Grippers in Motion - the Fascination of Automated Handling Tasks - Wolf Part 3 doc

>`É>ÀÊÌi}À>Ì\ÊÌi}À>Ìi`Ê
LÌiÃ\Ê
ÌiÀ>Ê>«Õ>ÌÊ
ÕLiÀÊvÊw}iÀÃ\Ê
xÊ
ÕLiÀÊvÊÃ\Ê
ÓÓÊ
ÕLiÀÊvÊÌÃ\Ê
ÓÓÊ
i}ÀiiÃÊvÊvÀii`\Ê
£{Ê
*>\Ê
9iÃÊ
-âiÊV«>Ài`ÊÌÊÕ>Ê>`\Ê
µÕ>
-iÃÀÃ\Ê
UÊÊ«ÀiVÃiÊ«ÃÌÊÌÀ>Ã`ÕViÀÃÊÊÌiÊÌÃÊ
UÊÊÀÌ>ÀÞÊÌÀ>Ã`ÕViÀÃÊÊÌiÊÌÀÃÊ
UÊÊÌ>VÌiÊÃiÃÀÃÊLi}Ê`iÛi«i`®Ê
,iviÀiVi\ÊÊ
°-°ÊÛ]Ê°°ÊvÌiÀÆÊ -ÆÊ£
,L>ÕÌÊ>`
>`É>ÀÊÌi}À>Ì\Ê`Õ>ÀÊ
LÌiÃ\Ê
À««}Ê
ÕLiÀÊvÊw}iÀÃ\ÊÎÊ
ÕLiÀÊvÊÃ\Ê
Ê
ÕLiÀÊvÊÌÃ\Ê
nÊ
i}ÀiiÃÊvÊvÀii`\Ê

{Ê
*>\Ê
9iÃÊ
-âiÊV«>Ài`ÊÌÊÕ>Ê>`\Ê
µÕ>
-iÃÀÃ\Ê
UÊÊ«ÌV>ÊÀÌ>ÀÞÊÌÀ>Ã`ÕViÀÃÊÊÌiÊÌÀÃÊ
UÊÊÃÌÀ>Ê}>Õ}iÊLÀ`}iÃÊ>ÌÊÌiÊw}iÀÊÌ«Ã
Ê
Ê
,iviÀiVi\ÊÊ
7°Ê/°Ê/ÜÃi`]Ê>ÀÀiÌÊ/iV}Þ]ÊV°]Ê£nn
ÛÕÌÊÀÊ,iÛÕÌ
Ó
/iÊ>ÀÀiÌÊ>`Ê>ÃÊLiiÊVÃÌ>ÌÞÊ«ÀÛi`ÊÛiÀÊÌiÊ«>ÃÌÊÞi>ÀÃÊ
>`ÊÃÊVÕÀÀiÌÞÊ>ÀiÌi`Ê>`Ê`ÃÌÀLÕÌi`ÊLÞÊ-1 ÊÊiÀ>Þ°Ê
Ê£nnÊÌÊÜ>ÃÊ>Ài>`ÞÊÌÀ`ÕVi`Ê>ÃÊ>Ê`Õ>ÀÊ}À««iÀÊ>`ÊÌÃÊvÕV
Ì>ÌÞÊ>`Ê>««V>ÌÃÊ>ÀiÊ`iÌ>i`ÊÊ>«ÌiÀÊΰ
Ê
/iÊ,L>ÕÌÊ>`ÊÃÊiÊvÊÌiÊwÀÃÌÊÌÊLiÊ`iÃ}i`ÊvÀÊ>««V>
ÌÃÊÊë>Vi°ÊVVÀ`}ÊÌÊ -ÊÌiÊ}iÃÌÊ`i>`ÃÊÊÊ
ÌiÊ>ÌiÀ>ÃÊÕÃi`]ÊÃÕVÊ>ÃÊiÝÌÀiiÊÌi«iÀ>ÌÕÀiÊÀiÃÃÌ>Vi]ÊÊ
`ÃÌ}ÕÃÊÌÃÊ>`ÊvÀÊ>Ê>`ÃÊ«À`ÕVi`ÊÃÊv>À°ÊÛiÊiÛiÌÕ>Ê
}>ÃÊiÃÃÃÊLÞÊÌiÊ>`Ê>`ÊÌiÀÊyÕiViÊÊÌiÀÊë>ViÊÊ
ÃÞÃÌiÃÊÜiÀiÊÌ>iÊÌÊVÃ`iÀ>Ì°
>ÀÀiÌÊ>`
{Ó
>`ẫ>ấèi}>è\ấ`ế>ấ
Lèi\ấ
èi>ấ>ôế>èấ

