␈α∃Digital␈α∃Equipment␈α∃Corporation␈α∃LSI-11␈α∃computer␈α∃to␈α∃control␈α∃the␈↓ ↓H
␈↓ ↓Hmanipulator.␈α
This␈α
computer␈α
has␈α
been␈α
designed␈α
by␈α
DEC␈α
to␈α
be␈αused␈αin␈αindustrial␈αcontrol␈αapplications␈↓ ↓H
␈↓ ↓Hwhere␈αboth␈αdata␈αhandling␈αprograms␈αand␈αarithmetic␈αcomputation␈αroutines␈αmust␈αbe␈αperformed.␈αGeneral␈↓ ↓H
␈↓ ↓HMotors␈α∀Corporation␈α∀currently␈α∀utilizes␈α∀numerous␈α∀PDP-11␈α∀series␈α∀computers␈α∀which␈α∪have␈α∪similar␈↓ ↓H
␈↓ ↓Hhardware␈αand␈αare␈αsoftware␈αcompatible␈αwith␈αthis␈αmachine.␈↓ ↓H
␈↓ ↓H
␈↓ α The␈α⊗manipulator␈α∃and␈α∃hardware␈α∃controller␈α∃are␈α∃interfaced␈α∃to␈α∃the␈α∃LSI-11␈α∃using␈α∃standard␈↓ ↓H
␈↓ ↓Hinterface␈α∪cards.␈α∪These␈α∪cards␈α∪will␈α∪also␈α∪interface␈α∪with␈α∪almost␈α∪any␈α∪number␈α∪of␈α∪optically␈α∩isolated␈↓ ↓H
␈↓ ↓H110VAC␈α⊂and/or␈α⊂TTL␈α⊂inputs␈α⊂or␈α⊂outputs,␈α⊂to␈α⊂be␈α⊂monitored␈α⊂or␈α⊂controlled␈α⊂by␈α⊂the␈α∂computer,␈α∂on␈α∂an␈↓ ↓H
␈↓ ↓Hinterrupt␈αor␈αcontinuous␈αsample␈αbasis.␈↓ ↓H
␈↓ ↓H
␈↓ α The␈α∞control␈α∞software,␈α∞as␈α
currently␈α
implemented␈α
by␈α
Unimation␈α
-West␈α
Coast␈α
Group␈α
(formely␈↓ ↓H
␈↓ ↓HVicarm,␈α
Inc.)␈α
is␈α
sophisticated.␈α
We␈α
propose␈α
to␈α
use␈αa␈αmodified␈αform␈αof␈αthis␈αsoftware,␈αimplemented␈αin␈↓ ↓H
␈↓ ↓HPROM(Programmable␈α∂Read␈α∂Only␈α∂Memory)␈α∂as␈α∂the␈α∂control␈α∂program␈α∂for␈α∂this␈α∞system.␈α∞Actual␈α∞motion␈↓ ↓H
␈↓ ↓Hprograms␈α∪will␈α∪normally␈α∪be␈α∪implemented␈α∪in␈α∪mos␈α∪RAM␈α∪(Random␈α∩Access␈α∩Memory)␈α∩which␈α∩will␈α∩be␈↓ ↓H
␈↓ ↓Hsupplied␈α
for␈α
recording␈α
and␈αcurrent␈αstorage␈αof␈αmanipualtor␈αprograms.␈αAn␈αoptional␈αPROM␈αboard␈αwith␈↓ ↓H
␈↓ ↓Hsoftware␈α⊂controlled␈α⊂on␈α⊂board␈α∂writing␈α∂capability␈α∂will␈α∂be␈α∂available␈α∂for␈α∂more␈α∂permanent␈α∂storage␈α∂of␈↓ ↓H
␈↓ ↓Hmore␈α
fully␈α
debugged,␈α
long␈α
term␈α
useage␈α
type␈α
programs.␈α
Program␈α
backup␈α
will␈α
also␈α
be␈αprovided␈αby␈αan␈↓ ↓H
␈↓ ↓Hoptional␈α
tape␈α
(Phillips␈α
type)␈αcassette␈αunit,␈αand␈αstandby␈α1␈αhr.␈αminimum␈αbattery␈αsupply␈α(memory␈αonly)␈↓ ↓H
␈↓ ↓Hin␈αcase␈αof␈αshort␈αterm␈αpower␈αoutages.␈↓ ↓H
␈↓ ↓H
␈↓ α Each␈α
manipulator␈α
axis␈αwill␈αhave␈αone␈αinterchangeable␈αservo␈αcard␈αassociated␈αwith␈αit.␈αThis␈αcard␈↓ ↓H
