Parallel Robotics From Research To Industry M. Bouri, R ... · Parallel Robotics From Research To Industry M. Bouri, ... • Translational Parallel robot, ... • Parallel kinematics

Parallel Robotics

From Research To Industry

M. Bouri, R. Clavel

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Dr. M Bouri, 2nd Switzerland-Taiwan Workshop. January, 14th, 2008

EPFL, Laboratore de Systèmes Robotiques

Institut of MicroTechnology

Topics

• LSRO (some values)

• The Delta robot story

• New developments : The Keops

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Dr. M Bouri, 2nd Switzerland-Taiwan Workshop. January, 14th, 2008

• New developments : The Keops

• Parallel robotics in tool machining

• Parallel robotics in medical devices

• The challenges

LSROLaboratoire de Systèmes Robotique de l’EPFL

� 2 professors: Reymond Clavel and Hannes Bleuler

� 50 employees, including 24 PhD students

� ≈50 Master projects / year (semester & TPM)

� ≈50 publications / year

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Dr. M Bouri, 2nd Switzerland-Taiwan Workshop. January, 14th, 2008

� ≈50 publications / year

� More than 20 patents

� 7 spin-off

� Annual budget: 4’000’000 CHF (32’000’000 TD)

more than 60% from third parties

Parallel Kinematics

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Dr. M Bouri, 2nd Switzerland-Taiwan Workshop. January, 14th, 2008

Delta-Robot

Delta Success Story

• Translational Parallel robot,

• Very fast Pick and Place robot,

• Development started in 1983

>> on an idea a light robot

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Dr. M Bouri, 2nd Switzerland-Taiwan Workshop. January, 14th, 2008

>> on an idea a light robot

• Patented in 1985

• 1986 industry started to be interested

in the kinematics

Delta Success Story• Local industry is interested and bought the

patent and started the industrialization of the

robot in 1988.

• The first customer has been Nestle.

• This company, Demaurex that is now Bosch

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Dr. M Bouri, 2nd Switzerland-Taiwan Workshop. January, 14th, 2008

• This company, Demaurex that is now Bosch

Demaurex had and has a lot of success with this

robot.

• Since more than 20 years, Bosch Demaurex

has developed a lot of expertise and fast pick

and place knowledge with the Delta robot.

Delta Success Story

• ABB bought the license and started the

industrialization of the structure under

the name “FlexPicker” in 1998.

• The FlexPicker has a lot of success in

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Dr. M Bouri, 2nd Switzerland-Taiwan Workshop. January, 14th, 2008

• The FlexPicker has a lot of success in

the pick & place industry.

Delta Success StoryThe movie

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Dr. M Bouri, 2nd Switzerland-Taiwan Workshop. January, 14th, 2008

Main Prices• The JIRA price (Japanese Industrial Robotics Association) in 1989.

• The Golden robot price given by the IFR (International Federation of Robotics) in 1999 for the success that the Delta has had in the industry.

Delta Success Story

The story has not finished !

The Delta kinematics continue to be generateindustrial partnerships.

Reasons:

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Dr. M Bouri, 2nd Switzerland-Taiwan Workshop. January, 14th, 2008

Reasons:• The industrials are less afraid with respect parallelkinematics.• Our laboratory (LSRO) has proven its know how ofparallel kinematics (innovation, design, control).

Some examples

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Dr. M Bouri, 2nd Switzerland-Taiwan Workshop. January, 14th, 2008

The ∆ Thales

The inverted ∆

The Linear ∆

The Minangle

The Linear Delta

• Started with an internal

Development as a diploma project.

• Continued with a project with an

industrial partner.

• This project has finished in

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Dr. M Bouri, 2nd Switzerland-Taiwan Workshop. January, 14th, 2008

• This project has finished in

December 2007.

• Application is unfortunately

confidential up to the end of

industrialization

The Linear Delta

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Dr. M Bouri, 2nd Switzerland-Taiwan Workshop. January, 14th, 2008

What is the Keops?(New since November 2007)

The Keops is a 3 axes XYZ robot dedicated to:• pick & place operations• positioning systems• …• assembly operations

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Dr. M Bouri, 2nd Switzerland-Taiwan Workshop. January, 14th, 2008

• assembly operations

The Keops is a robot designed as a “Component”• Without a chassis can be integrated in any machine

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Dr. M Bouri, 2nd Swiss-Taiwan Workshop. January, 14th, 2008

Workspace .vs. robot size

Advantages

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Dr. M Bouri, 2nd Swiss-Taiwan Workshop. January, 14th, 2008

Workspace .vs. robot size

Workspace

Advantages

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Dr. M Bouri, 2nd Swiss-Taiwan Workshop. January, 14th, 2008

Φ 240

80808080

AdvantagesStiffness

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Dr. M Bouri, 2nd Swiss-Taiwan Workshop. January, 14th, 2008

Stiffness

Advantages

Precision via linear sensors

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Dr. M Bouri, 2nd Swiss-Taiwan Workshop. January, 14th, 2008

Parallel structures using flexible joints

Industrialized by Mecartex SA since 2001

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Dr. M Bouri, 2nd Swiss-Taiwan Workshop. January, 14th, 2008

Parallel kinematics for medical devices

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Dr. M Bouri, 2nd Swiss-Taiwan Workshop. January, 14th, 2008

Haptic device (force feedback)

by ForceDimension SA for biopsy

Parallel kinematics for medical devices :

The WalkTrainer™ developed with Swiss foundation of

paraplegics (www.fsc-sfc.org)

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Dr. M Bouri, 2nd Swiss-Taiwan Workshop. January, 14th, 2008

Parallel kinematics for medical devices :

The Movie

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Dr. M Bouri, 2nd Swiss-Taiwan Workshop. January, 14th, 2008

Parallel kinematics for industry: The Challenges

• Parallel kinematics has proved their efficiency for fast

applications with stiff capabilities.

• The know how for calibration make industry less afraid to go

ahead or parallel kinematics design.

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Dr. M Bouri, 2nd Swiss-Taiwan Workshop. January, 14th, 2008

ahead or parallel kinematics design.

• Acquire more expertise on calibration and tool measurement.

• More ideas are investigated to improve the workspace .

• A lot of projects with industry are now in development in the

LSRO and we are quit satisfied with the results.

Thanks

Dr. Ing M. Bouri

EPFL,

Institut of MicroTechnology

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Dr. M Bouri, 2nd Swiss-Taiwan Workshop. January, 14th, 2008

Institut of MicroTechnology

[email protected]