ếLiấvấw}i\ấ
{ấ
ếLiấvấ\ấ
Ênấ
ếLiấvấè\ấ
Êầấ
*>\ấ9iấ
i}iiấvấvii`\ấ
Êẻấ
-õiấVô>i`ấèấế>ấ>`\ấ
>}i
-i\ấ
Uấấôèièièiấấèiấèấấ
Uấấè>ịấè>`ếViấấèiấèấ
Uấấẩ>íấvVièàếiiấw}iấèôđấ
Uấấèàếiẫièấiấấi>Vấè
,iiiVi\ấấ
ếèèiv>]ấõ}iấièấ>ặấ,ặấểọọ{
-ếVi\ấ"èèấV]ấế`iè>`è]ấi>ịđ
/iấ,ấ>`ấấLịấèiấ
,ấèèếèiấvấ,LèVấ
>`ấiV>èV
/iấ,L>ếèấ>`ấĩ>ấLếèấấèiấL>ấvấèi}>èi`ấ
i>èVấ>`ấấiịấế>iấấõiấ>`ấLèịấĩèấèấấ
iấè>ấÊ{ấ`i}iiấvấvii`ấèấấ>Liấèấếiấ>ấViĩ`iấ
>`ấiiấ}>ôấ>ấLiVèấĩèấ>ấô>ấvấèĩiiõiấ
ấ
ô>i`ấèấèiấ -ấ,L>ếèấèiấ,ấ>`ấLịấèiấi>ấ
iô>Viấièiấôi>èiấĩèấiấw}iấiấVế`i`ấấèiấ
{w}iấ>`ấ>`ấ>`>ôè>Liấô>]ấ>iấÊẻấ`i}iiấvấvii`ấ

>`ấi>ịấÊọọấi>Liấôếấ>`ấèiấè}i`ếVèấ>`ấ
ĩvVèấ,ấô`i]ấvấĩVấĩ`ĩ`iấô>èièấ>iấLiiấ
}>èi`]ấi>Liấèiấièiấ>Vèế>èấèấLiấèi}>èi`ấèấèiấ>`
/iấ}>ấvấè>è}ấèiấế>ấ>`ấấèấyiíLèịấ>`ấivwViVịấ
>ấèấLiiấ>Vii`ấLịấiấvấèiấ>Liấ>èwV>ấ>`ằấ
ôôiấĩấịấLiấ>>>Liấ>ấôiV>õi`ấ>`ằấvấiấ
èiấ/ấ>ấ>ôôiấvấ`ế>ấ}ôôiấấ>`ấôèièVấ
ấôiVấ}ôôiấvấ>ế>ấôi>èấấvvii`ấLịấ"èèấV]ấ
ế`iè>`èấấi>ịấèấếiấiiVèVấ`iấèiV}ịấ>`ấ
ĩi}ấ>Lếèấxọọ}ấ/ế]ấèấV>ấLiấiô>Vi`ấLếèấ>ôôô>èiấôiV>ấ
>`ấ>iấèấLiấếi`ấvấèiấiôiVèiấè>
ấ
,ấ>`
{ẻ
expenses
flexibility
Figure 2.4 Expenses/flexibility ratio for gripper applications
Evolution or Revolution
2
Other gripping technology modules have gained considerably in
functionality, quality, and sensor integration. The increasing number
of application fields are a clear sign of this development.
The broader the range of applications and the greater the required
flexibility of the respective gripper, the more it usually costs if
such a gripper module has to cope with several products.
Figure 2.4 clearly shows this fact. Naturally, for many automation
tasks a simple but relatively unflexible gripper will be sufficient.
For more demanding applications, a special construction, possibly
in combination with standard grippers, is required. Only applications
which do not allow the gripper to be changed and have to deal