␈↓ ↓Hwill␈αcontain␈αall␈αthe␈αlogic␈αand␈αelectronics␈αto␈αclose␈αthe␈αposition␈α(encoder),␈αvelocity␈α(tachometer),␈αand␈↓ ↓H
␈↓ ↓Hcurrent(␈α∂power␈α∂amplifiers␈α∞are␈α∞current␈α∞mode␈α∞rather␈α∞than␈α∞voltage␈α∞mode␈α∞for␈α∞greater␈α∞versatility␈α∞and␈↓ ↓H
␈↓ ↓Hsafety␈α∂when␈α∂using␈α∂permanent␈α∂magnet␈α∂torque␈α∂motors)␈α∂loops␈α∂under␈α∂computer␈α∞control.␈α∞These␈α∞servo␈↓ ↓H
␈↓ ↓Hcards␈α
will␈α
primarily␈α
utilize␈α
digital␈α
logic␈α
elements␈αwith␈αa␈αmiminum␈αof␈αanalog␈αcomponents␈αto␈αminimize␈↓ ↓H
␈↓ ↓Hlong␈αterm␈αdrift␈αand␈αcompensation␈αadjustments.␈↓ ↓H
␈↓ ↓H
␈↓ α All␈α∞manipulator␈α∞motions␈α∞will␈α∞be␈α
trajectory␈α
controlled.␈α
This␈α
means␈α
that␈α
computer␈α
control␈α
of␈↓ ↓H
␈↓ ↓Hthe␈α⊂manipulator␈α⊂is␈α⊂continuous␈α⊂and␈α⊂bi-directional.␈α⊂Excessive␈α⊂motor␈α⊂currents,␈α∂large␈α∂deviation␈α∂from␈↓ ↓H
␈↓ ↓Hplanned␈α∂path,␈α∂or␈α∂abnormal␈α∂operating␈α∂conditions␈α∞will␈α∞result␈α∞in␈α∞an␈α∞immediate␈α∞halt,␈α∞as␈α∞in␈α∞the␈α∞case␈α∞of␈↓ ↓H
␈↓ ↓Hhitting␈αan␈αobstacle,␈αjamming,␈αgripper␈αmalfunction,␈αexcessive␈αtime␈αto␈αcomplete␈αmotion,␈αetc.␈↓ ↓H
␈↓ ↓H
␈↓ α The␈α∪control␈α∪computer,␈α∪power␈α∪supply,␈α∩motor␈α∩controller,␈α∩power␈α∩amplifiers,␈α∩brake␈α∩drivers,␈↓ ↓H
␈↓ ↓Hencoder␈α∞boards,␈α
etc.␈α
will␈α
be␈α
housed␈α
in␈α
one␈α
unit,␈α
approximately␈α
18"W␈α
x18"D␈α
x␈α
15"H␈α
intended␈α
to␈α
be␈↓ ↓H
␈↓ ↓Hmounted␈α⊃just␈α⊃below␈α⊃the␈α⊃manipulator␈α⊂in␈α⊂the␈α⊂manipulator␈α⊂attaching␈α⊂structure.␈α⊂Connectors␈α⊂for␈α⊂AC␈↓ ↓H
␈↓ ↓Hpower,␈α≠external␈α≠signals,␈α≠the␈α~manipulator␈α~cable,␈α~the␈α~teach/programming␈α~unit,␈α~and␈α~cassette␈↓ ↓H
␈↓ ↓Htapeloading␈α∞unit␈α∞will␈α∞be␈α∞on␈α∞the␈α∞front␈α∞panel␈α∞along␈α∞with␈α
several␈α
status␈α
indicators␈α
and␈α
an␈α
emergency␈↓ ↓H
␈↓ ↓Hshut␈αdown␈αbutton.␈↓ ↓H
␈↓ ↓H
␈↓ α A␈α∩rack␈α∩mounted,␈α∩sealed␈α∩box␈α⊃with␈α⊃handles␈α⊃and␈α⊃drawer␈α⊃slide␈α⊃supports␈α⊃would␈α⊃be␈α⊃a␈α⊃typical␈↓ ↓H
␈↓ ↓Hmounting␈α⊂configuration,␈α⊂allowing␈α⊂quick␈α⊂removal␈α⊂and␈α⊂replacement␈α∂of␈α∂the␈α∂entire␈α∂unit.␈α∂The␈α∂external␈↓ ↓H
␈↓ ↓Hsupport␈αframe␈αfor␈αthis␈αbox␈αwill␈αalso␈αbe␈αthe␈αmanipulator␈αto␈αconveyor␈αattaching␈αstructure.␈↓ ↓H
␈↓ ↓H
␈↓ ↓HEstimated␈αmaximum␈αweight␈αof␈αthis␈αunit␈αwill␈αbe␈α40kg.␈↓ ↓H
␈↓ ↓H
