New trends and impact of parallel robotics and machinery in industry

Bouri, Mohamed

Clavel, Reymond

Infoscience - École polytechnique fédérale de Lausanne

Parallel RoboticsFrom Research To IndustryM. Bouri, R. Clavel1Dr. M Bouri, 2nd Switzerland-Taiwan Workshop. January, 14th, 2008EPFL, Laboratore de Systèmes RobotiquesInstitut of MicroTechnologyTopics• LSRO (some values)• The Delta robot story• New developments : The Keops2Dr. M Bouri, 2nd Switzerland-Taiwan Workshop. January, 14th, 2008• Parallel robotics in tool machining• Parallel robotics in medical devices• The challengesLSROLaboratoire 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 / year3Dr. M Bouri, 2nd Switzerland-Taiwan Workshop. January, 14th, 2008 More than 20 patents 7 spin-off Annual budget: 4’000’000 CHF (32’000’000 TD)more than 60% from third partiesParallel Kinematics4Dr. M Bouri, 2nd Switzerland-Taiwan Workshop. January, 14th, 2008Delta-RobotDelta Success Story• Translational Parallel robot,• Very fast Pick and Place robot,• Development started in 1983 >> on an idea a light robot5Dr. M Bouri, 2nd Switzerland-Taiwan Workshop. January, 14th, 2008• Patented in 1985• 1986 industry started to be interested in the kinematicsDelta 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 6Dr. M Bouri, 2nd Switzerland-Taiwan Workshop. January, 14th, 2008Demaurex 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 7Dr. M Bouri, 2nd Switzerland-Taiwan Workshop. January, 14th, 2008the pick & place industry.Delta Success StoryThe movie8Dr. M Bouri, 2nd Switzerland-Taiwan Workshop. January, 14th, 2008Main 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 StoryThe story has not finished !The Delta kinematics continue to be generateindustrial partnerships.Reasons:9Dr. M Bouri, 2nd Switzerland-Taiwan Workshop. January, 14th, 2008• The industrials are less afraid with respect parallelkinematics.• Our laboratory (LSRO) has proven its know how ofparallel kinematics (innovation, design, control).Some examples10Dr. M Bouri, 2nd Switzerland-Taiwan Workshop. January, 14th, 2008The ∆ ThalesThe inverted ∆The Linear ∆The MinangleThe Linear Delta• Started with an internalDevelopment as a diploma project.• Continued with a project with an industrial partner.• This project has finished in 11Dr. M Bouri, 2nd Switzerland-Taiwan Workshop. January, 14th, 2008December 2007. • Application is unfortunately confidential up to the  end of industrialization The Linear Delta12Dr. M Bouri, 2nd Switzerland-Taiwan Workshop. January, 14th, 2008What is the Keops?(New since November 2007)The Keops is a 3 axes XYZ robot dedicated to:• pick & place operations• positioning systems• …• assembly operations13Dr. M Bouri, 2nd Switzerland-Taiwan Workshop. January, 14th, 2008The Keops is a robot designed as a “Component”• Without a chassis can be integrated in any machine14Dr. M Bouri, 2nd Swiss-Taiwan Workshop. January, 14th, 2008Workspace .vs. robot sizeAdvantages15Dr. M Bouri, 2nd Swiss-Taiwan Workshop. January, 14th, 2008Workspace .vs. robot sizeWorkspaceAdvantages16Dr. M Bouri, 2nd Swiss-Taiwan Workshop. January, 14th, 2008Φ 24080AdvantagesStiffness17Dr. M Bouri, 2nd Swiss-Taiwan Workshop. January, 14th, 2008StiffnessAdvantagesPrecision via linear sensors18Dr. M Bouri, 2nd Swiss-Taiwan Workshop. January, 14th, 2008Parallel structures using flexible jointsIndustrialized by Mecartex SA since 200119Dr. M Bouri, 2nd Swiss-Taiwan Workshop. January, 14th, 2008Parallel kinematics for medical devices20Dr. M Bouri, 2nd Swiss-Taiwan Workshop. January, 14th, 2008Haptic 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)21Dr. M Bouri, 2nd Swiss-Taiwan Workshop. January, 14th, 2008Parallel kinematics for medical devices :The Movie22Dr. M Bouri, 2nd Swiss-Taiwan Workshop. January, 14th, 2008Parallel kinematics for industry: The Challenges• Parallel kinematics has proved their efficiency for fastapplications with stiff capabilities.• The know how for calibration make industry less afraid to goahead or parallel kinematics design.23Dr. M Bouri, 2nd Swiss-Taiwan Workshop. January, 14th, 2008• 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 theLSRO and we are quit satisfied with the results.ThanksDr. Ing M. BouriEPFL,Institut of MicroTechnology24Dr. M Bouri, 2nd Swiss-Taiwan Workshop. January, 14th, 2008Mohamed.Bouri@epfl.ch

Parallel robotics, from research to industry

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Parallel robotics, from research to industry

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