with numerous different workpieces make a highly flexible gripper
solution a necessary investment. Special solutions currently on the
market are close to their efficiency limits in relation to payload and
velocity. As a result, “artificial hands” are mainly used for service
robots and in Research & Development today.
44
1>ÌiÊvii`}Ê>Ê«ÀiÃÃ
ÃÕÀVi\ÊÀ>ÕviÀÊ*®
Ó°ÎÊ ,LÌÊÃÌÀÞ
À««iÀÊÌiV}ÞÊ>`ʺÀLÌÊÀiÛÕÌ»Êi>ÀÞÊ}Ê>`ÊÊ>`°Ê
/iÊwÀÃÌÊÞi>ÀÃÊÜiÀiÊV>À>VÌiÀâi`ÊLÞÊ>ÊiÕ«À>ÊÜVÊÜiÀiÊVÕÀLi`Ê
LÞÊ«À>VÌV>Ê`À>ÜL>Vð
/iÊÌiÀÊÀLÌÊÃÊ`iÀÛi`ÊvÀÊÌiÊâiVÊÜÀ`ʺÀLÌ>»ÊÜVÊ
Ü>ÃÊÕÃi`ÊÌÊ`iÃVÀLiÊÌiÊ«>ÀÌÊvÊÌiÊÃiÀv]ÊÌiÊ>À`ÜÀ}ÊÃ>Ûi]Ê
ÀÊÃÕLÃÃÛiÊÃiÀÛ>ÌÊÊÌiÊÌi>ÌiÀÊ«ÀiiÀiÊvÊ,ÃÃÕ¼ÃÊ1ÛiÀ
Ã>Ê,LÌÃÊ,°1°,°®ÊLÞÊ>ÀiÊ>«iÊ£nä£În®ÊÊ£Ó£°ÊÕÀ}ÊÌ>ÌÊ
ÌiÊ«iÀ`]ÊÛ>ÀÕÃÊÌiÀÃÊvÀÊiV>V>Ê>ViÃÊÜiÀiÊÊÕÃi°Ê
7À`ÃÊÃÕVÊ>ÃÊÃÕ>ÌÀÃ]Ê>ÕÌ>ÌÃ]ÊÀ>Ì>Ê>ViÃÊ>`ÊÌiÀÃÊ
ÜiÀiÊVÀVÕ>Ì}°Ê-ViÊÌiÊÕ>`Ê>ÃÊViÊVÃiÀÊÌÊÌiÊ`i>Ê
vÊi>Ì}ÊÃiÌiÃÊ`>}iÀÕÃÊ«ÞÃV>ÊÜÀ°Ê"ÞÊÌiÊ
VVi«ÌÊvÊÌiÊÀLÌÊ>ÃÊ>ÊÕÛiÀÃ>ʺÃ>Ûi»ÊÌ>}ÊÛiÀÊ>ÊvÊÌiÊ
ÜÀÊÀi>ÃÊÕÌ`>Ìi`°
/iÊLi}}ÊvÊÌiÊxäÃÊÜ>ÃÊÌiÊÃÌ>ÀÌÊvÊÃÌ>Ì>ÀÞÊÀLÌÊ`iÛi
«iÌ°Ê/iÊLÀ>V`ÊvÊiÀ}iÊiÛÊ>`ÊiÊ}iLiÀ}iÀ]Ê
1>Ìi]ÊÜ>ÃÊ>ÊÀLÌÊÜi}}ÊÌÜÊÌÃÊ>`ÊÜ>ÃÊVÌÀi`ÊLÞÊ>Ê
«À}À>ÊÃÌÀi`ÊÊ>Ê>}iÌVÊ`ÀÕ°Ê1>ÌiÊÜ>ÃÊwÀÃÌÊÃÌ>i`ÊÊ
>ÌÊiiÀ>ÊÌÀÃÊÊ£È£°ÊiVivÀÌÊÌiÊ>ÕÌÌÛiÊ`ÕÃÌÀÞÊ>ÃÊ
LiiÊ>`ÊÜÊVÌÕiÊÌÊLiÊÌiÊ`ÀÛ}ÊvÀViÊvÊ`ÕÃÌÀ>ÊÀLÌÊ
`iÛi«iÌ°
Ê

{x
Syntelmann II
Electric tele manipulator with 9
degrees of freedom per arm, posi-
tion- and force-controlled, sensors
for forces, sounds, temperatures (in
front); operator with exo-skeleton
transducer system, force feedback
system, and stereo image transmis-
sion system (in the back).
(Source: K. H. Dröge)
Evolution or Revolution
2
So-called “human” robots were already one of the goals of early
robotics. In 1963, researchers at Rancho Los Amigos Hospital
in Downey, California, constructed the Rancho Arm for the support
of physically challenged people. At the Massachusetts Institute
of Technology (MIT) in 1968, Marvin Minsky developed the Tentacle
Arm with twelve joints designed to reach around obstacles
Victor Scheinmann, a Mechanical Engineering student working in
the Stanford Artificial Intelligence Laboratory (SAIL), developed the
Stanford Arm in 1969. This 6degree of freedom (6-dof) all-electric
mechanical manipulator was hardly a human-like hand but one
of the first “robots” designed exclusively for computer control and
micro surgery. Projects included the assembly of a Model A water-
pump in 1974 and this is how the “arm” development found its
way into the automotive industry.
46
/iấ-ịèi>ằấĩ>ấ`iiôi`ấLịấiĩ>iVèiấấiLế}]ấ
i>ị]ấô>>iấèấèiấ`iiôièấvấèiấ-è>v`ấấấèiấ