␈↓ α The␈αcontroller␈αis␈αuniversal,␈αas␈αare␈αthe␈αmanipulators.␈αThus␈αmanipulators␈αand␈αcontrollers␈αcould␈↓ ↓H
␈↓ ↓Hbe␈α→switched␈α→or␈α→replaced␈α→independently␈α→with␈α_no␈α_problems␈α_of␈α_interchangeability.␈α_Any␈α_small␈↓ ↓H
␈↓ ↓Hdifferences␈αbetween␈αmanipulators,␈αsuch␈αas␈αtolerances␈αin␈αlink␈αlengths,␈αoffsets,␈αmass␈αdifferences,␈αetc.␈↓ ↓H
␈↓ ↓Hwould␈α⊂be␈α⊂corrected␈α⊂in␈α⊂a␈α⊂software␈α⊂calibration␈α⊂table␈α∂and␈α∂list␈α∂of␈α∂characteristics␈α∂particular␈α∂to␈α∂each␈↓ ↓H
␈↓ ↓Hmanipulator,␈α∞like␈α∞a␈α∞curriculum-␈α
vitae.␈α
In␈α
the␈α
event␈α
of␈α
a␈α
manipulator␈α
change,␈α
these␈α
constants␈α
would␈↓ ↓H
␈↓ ↓Halso␈αhave␈αto␈αbe␈αchanged␈αin␈αthe␈αprograms.␈αRe-programming␈αwould␈αNOT␈αbe␈αnecessary,␈αbut␈αoccaisional␈↓ ↓H
␈↓ ↓Hpoint␈α∂touch␈α∂up-␈α∂may␈α∂be␈α∂required␈α∂if␈α∂these␈α∂constants␈α∂are␈α∂not␈α∂sufficiently␈α∂accurate.␈α∞It␈α∞is␈α∞presently␈↓ ↓H
␈↓ ↓Hunreasonable␈α
to␈α
suggest␈αthat␈αall␈αmanipulators␈αwill␈αbe␈αabsolutely␈αinterchangeable␈αwithout␈αcalibration␈↓ ↓H
␈↓ ↓Hchanges,␈α⊂as␈α⊂this␈α⊂would␈α⊂require␈α⊂extreme␈α⊂manufacturing␈α⊂tolerances␈α⊂and␈α∂a␈α∂costly␈α∂level␈α∂of␈α∂assembly␈↓ ↓H
␈↓ ↓Haccuracy.␈α
It␈α
is␈α
also␈α
difficult␈α
to␈α
see,␈α
that␈α
even␈α
if␈α
this␈αwere␈αpossible,␈αthat␈αsuch␈αa␈αcondition␈αcould␈αbe␈↓ ↓H
␈↓ ↓Hmaintained␈αthroughout␈αthe␈αlife␈αof␈αsuch␈αa␈αmanipulator.␈↓ ↓H
␈↓ ↓H␈↓↓␈↓α␈↓β␈↓∧␈↓↓␈↓ ∧↑SOFTWARE, TEACHING, PLAYBACK␈↓ ↓H
␈↓ ↓H
␈↓ ↓H
␈↓ α The␈α∩VAL␈α∩language␈α∩as␈α∩currently␈α∩offered␈α∩by␈α∩Unimation␈α∩as␈α⊃part␈α⊃of␈α⊃their␈α⊃complete␈α⊃system␈↓ ↓H
␈↓ ↓Halready␈α⊃contains␈α⊃many␈α⊃of␈α⊃the␈α⊃essential␈α⊂features␈α⊂of␈α⊂the␈α⊂RFQ.␈α⊂For␈α⊂this␈α⊂new␈α⊂system␈α⊂the␈α⊂existing␈↓ ↓H
␈↓ ↓Hsoftware␈α
will␈α
be␈α
upgraded␈α
to␈α
employ␈α
a␈α
button␈α
box,␈α
with␈α
optional␈α
3-axis␈α
joystick␈α
teach␈αunit␈αas␈αthe␈↓ ↓H
␈↓ ↓Hbasic␈αlow␈αcost␈αarm-computer-human␈αinterface.␈↓ ↓H
␈↓ ↓H
␈↓ α As␈α⊃the␈α⊃primary␈α⊃mode␈α⊃for␈α⊂most␈α⊂precision␈α⊂motion␈α⊂and␈α⊂placement␈α⊂tasks,␈α⊂instruction␈α⊂will␈α⊂be␈↓ ↓H
␈↓ ↓Hdone␈αentirely␈αfrom␈αthe␈αteach␈αbox.␈αThe␈αarm␈αwill␈αbe␈αmoveable␈αin␈αeither␈αjoint␈αaxes␈α(arm)␈αcoordinates,␈↓ ↓H
␈↓ ↓Hworld␈α∞(cartesian)␈α∞coordinates,␈α∞or␈α∞hand␈α∞(like␈α∞flying␈α∞and␈α∞airplane)␈α∞coordinates.␈α∞An␈α∞increment␈α∞button␈↓ ↓H
␈↓ ↓Hwould␈α
allow␈α
small␈α
(one␈α
resolution␈α
element)␈α
increments,␈α
or␈α
larger␈αones␈α(typically␈α10␈αelements)␈αeach␈↓ ↓H
␈↓ ↓Htime␈α∞the␈α∞button␈α∞is␈α∞pushed.␈α∞Normal␈α∞velocity␈α
based␈α
position␈α
mode␈α
would␈α
also␈α
be␈α
available.␈α
Although␈↓ ↓H
␈↓ ↓Hthe␈α∪VAL␈α∪language␈α∪currently␈α∪utilizes␈α∪a␈α∪teletype␈α∩or␈α∩video␈α∩display␈α∩unit␈α∩input/output␈α∩device␈α∩for␈↓ ↓H
␈↓ ↓Hwriting␈αhigh␈αlevel,␈αEnglish␈αlanguage␈αinstruction␈αmotion␈αprograms,␈αthe␈α"assembly␈αline"␈αversion␈αof␈αthis␈↓ ↓H
␈↓ ↓Hlanguage␈α⊃would␈α⊃more␈α⊃likely␈α⊃use␈α⊃a␈α⊃simplified␈α⊃set␈α⊃of␈α⊂these␈α⊂instructions␈α⊂implemented␈α⊂on␈α⊂a␈α⊂limited␈↓ ↓H
␈↓ ↓Hnumber␈αof␈αsoftware␈αredefinable␈αinstruction␈αkeys.␈↓ ↓H
␈↓ ↓H
␈↓ α In␈αthe␈αsecond␈αmode␈αof␈αprogramming,␈αthe␈αunpowered␈αand␈αlimp␈αarm␈αwould␈αbe␈αphysically␈αmoved␈↓ ↓H
␈↓ ↓Hby␈α⊂hand␈α⊂from␈α⊂point␈α⊂to␈α⊂point.␈α⊂A␈α∂record␈α∂button␈α∂would␈α∂record␈α∂precision␈α∂points␈α∂on␈α∂command␈α∂or␈α∂at␈↓ ↓H
␈↓ ↓Htimed␈α→or␈α→discrete␈α→spacial␈α→intervals␈α→in␈α→automatic␈α→(continuous␈α→path)␈α→mode.␈α→This␈α→method␈α_of␈↓ ↓H
␈↓ ↓Hprogramming␈α⊂is␈α⊂possible␈α⊂because␈α⊂of␈α⊂the␈α⊂extremely␈α⊂light␈α⊂weight␈α⊂and␈α⊂high␈α⊂drive␈α⊂efficiency␈α⊂of␈α⊂the␈↓ ↓H
␈↓ ↓Hmanipulator.␈↓ ↓H
␈↓ ↓H
␈↓ α Because␈α∩the␈α∩proposed␈α∩VAL␈α∩type␈α∩software␈α∩is␈α∩so␈α∩powerful,␈α∩the␈α⊃ability␈α⊃to␈α⊃quickly␈α⊃change␈↓ ↓H
␈↓ ↓Hteaching␈α⊃coordinate␈α⊃frames␈α⊃is␈α⊃practical␈α⊃and␈α⊂represents␈α⊂a␈α⊂natural␈α⊂extension␈α⊂of␈α⊂existing␈α⊂computer␈↓ ↓H
␈↓ ↓Hcapabilities␈αrather␈αthan␈αa␈αhard␈αearned␈αspecial␈αfeature.␈↓ ↓H
␈↓ ↓H
␈↓ α The␈α∂VAL␈α∂software␈α∂currently␈α∂employs␈α∂a␈α∂trajectory␈α∂generator␈α∂which␈α∂computes␈α∂trajectories␈↓ ↓H
␈↓ ↓Hfor␈α↔all␈α↔manipulator␈α↔motions.␈α↔This␈α↔current␈α⊗software␈α⊗generates␈α⊗controlled,␈α⊗smooth␈α⊗polynomial␈↓ ↓H
␈↓ ↓Hinterpolated␈α∩joint␈α⊃motion␈α⊃trajectories␈α⊃(continuous␈α⊃path␈α⊃control)␈α⊃between␈α⊃end␈α⊃points.␈α⊃Speed␈α⊃and␈↓ ↓H
␈↓ ↓Hposition␈α∩of␈α∩all␈α∩joints␈α∩is␈α∩continuously␈α∩and␈α∩accurately␈α∩controlled␈α∩throughout␈α∩each␈α⊃entire␈α⊃motion.␈↓ ↓H