1-]ấLếèấ``ấèấĩèè>`ấèiấèièấvấèi
-ịèi>ấĩ>ấVi`ấLịấèiấi>ấèịấvấ`ếV>
èấ>`ấ-ViViấèấ>iấiô>ấấV>iấvấếVi>ấôĩiấô>èấ
V>è>èôiấấèấ>iấế>ấấVè>>èi`ấ>i>ấ/iấ>iấ
-ịèi>ấĩ>ấếi`ấ>ấ>ấ>LLi>èấvấ-ịV/ii>ô
ế>èằấ/iấ>ôế>èấĩ>ấiàếôôi`ấĩèấèĩấ>`]ấiấvấ
>`}ấ>ấô>ị>`ấvấểx}ấ>`ấèiấèiấvấôiv}ấ}ôiV
ấôi>èấấôiV`èấvấièiấôiViấôè}ấ
vấĩôiViấĩiiấôiVấ`iấ>`ấ>}iấè>`ếViấĩVấ
ôĩii`ấèiấ>
"ấèiấL>ấvấèiấ-è>`v`ấ]ấèiấ*}>>Liấ1i>ấ
>ôế>èấvấiLịấ*1đấĩ>ấ`iiôi`ấ>`ấ>ấiấvấ
èấLèấ>ấVii`ấLịấ1>èấLi}>ấĩ}ấ>èấèiấii>ấ
èấ/iVV>ấièiấấÊần
/iấwèấViV>ịấ>>>LiấVVôếèiVèi`ấLèấ
>i`ấ/ẻấ/iấ/ĩấ/đấĩ>ấ`iiôi`ấLịấ,V>`ấấvấ
èiấV>èấ>Vấô>èấấÊầẻấếèấ>ấ>ấLèấĩèấ
>ấV>i`ấôếèiõi`ấ ếiV>ấèấ đ]ấèiấwèấèịôiấvấ
èiấ/ẻấĩ>ấị`>ếV>ịấôĩii`ấ>`ấèấ>>>Liấấèiấ>ièấ
ếèấwiấịi>ấ>èiấấÊần
-ấè`ếVi`ấèấwèấiiVèVVèấLèấấÊầ{ấ7i}}ấ
Êểx}]ấèiấ,ấẩấĩ>ấ>Liấèấiấô>ị>`ấếôấèấẩ}ấèấ>ôôí
>èiịấVèấfnọ]ọọọấ>`ấ>>}i`ấèấVôiấĩèấÊẩấiiVèVấôếè
"Viấèiấè>ấLè>ViấvấLèấVèấĩiiấVi`ấếiếấ
>>èấ>`ấVôièấiiấvĩi`]ấ>ịấ`vvi}ấấấ
ô>ị>`ấV>ô>Vèịấ>`ấĩô>Viấ/iấ,ấẩọ]ấvấií>ôi]ấ>
>}i`ấ>ấô>ị>`ấvấẩọ}
{ầ
IRB 6 by ASEA with 6kg payload capacity (source: ABB)
IRB 60 by ASEA with 60kg payload capacity (source: ABB)

Evolution or Revolution
2
Meanwhile every larger robot producer offers a broad range of
robot kinematics for various needs. These kinematics and its vari-
ants are detailed in Chapter 4. At this point we are concentrating on
comparing renowned robot producers and their products today and
30 years ago. A direct comparison of kinematics and its controllers
shows a clear trend: Major progress has been made in drive and
control technology as well as in software for robots, i. e. develop-
ments which are not always obvious at first sight.
Special kinematics were developed for handling presses in order to
significantly increase the cycle time of robots. The Bilsing-Unimate,
which you can see in the picture, is a good example of a highly
individual solution which can hardly be used for any other purpose.
Limited application was responsible for uncompetitive prices
with the result that standard kinematics are mainly used for press
handling today.
48
Ã}Ê1>ÌiÊÀLÌÊvÀÊ«ÀiÃÃÊ>`}ÊÃÕÀVi\ÊÀ>ÕviÀÊ*®
6>ÀÕÃÊÀLÌÊ}iiÀ>ÌÃÊLÞÊ1ÊÃÕÀVi\Ê1®
{
MBB-VFW robot with controller (source: Fraunhofer IPA)
Evolution or Revolution
2
In 1984 the MBB VFW managed a regular payload of 50kg up to a
maximum 200kg while it weighed a solid 2,350kg. The approximate
list price of $165,000 compared to an industrial worker‘s $10,000
labor costs (incl. ancillary wage costs) per year. Looking at these
power and price levels it is obvious that robot producers were
hardly able to sell their products.