␈↓ ↓HStraight␈αline␈αvector␈αmotions␈αin␈αany␈αdirection,␈αand␈αhand␈αcoordinate␈αapproaches␈αand␈αdeparts␈αare␈αother␈↓ ↓H
␈↓ ↓Halready␈α∂built-in␈α∂features␈α∂of␈α∂this␈α∂software.␈α∂All␈α∂these␈α∞instructions␈α∞currently␈α∞feature␈α∞speed␈α∞control␈↓ ↓H
␈↓ ↓Hallowing␈αspeeding␈αup␈αor␈αslowing␈αdown␈αof␈αall␈αmotions␈αon␈αa␈αmotion␈αby␈αmotion␈αbasis.␈↓ ↓H
␈↓ ↓H
␈↓ α Program␈α∞update,␈α∞touch-up,␈α
step␈α
addition,␈α
or␈α
deletion␈α
can␈α
all␈α
be␈α
provided␈α
off␈α
line␈α
or␈α
on␈α
line,␈↓ ↓H
␈↓ ↓Has␈α∞all␈α
programs␈α
and␈α
program␈α
parts␈α
are␈α
stored␈α
in␈α
computer␈α
memory␈α
as␈α
linked␈α
instruction␈α
lists.␈α
This␈↓ ↓H
␈↓ ↓Hallows␈αeasy␈αprogram␈αediting,␈αas␈αrequired.␈↓ ↓H
␈↓ ↓H
␈↓ α Because␈α
so␈α
many␈αof␈αthe␈αexisting␈αVAL␈αlanguage␈αinstructions␈αmeet␈αthe␈αsoftware␈αrequirements␈↓ ↓H
␈↓ ↓Hof␈α∞this␈α∞system,␈α∞a␈α∞copy␈α∞of␈α
the␈α
current␈α
VAL␈α
language␈α
is␈α
included␈α
with␈α
this␈α
proposal.␈α
In␈α
addition,␈α
an␈↓ ↓H
␈↓ ↓HEXISTING␈αpertainant␈αfeature␈αsummary␈αis␈αalso␈αincluded.␈αIn␈αfact,␈αthe␈αonly␈αfeature␈αNOT␈αshown␈αin␈αthe␈↓ ↓H
␈↓ ↓Hcurrent␈α⊂instruction␈α∂set-␈α∂Conditional␈α∂Branching-␈α∂has␈α∂already␈α∂been␈α∂coded␈α∂in␈α∂preliminary␈α∂form.␈α∂The␈↓ ↓H
␈↓ ↓Hstructure␈αof␈αthe␈αsoftware␈αis␈αsuch␈αas␈αto␈αmake␈αthis␈αa␈αvery␈αeasy␈αto␈αimplement␈αfeature.␈↓ ↓H
␈↓ ↓H
␈↓ α By␈α
using␈α
a␈α
computer␈α
a␈α
bit␈α
larger␈α
than␈α
the␈α
minimum␈α
possible␈α
we␈α
are␈α
able␈α
to␈αoffer␈αyou␈αthese␈↓ ↓H
␈↓ ↓Hexisting␈α∞capabilities,␈α
and␈α
potential␈α
growth␈α
features␈α
at␈α
very␈α
little␈α
increased␈α
unit␈α
cost.␈α
We␈α
find␈α
that␈↓ ↓H
␈↓ ↓Hit␈α
has␈αbeen␈αunwise␈αto␈αmilk␈αa␈αsmall␈α8-bit␈αmicroprocessor,␈αwhen␈αan␈αadmirably␈αsuitable␈α16␈αbit␈αmachine␈↓ ↓H
␈↓ ↓Hlike␈α⊂the␈α⊂LSI-11␈α⊂offers␈α⊂such␈α⊂a␈α⊂greatly␈α⊂increased␈α⊂capability␈α⊂both␈α∂in␈α∂processing␈α∂ability␈α∂and␈α∂ease␈α∂of␈↓ ↓H
␈↓ ↓Hprogramming.␈↓ ↓H
␈↓ ↓H␈↓↓␈↓α␈↓β␈↓∧␈↓↓␈↓ ∧↑PUMA SYSTEM-MILESTONE CHART␈↓ ↓H
␈↓ ↓H
␈↓ ↓H
␈↓ ↓H
␈↓ α TASK␈↓ αx␈↓ βP␈↓ ∧(MONTHS DURING WHICH    ␈↓ π`TOTAL MAN MONTHS␈↓ ↓H
␈↓ α ␈↓ αx␈↓ βP␈↓ ∧(      PERFORMED␈↓ ε0␈↓ πλ␈↓ π`    TIME␈↓ ↓H
␈↓ ↓H
Mechanical Design Layout-␈↓ ¬␈↓ ¬X1␈↓ ε0␈↓ πλ␈↓ π`␈↓ λ8.5␈↓ ↓H
Detail Mechanical Design-␈↓ ∧(␈↓ ¬␈↓ ¬X1-4␈↓ ε0␈↓ πλ␈↓ π`␈↓ λ84␈↓ ↓H
Build and Debug Proto #1-␈↓ ¬␈↓ ¬X2-6␈↓ ε0␈↓ πλ␈↓ π`␈↓ λ82␈↓ ↓H
Build and Debug Proto #2-␈↓ ¬␈↓ ¬X2-8␈↓ ε0␈↓ πλ␈↓ π`␈↓ λ82␈↓ ↓H
␈↓ ↓H
Controller Hardware Layout-␈↓ ¬␈↓ ¬X1␈↓ ε0␈↓ πλ␈↓ π`␈↓ λ8.5␈↓ ↓H
Control Detail Design(Electronic)-␈↓ ¬X1-3␈↓ ε0␈↓ πλ␈↓ π`␈↓ λ82␈↓ ↓H
Build Controller #1-␈↓ ∧(␈↓ ¬␈↓ ¬X2-6␈↓ ε0␈↓ πλ␈↓ π`␈↓ λ81.5␈↓ ↓H
Build Controller #2-␈↓ ∧(␈↓ ¬␈↓ ¬X2-8␈↓ ε0␈↓ πλ␈↓ π`␈↓ λ81␈↓ ↓H
␈↓ ↓H
Software Concept Development-␈↓ ¬␈↓ ¬X1␈↓ ε0␈↓ πλ␈↓ π`␈↓ λ8.5␈↓ ↓H
Operating Software-␈↓ ∧(␈↓ ¬␈↓ ¬X2-5␈↓ ε0␈↓ πλ␈↓ π`␈↓ λ83␈↓ ↓H
Teaching Software-␈↓ ∧(␈↓ ¬␈↓ ¬X3-7␈↓ ε0␈↓ πλ␈↓ π`␈↓ λ83␈↓ ↓H
Debugging Software-␈↓ ∧(␈↓ ¬␈↓ ¬X4-8␈↓ ε0␈↓ πλ␈↓ π`␈↓ λ81␈↓ ↓H
␈↓ ↓H
System Assy #1 Proto-␈↓ ∧(␈↓ ¬␈↓ ¬X6-7␈↓ ε0␈↓ πλ␈↓ π`␈↓ λ81.5␈↓ ↓H
System Assy #2 Proto-␈↓ ∧(␈↓ ¬␈↓ ¬X8-9␈↓ ε0␈↓ πλ␈↓ π`␈↓ λ81␈↓ ↓H
Performance Tests #1-␈↓ ∧(␈↓ ¬␈↓ ¬X8␈↓ ε0␈↓ πλ␈↓ π`␈↓ λ81␈↓ ↓H
Delivery #1-␈↓ βP␈↓ ∧(␈↓ ¬␈↓ ¬X9␈↓ ε0␈↓ πλ␈↓ π`␈↓ ↓H
#2 Revisions-␈↓ βP␈↓ ∧(␈↓ ¬␈↓ ¬X8-10␈↓ ε0␈↓ πλ␈↓ π`␈↓ λ81.5␈↓ ↓H
Delivery #2-␈↓ βP␈↓ ∧(␈↓ ¬␈↓ ¬X11␈↓ ε0␈↓ πλ␈↓ π`␈↓ λ8␈↓ ↓H
␈↓ ↓H
Hardware,Maint.,Assy. Doc.-␈↓ ¬␈↓ ¬X10-12␈↓ ε0␈↓ πλ␈↓ π`␈↓ λ82␈↓ ↓H
Software Documentation-␈↓ ∧(␈↓ ¬␈↓ ¬X7-10␈↓ ε0␈↓ πλ␈↓ π`␈↓ λ8.5␈↓ ↓H
␈↓ ↓H
␈↓ ↓H
Total-␈↓ αx␈↓ βP␈↓ ∧(␈↓ ¬␈↓ ¬X␈↓ ε0␈↓ πλ␈↓ π`␈↓ λ828.5 man months␈↓ ↓H
␈↓ ↓H
␈↓ ↓H
␈↓ ↓H
Material Costs.␈↓ ↓H
␈↓ ↓H
␈↓ ↓H
Each Proto Arm System- ␈↓ ∧($12,000␈↓ ↓H
␈↓ ↓H
Total Material Costs-␈↓ ∧($24,000␈↓ ↓H
␈↓ ↓H
␈↓ ↓H
Additional Costs- $20,000 for development electronics and computer hardware and software.␈↓ ↓H
␈↓↓␈↓α␈↓β␈↓∧␈↓↓␈↓ βFEATURES OF THE UNIMATION (FORMELY VICARM,INC.)SYSTEM␈↓ ↓H
␈↓ αxWHICH CLOSELY SATISFY THE REQUIREMENTS OF THE PUMA RFQ.␈↓ ↓H
␈↓ ↓H
␈↓ ↓H
All of the following features currently exist and have been demonstrated and ␈↓ ↓H
delivered to customers.␈↓ ↓H
␈↓ ↓H
1)Teaching in axis and world coordinates-␈↓ ε0 ␈↓ πλTRANS,HERE, WHERE commands␈↓ ↓H
2)Trajectory controlled motion- ability to move␈↓ ↓H
   in straight lines in ANY direction.-␈↓ ¬X ␈↓ ε0␈↓ πλDRAW command␈↓ ↓H
3)Trajectory controlled motion- ability to move␈↓ ↓H
   along polynomial or linear interpolated␈↓ ↓H
   trajectories-controlled path motion-␈↓ ¬X␈↓ ε0␈↓ πλMOVE command␈↓ ↓H