At the same time the ROBOT 625 by Reis Obernburg had the
same kinematic principle as the MBB-VFW. The ROBOT 625 only
weighed 750kg at a regular payload of 25kg, a clear improvement
on the weight/payload ratio. Even with its 64 inputs and 32 outputs
it exceeded the MBB-VFM by the factor 4. In addition, it offered a
significantly larger workspace and at $80,000 cost less than half the
price.
50
,""/ÊÈÓxÊ>`}ÊÌÀÊ
LVÃÊÃÕÀVi\ÊÀ>ÕviÀÊ
*®
,""/ÊÈÓxÊÃÕÀVi\Ê,iî
,""/ÊÈÓxÊÃÕÀVi\Ê,iî
ÃÊ>Õv>VÌÕÀiÀÃÊÌiÊVÕ`ÊÌÊvviÀÊÀiÊÌ>ÊiÊÌÊÌÀiiÊ
`vviÀiÌÊÕÃ}Ê>`Ê«>Þ>`ÊV>Ìi}ÀiÃÊÌÊÜ>ÃÊiÃÃiÌ>ÊvÀÊÌiÊÊ
ÌÊw`ÊÌiÊÀ}ÌÊ>««V>ÌÃÊvÀÊÌiÀÊi>ÌVðÊ/ÃÊÃÌÕ>ÌÊ>ÃÊ
ÌÊV>}i`ÊÕV]ÊÜÌÊÌiÊ`vviÀiViÊÌ>ÌÊ>Õv>VÌÕÀiÀÃÊÜÊ
vviÀÊ>ÊLÀ>`ÊÀ>}iÊvÊÕÃ}Ê>`Ê«>Þ>`Ê«ÌÃÊ>`]ÊÌiÀivÀi]Ê
>ÀiÊ>LiÊÌÊiiÌÊ>ÃÌÊ>ÞÊ>««V>Ì°Ê
x£
Left:
BOSCH SCARA series SR800 at a double belt transfer system
(source: Bosch Rexroth)
Right:
Current SCARA-Roboter SR 8 (source: Bosch Rexroth)
now sold by Stäubli
Typical application of a VW robot for inserting
the spare wheel into the Golf II (source: Fraunhofer IPA)
Plans for the use of a VW robot for feeding
tooling machines (source: Fraunhofer IPA)

Evolution or Revolution
2
All robot producers try to add new applications to their key applica-
tions as shown by the figures on plans for the VW robot application.
Bosch first used the SCARA SR 800 for internal purposes while cur-
rent systems are used for the most diverse assembly tasks.
52
xÎ
Evolution or Revolution
2
Just a few robot producers survived the stiffening competition dur-
ing the first years. In the first robot catalogs published in the former
German Democratic Republic (1983 edition by the Forschungszen-
trum des Werkzeugmaschinenbaus, Karl-Marx-Stadt) and nearly
parallel in the Federal Republic of Germany (1984 edition by the
Fraunhofer Institute for Manufacturing Engineering and Automation
IPA in Stuttgart, Germany) all robot procucers and their products
are listed.
The 1984 Fraunhofer IPA catalog names approximately 80 produc-
ers while a much lower number appears in the AUTOMATICA 2004
Munich Germany exhibitors directory. Although the AUTOMATICA
2004 fair just started in 2004, the reduced number of German robot
producers is clearly visible. After 20 years, only five out of 35
German robot producers listed in the 1984 Fraunhofer IPA catalog
are present at the AUTOMATICA 2004.
Producers such as Pfaff Industriemaschinen or Jungheinrich were
two of the pioneers, just like large enterprises such as Siemens
or Volkswagen. However, most of the smaller robot producers sim-
ply could not cope with the target quantities.
A complete overview is bound to exceed the volume of this book.

The photographs and figures illustrate the impressive number
of different companies in Germany which were engaged in the
production of robots.
Robots initially started out in the U.S. but today‘s world production
is mainly situated in Japan, Sweden and Germany. Fast growing
markets in China and India are setting out to enter the market with
their own products. Major Japanese companies building robots are
Yaskawa (also known under the name MOTOMAN in Germany),
Kawasaki and Fanuc. Renowned brands for small robots are
EPSON, Mitsubishi and Hirata.
54
£]äääÊ«Vð
£ä
£Óä
£ää
nä
Èä
{ä
Óä
ä
££ £Ó £Î £{ £x £È £Ç £n £ Óäää Óää£ ÓääÓ ÓääÎ
Ón°Ó
ÎÓ°n
ÎÇ°È
{£°{
{x°Î
x£°{
Èä°ä
ÈÈ°n
ÇΰÓ