4)Point to point motion-␈↓ ∧(␈↓ ¬␈↓ ¬X␈↓ ε0␈↓ πλGO   command␈↓ ↓H
5)Two levels of precision-␈↓ ¬␈↓ ¬X␈↓ ε0␈↓ πλCOARSE command␈↓ ↓H
6)Hand coordinate motions, useful for␈↓ ↓H
   insertion and removal tasks.-␈↓ ¬␈↓ ¬X␈↓ ε0␈↓ πλAPPRO and DEPART commands␈↓ ↓H
7)Ability to vary speed on an instruction␈↓ ↓H
   by instruction basis.-␈↓ ∧(␈↓ ¬␈↓ ¬X␈↓ ε0␈↓ πλSPEED command␈↓ ↓H
8)Multiple program selection.-␈↓ ¬␈↓ ¬X␈↓ ε0␈↓ πλEXEC command␈↓ ↓H
9)Looping features-starting at arbitrary␈↓ ↓H
   points in program.-␈↓ ∧(␈↓ ¬␈↓ ¬X␈↓ ε0␈↓ πλEXEC command␈↓ ↓H
10)Ability to insert or delete instructions-␈↓ ε0␈↓ πλI and D commands␈↓ ↓H
11)Emergency Halt and Proceed Feature.-␈↓ ε0␈↓ πλ␈↓ π`Return and P commands␈↓ ↓H
12)Saving of Programs and Taught Points.-␈↓ ε0␈↓ πλPUNCHP and PUNCHT commands␈↓ ↓H
13)Touch-up of points.-␈↓ ∧(␈↓ ¬␈↓ ¬X␈↓ ε0␈↓ πλTRANS, HERE, Change? instructions␈↓ ↓H
14)Stop on Error or obstacle feature.-␈↓ ¬X␈↓ ε0␈↓ πλGRASP and Timeout features␈↓ ↓H
15)Crash protection-halt in case of␈↓ ↓H
   deviation from trajectory-␈↓ ¬␈↓ ¬X␈↓ ε0␈↓ πλTimeout feature␈↓ ↓H
16)Software limit stops-manipulator will not␈↓ ↓H
   try to go where it can't.-␈↓ ¬␈↓ ¬X␈↓ ε0␈↓ πλReq'd arm solution doesnt exist.␈↓ ↓H
17)Universal software-will run any arm WITHOUT␈↓ ↓H
   any revisions, just change calibration and␈↓ ↓H
   geometry constants- easily done-␈↓ ¬X␈↓ ε0␈↓ πλTransform concept stores data as␈↓ ↓H
␈↓ α ␈↓ αx␈↓ βP␈↓ ∧(␈↓ ¬␈↓ ¬X␈↓ ε0␈↓ πλcartesian and Euler coordinates.␈↓ ↓H
␈↓ ↓H
␈↓ ↓H
␈↓↓␈↓α␈↓β␈↓∧␈↓↓␈↓ β\PUMA SYSTEM PROJECTED MANUFACTURING COSTS␈↓ ↓H
␈↓ ↓H
␈↓ ↓H
Assumes batches of 100 systems.  No pattern or tooling costs or amortization included.␈↓ ↓H
No engineering or materials overhead included.  Labor priced at $15/hr.␈↓ ↓H
␈↓ ↓H
Prices are per EACH system.␈↓ ↓H
␈↓ ↓H
MANIPULATOR␈↓ ↓H
␈↓ ↓H
Structure-␈↓ αxBase and Column-␈↓ ¬␈↓ ¬X$250␈↓ ↓H
␈↓ α ␈↓ αxHead Unit-␈↓ ∧(␈↓ ¬␈↓ ¬X$100␈↓ ↓H
␈↓ α ␈↓ αxLinks-␈↓ ∧(␈↓ ¬␈↓ ¬X$200␈↓ ↓H
␈↓ α ␈↓ αxJoints-␈↓ ∧(␈↓ ¬␈↓ ¬X$100␈↓ ↓H
␈↓ α ␈↓ αxCovers an Mounts-␈↓ ¬␈↓ ¬X$ 75␈↓ ↓H
␈↓ α ␈↓ αxBearings-␈↓ ∧(␈↓ ¬␈↓ ¬X$200␈↓ ↓H
␈↓ α ␈↓ αxFinishing,Detailing-␈↓ ¬␈↓ ¬X$100␈↓ ↓H
␈↓ α ␈↓ αxWire Harnesses-␈↓ ¬␈↓ ¬X$100␈↓ ↓H
␈↓ α ␈↓ αxMisc.-␈↓ ∧(␈↓ ¬␈↓ ¬X$ 50␈↓ ↓H