n£°Ó
£°Ó
°Ó
£äx°Ó
££Ó°Ç
/iÊÕLiÀÊvÊÀLÌÃÊÊÕÃiÊ>`ÊÌiÀÊ}ÀÜÌÊÀ>ÌiÃÊ>ÀiÊÀi}Õ>ÀÞÊ
ÀiVÀ`i`ÊLÞÊÌiÊ6°Ê/iÊÓääÎÊ7À`Ê,LÌVÃÊÃÕÀÛiÞ]Ê«ÕLÃi`Ê
LÞÊÌiÊ,ÊÌiÀ>Ì>Êi`iÀ>ÌÊvÊ,LÌVîÊÊV«iÀ>ÌÊÜÌÊ
ÌiÊ1Ìi`Ê >ÌÃÊVVÊÃÃÊvÀÊÕÀ«iÊ1 ®]Ê
VÕÌÃÊ>ÊÌÌ>Ê££Ó]ÈÎÊ>VÌÛiÊ°Êi°Ê«iÀ>Ì}®ÊÀLÌÊÃÌ>>ÌðÊ
/iÊ,É1 Ê>`ÕÃÌi`ÊÃÌ>ÌÃÌVÃÊiÝVÕ`iÊÀLÌÃÊÜÌÊ>ÊÃiÀÛViÊ
viÊvÊÀiÊÌ>Ê£ÓÊÞi>ÀÃÊÀÊÌiÀÊÀi>Ìi`Ê>««V>ÌÃÊ>VVÀ`}ÊÌÊ
ÌiÀÊiÝ«iVÌi`Ê>ÛiÀ>}iÊÃiÀÛViÊvi°
ÊÌiÊ«>ÃÌÊviÜÊÞi>ÀÃÊÌiÊÀLÌÊÃiiÀÃÊ>ÀiÌÊVi>ÀÞÊVViÌÀ>ÌiÃÊ
Ê>ÊviÜÊ>À}iÊ«À`ÕViÀÃÊÜÊ>ÀiÊ`ÀiVÌÊÃÕ««iÀÃÊÌÊÌiÊ>ÕÌÌÛiÊ
`ÕÃÌÀÞ°Ê-iÊvÊÌiÊ>Õv>VÌÕÀiÀÃÊÜiÀiÊ>LiÊÌÊÃÌÀ}ÞÊVÀi>ÃiÊ
Ã>iÃÊ`ÕiÊÌÊÌiÀÊVViÌÀ>ÌÊ>`Ê}iÀÊÃ>iÃÊ>ÌÊÌiÊi`ÊvÊ
ÌiÊäðÊ
}ÕÀiÊÓ°xÊ`ÕÃÌÀ>ÊÀLÌÃÊÊiÀ>ÞÊqÊÃÌ>>ÌÃÊÊÕÃi]Ê>`ÕÃÌi`Ê>VVÀ`}ÊÌÊÌiÊ,ÊiÌ`ÊÃÕÀVi\Ê6®
xx
Right:
Robot control unit in 1982
(source: Fraunhofer IPA)
Evolution or Revolution
2
As shown in figure 2.6 the first 15 years of robot production at
KUKA accounted for 12,000 robots as compared to 48,000
produced in the years between 1996 to 2003. Four times as many
robots were built and sold within about a third of the time.
This enormous growth rate is connected to the introduction of the

first PC based robot control in 1996. PC technology created
new opportunities for sensor integration and ideal preconditions for
user-friendly applications.
1981 2004
introduction of PC technology
into robot control
12,000
produced robots
60,000
produced robots,
of which 48,000
with PC technology
1985 1990 1995 2000
Figure 2.6 Development of industrial robot technology (source: KUKA)
56
xÇ
Former machine/operator interface (source: Fraunhofer IPA)
Modern machine/operator interface
(source: ABB)
Evolution or Revolution
2
In terms of user-friendly machine operator interfaces, enormous
improvements have been made which are illustrated by some
examples of robot programming devices.
Modern machine operator interfaces particularly show a trend
towards user-specific interfaces which can be customized to meet
individual requirements. Significantly it can be seen the reduktion of
hardware switcher and better graphical possibitlities.
The dynamic development of robotics is depicted in figure 2.12.
Significantly it is visible that the productlife of a robot has declined

also over the last years.
KR 6 - 350
IR 700
IR 300
IR 400
IR 100
IR 200
IR 600
1980
1990
2000
Figure 2.12 Different series of one robot producer (source: KUKA)
58
>iÀ>ÊÃÞÃÌiÊÊÌiÊÇäÃÊ
ÃÕÀVi\ÊÃV®
>iÀ>ÊÃÞÃÌiÊÊÓää{Ê
ÃÕÀVi\Ê/ÊiÀ®
ÊÀ`iÀÊÌÊi>LiÊÌiÊyiÝLiÊÕÃiÊvÊÀLÌÃ]ÊÌÊÃÊ
iViÃÃ>ÀÞÊÌÊiÌÊÌiÊÜÊÀiÊ>LÕÌÊÌiÀÊiÛÀ
iÌ°Ê/ÃÊÃÊ>ViÛi`ÊLÞÊiÌiÀÊ«À}À>}ÊiÛÀ
iÌÊV`ÌÃÊLivÀi>`ÊÀÊiÃiÊ}>}ÊvÀ>
ÌÊÌÀÕ}ÊÃiÃÀÃÊ>`ÊÌÀ>ÃÌÌ}ÊÌÃÊvÀ>ÌÊ
ÌÊÌiÊÀLÌ°ÊÀ`>ÌiÃÊvÊÛiiÌ]ÊÛiVÌÞÊ>`Ê
>VViiÀ>ÌÊvÀÊÜÀ«iViÊ>`}ÊV>ÊLiÊyÕiVi`ÊLÞÊvÀ>
ÌÊvÀÊÌiÊiÛÀiÌ°ÊÌÊ>Êi>ÀÞÊÃÌ>}iÊÀiÃi>ÀVÊVViÌÀ>Ìi`Ê
ÊÃiÃÀÃÊÃ>ÀÊÌÊÌiÊÕ>ÊiÞiÊÌÊ}À>ëÊÃÌÕ>ÌÃÊ>`ÊV«
iÌÃÊvÀÊvÕÀÌiÀÊ«ÀViÃÃ}]Êi>`}ÊÌÊÃV>i`Ê>}iÊ«ÀViÃÃ}Ê
ÃÞÃÌið
/iÊ`iÛi«iÌÊvÊV>iÀ>Ê>`ÊV«ÕÌiÀÊÌiV}ÞÊvÀÊ>}iÊ
«ÀViÃÃ}ÊÃÊvÊ}Ài>ÌÊ«ÀÌ>ViÊvÀÊyiÝLiÊÀLÌÊ>««V>ÌðÊ

/iÊÌ>LiÃÊÃÜÊ>ÊÃV>i`ÊÌiiÊÃiÃÀÊÌÀ`ÕVi`ÊLÞÊÃVÊ>ÌÊÌiÊ
Li}}ÊvÊÌiÊnäÃÊ>ÃÊÜiÊ>ÃÊ>Ê`iÀʺÌi}iÌ»ÊV>iÀ>ÊÊ
ÃÞÃÌiÊÜÌÊÌi}À>Ìi`Ê«VÌÕÀiÊiÛ>Õ>Ì°Ê/iÊÌiiÊÃiÃÀÊÜ>ÃÊ
Ã`ÊvÀÊ>ÊiÀiÊfÎÈ]äääÊÜVÊÜ>ÃÊ>ÊL>À}>Ê>ÌÊÌiÊÌi°Ê"ÞÊiÊ
L>ÀÞÊ«VÌÕÀiÊVÕ`ÊLiÊ«ÀViÃÃi`Ê>ÌÊ>ÊÌiÊÜiÊiÛ>Õ>Ì}ÊÌiÊ
ÀiVÀ`i`Ê«VÌÕÀiðÊ/ÕÃ]>««V>ÌÃÊÜiÀiÊÃÕLiVÌÊÌÊ}ÌÊÌiÀviÀ
iViÃÊ>`Ê``ÊÌÊ>ÜÊvÀÊÃÌÊ«ÀViÃÃ}°ÊÃÊ>ÊÀiÃÕÌÊÌiÊ
VÛiÞÀÊLiÌÊ>`ÊÌÊLiÊÃÌ««i`ÊÌÊÌ>iÊÌiÊ«VÌÕÀi°
/ÜÊÌÀÃÊÜiÀiÊÌi}À>Ìi`]ÊiÊvÀÊÌiÊ«À}À>}Ê`iÛViÊ
>`ÊÌiÊÌiÀÊvÀÊÃÜ}ÊÌiÊ«VÌÕÀiÊÌ>iÊLÞÊÌiÊV>iÀ>°ÊÊ
Ê
`iÀÊV>iÀ>ÃÊ>`ÊiÛ>Õ>ÌÊÃÞÃÌiÃÊ>ÀiÊ>LiÊÌÊiÛ>Õ>ÌiÊ
££äÊ«VÌÕÀiÃÊ«iÀÊÃiV`Ê>ÌÊ>ÊVÃÌÃÊV«>Ài`ÊÌÊÌiÊwÀÃÌÊÊ
ÃÞÃÌiÃÊV>°Êf{]ÓääÊV°Ê}Ì}Ê>`ÊiÃÊvÀÊÌiÊÃÞÃÌiÊ>ÃÊ
ÃÜ®°Ê/iÊwÀÃÌÊivwViÌÊ>}iÊ«ÀViÃÃ}ÊV>À`ÃÊvÀÊ*ÃÊÜiÀiÊ
>Û>>LiÊÊÌiÊÀ`iÀÊvÊfxä]äääÊ`ÕÀ}ÊÌiÊi>ÀÞÊäðÊÌiÀv>ViÊ
«ÀLiÃ]ÊÜVÊÜiÀiÊ>ÊÌ>ÊÕÀ`iÊvÀÊÌiÊÃ«iÊÌi}À>ÌÊvÊ
ÃiÃÀÃÊÌÊ>ÊÀLÌÊVÌÀ]Ê>ÀiÊi>ÀÞÊÃÛi`ÊLÞÊ>ÊLÕÌÊiÛ>Õ>
ÌÊV«ÕÌiÀÊ>ÃÊÃÜÊvÀÊÌiÊV>iÀ>ÊÃÞÃÌiÊÊÌiÊ«VÌÕÀi°ÊÊ
ÊiÛ>Õ>ÌÊvÊÛ>ÀÕÃÊÃ>`iÃÊvÊ}À>ÞÊÀÊiÛiÊVÀÃÊi>LiÃÊ
ëiVÌÊvÊV«iÝÊÃÌÀÕVÌÕÀiÃÊ>`Ê}iiÌÀið
x
Kinematic
substitute
picture
Axis name
Workspace
X Y Z C Z R C B R C Z A C B A
Main workspace
extension option