␈↓ ↓H
␈↓ α Total␈↓ αx␈↓ βP␈↓ ∧(␈↓ ¬␈↓ ¬X␈↓ ε0$1175␈↓ ↓H
␈↓ ↓H
␈↓ ↓H
Gearing and Housings-␈↓ ↓H
␈↓ α ␈↓ αxGears-␈↓ ∧(␈↓ ¬␈↓ ¬X$300␈↓ ↓H
␈↓ α ␈↓ αxHousings-␈↓ ∧(␈↓ ¬␈↓ ¬X$300␈↓ ↓H
␈↓ α ␈↓ αxBearings-␈↓ ∧(␈↓ ¬␈↓ ¬X$180␈↓ ↓H
␈↓ α ␈↓ αxShafts,fittings-␈↓ ¬␈↓ ¬X$100␈↓ ↓H
␈↓ ↓H
␈↓ α Total␈↓ αx␈↓ βP␈↓ ∧(␈↓ ¬␈↓ ¬X␈↓ ε0$880␈↓ ↓H
␈↓ ↓H
␈↓ ↓H
Drive Units-␈↓ ↓H
␈↓ α ␈↓ αxMotors-␈↓ ∧(␈↓ ¬␈↓ ¬X$420␈↓ ↓H
␈↓ α ␈↓ αxEncoders-␈↓ ∧(␈↓ ¬␈↓ ¬X$300␈↓ ↓H
␈↓ α ␈↓ αxTachometers-␈↓ ¬␈↓ ¬X$120␈↓ ↓H
␈↓ α ␈↓ αxBrakes-␈↓ ∧(␈↓ ¬␈↓ ¬X$ 50␈↓ ↓H
␈↓ α ␈↓ αxHousings-␈↓ ∧(␈↓ ¬␈↓ ¬X$150␈↓ ↓H
␈↓ ↓H
␈↓ α Total␈↓ αx␈↓ βP␈↓ ∧(␈↓ ¬␈↓ ¬X␈↓ ε0$1040␈↓ ↓H
␈↓ ↓H
␈↓ ↓H
Assembly Labor-␈↓ ↓H
␈↓ α ␈↓ αxDrives-12hrs.␈↓ ¬␈↓ ¬X$180␈↓ ↓H
␈↓ α ␈↓ αxGearing-12 hrs.␈↓ ¬␈↓ ¬X$180␈↓ ↓H
␈↓ α ␈↓ αxStructure-10hrs.␈↓ ¬␈↓ ¬X$150␈↓ ↓H
␈↓ α ␈↓ αxWiring-10 hrs.␈↓ ¬␈↓ ¬X$150␈↓ ↓H
␈↓ ↓H
␈↓ α Total␈↓ αx␈↓ βP␈↓ ∧(␈↓ ¬␈↓ ¬X␈↓ ε0$660␈↓ ↓H
␈↓ ↓H
␈↓ ↓H
Manipulator Total-␈↓ βP␈↓ ∧(␈↓ ¬␈↓ ¬X␈↓ ε0$3755␈↓ ↓H
␈↓ ∧PROJECTED MANUFACTURING COSTS (CONT).␈↓ ↓H
␈↓ ↓H
␈↓ ↓H
COMPUTER-␈↓ ↓H
␈↓ α ␈↓ αxDEC LSI-11-␈↓ ¬␈↓ ¬X$600␈↓ ↓H
␈↓ α ␈↓ αxMemory-␈↓ ∧(␈↓ ¬␈↓ ¬X$400␈↓ ↓H
␈↓ α ␈↓ αxInterface Cards-␈↓ ¬␈↓ ¬X$600␈↓ ↓H
␈↓ α ␈↓ αxPower Supply-␈↓ ¬␈↓ ¬X$100␈↓ ↓H
␈↓ α ␈↓ αxBackplane,Mounting-␈↓ ¬X$200␈↓ ↓H
␈↓ α ␈↓ αxConnectors-␈↓ ∧(␈↓ ¬␈↓ ¬X$ 50␈↓ ↓H
␈↓ ↓H
␈↓ α Total␈↓ αx␈↓ βP␈↓ ∧(␈↓ ¬␈↓ ¬X␈↓ ε0$1950␈↓ ↓H
␈↓ ↓H
␈↓ ↓H
␈↓ ↓H
CONTROLLER-␈↓ ↓H
␈↓ α ␈↓ αxPower Amplifiers-␈↓ ¬$200␈↓ ↓H
␈↓ α ␈↓ αxPre-Amps, Servo Cards-␈↓ ¬X$600␈↓ ↓H
␈↓ α ␈↓ αxEncoder Card-␈↓ ¬␈↓ ¬X$150␈↓ ↓H
␈↓ α ␈↓ αxPower Supply-␈↓ ¬␈↓ ¬X$200␈↓ ↓H
␈↓ α ␈↓ αxBackplane,Connectors-␈↓ ¬X$150␈↓ ↓H
␈↓ α ␈↓ αxSwitches, Hardware-␈↓ ¬X$100␈↓ ↓H
␈↓ α ␈↓ αxCabinet-␈↓ ∧(␈↓ ¬␈↓ ¬X$100␈↓ ↓H
␈↓ α ␈↓ αx␈↓ ↓H
␈↓ ↓H
␈↓ α Total␈↓ αx␈↓ βP␈↓ ∧(␈↓ ¬␈↓ ¬X␈↓ ε0$1500␈↓ ↓H
␈↓ ↓H
␈↓ ↓H
Labor-Wiring and Assy.-40 hrs.␈↓ ¬␈↓ ¬X$600␈↓ ↓H
␈↓ ↓H
␈↓ ↓H
Computer and Controller Total-␈↓ ¬␈↓ ¬X␈↓ ε0$4050␈↓ ↓H
␈↓ ↓H
␈↓ ↓H
Teach Unit(one per 3 arms)-␈↓ ¬␈↓ ¬X$200␈↓ ↓H
Software, PROMs and programming-␈↓ ¬X$250␈↓ ↓H
Checkout and Test-30 hrs.␈↓ ¬␈↓ ¬X$450␈↓ ↓H
␈↓ ↓H
TOTAL FOR COMPLETE SYSTEM.-␈↓ ¬X*******␈↓ πλ$8705 *******␈↓ ↓H
␈↓ ↓H
␈↓ ↓H
Extra for Cassette Unit-␈↓ ∧(␈↓ ¬$600␈↓ ↓H
Deduct for 5-Axis system-␈↓ ¬$500␈↓ ↓H