3 translations 2 translations
1 rotation
1 translation
2 rotation
1 translation
2 rotations
3 rotations
moving unit moving unit moving unit moving unit
State:12/1983
100% = 134 industrial robots
Horizontal tilt
arm devices
Cartesian
devices
Cylinder-
coordinate
devices
Sphere-
coordinate
devices
Unit
construction
systems
Vertical tilt
arm devices
8%
5%
11%
40%
20%

16%
(1)
(2)
(3)
(4)
(5)
(5)(4)(3)(2)(1)
Figure 2.7 1983 regular kinematic types and their workspaces
Evolution or Revolution
2
Camera technology is an essential part of the quality control of
workpieces. Image processing has developed into a robust and
easily accessible technology as sufficient piece numbers of these
sensors are currently offered on the market. In addition, camera
technology is directly connected to the digital camera mass market,
which results in favorable prices at parallel development boosts on
a yearly basis. While a 256 x 256 pixel standard used to be available,
today‘s industrial standard is 1300 x 1024 pixel.
Within the next years industrial evaluation cameras will reach a
2000 x 2000 pixel standard, which again allows evaluating and
measuring workpieces with even higher precision.
2.4 Robot Statistics
Higher flexibility and efficiency enabled robot technology to con-
quer more and more applications in numerous fields. The quantity
record speaks for itself as it documents robot technology distribu-
tion.
60
Kinematic
substitute
picture

Axis name
Workspace
X Y Z C Z R C B R C Z A C B A
Main workspace
extension option
3 translations 2 translations
1 rotation
1 translation
2 rotation
1 translation
2 rotations
3 rotations
moving unit moving unit moving unit moving unit
State:12/1983
100% = 134 industrial robots
Horizontal tilt
arm devices
Cartesian
devices
Cylinder-
coordinate
devices
Sphere-
coordinate
devices
Unit
construction
systems
Vertical tilt
arm devices

8%
5%
11%
40%
20%
16%
(1)
(2)
(3)
(4)
(5)
(5)(4)(3)(2)(1)
2003
2002
3-axis
pieces
0 2.000 4.000 6.000 8.000 10.000
2.522
2.263
4-axis
1.598
1.204
5-axis
221
266
6-axis and more
9.040
8.129
Figure 2.9 Development of the German robotics market in relation to the number of axes (source: VDMA)
Figure 2.8 Proportion of kinematic types distribution (source: Fraunhofer IPA)

1983 statistics show the distribution of robot types used in Ger-
many (figure 2.8). Basis of the statistics were 134 three-axis robots.
In comparison, the figures 20 years later are quite much more
impressive: In 2003 an overall 2,522 three-axis robots were statisti-
cally registered by the VDMA; an overall 9,040 robots with six axes
had already sold in Germany alone.
61