President’s Message/Message du Président Spring / Printemps 2018 17 COLLABORATIVE 1-JOINT MODULES ROBOTS IRA-15is designed for collaborative applications where the required safe- ty, dexterity and flexibility are very demanding. IRA-15 is a 6-DOF col- laborative robot arm with single-joint modular modules. The compact and modular design of the IRA-15 ensures the lightweight, ease of installation and maintenance of the robot. The IRA-15 uses combo actuators, which contain output bearings, gear- head, servomotor, encoder and brake all in one assembly. In addition, these components are hollow structured and that is very convenient for cable harness routing. Due to the use of combo actuators, the entire robot structure of joint and arm is very compact, and the total weight is lower than products on the market at the same payload level. The main applications of IRA-15 are assembly, material handling, material removal, machine load- ing, room cleaning and other process tasks under various indus- trial environments. By integrating colli- sion avoidance fea- ture (torque sensing and vision), IRA-15 can conduct the above tasks collaboratively with humans. IRA-20 is a 6-DOF modular arm comprising of single-joint compli- ant modules, reconfigurable, with a high payload to weight ratio (payload = 20 kg), suitable for collaborative human-robot oper- ations. IRA-20 can be configured in two ways: Option-1 con- sists of base, turret, shoul- der tilt, upper link, elbow mount, elbow tilt, lower link, wrist roll, tilt and second roll joints. A modular joint design is used. The turret and shoulder tilt use one size module, and the wrist roll and tilt use another size module. Each module is composed of harmonic drive, brushless motor, brake, encoder, motor drivers, interface boards, and peripheral components. These features make the IRA-20 installation or replacement easier during operation or service. The harness passes through the inside of the links and through the center of the joints. Shoulder connector Wrist connector Shoulder Upper link Lower link Elbow mounting part Wrist roll Wrist 2nd roll Wrist tilt Elbow Turret Base IRA-20 (Option 2) Configuration Option-2 consists of base, turret, shoulder connector, shoulder tilt, upper link, elbow mount, elbow tilt, lower link, wrist roll, wrist con- nector, wrist tilt and second roll joints. A shoulder connector is used for the shoulder and turret, and a wrist connector for wrist roll and tilt. These would have only minimal consequences for the kinematics and dynamics due to the change of the offset from the base to the upper arm and from elbow to wrist second roll. Option-2 would be slightly heav- ier than Option-1 because of two connectors’ weight. However, Option-2 kinematics and dynamics are simpler. Also, the stiffness and deformation of shoulder and wrist tilt joints in Option-2 would be easier to control. Option-1 turret and shoulder would use same size module, and wrist roll, tilt and second roll would use same module. Option-2 would not use same size modules. The main features of the robot are: (i) active compliance: force and imped- ance control; (ii) passive compli- ance: built-in joint compliance; (iii) small footprint; (iv) lightweight; (v) high dexterity; (vi) integrated force/ torque sensor interface for force control; and (vii) integrated vision sensor interface for visual servoing. Collaborative applications include operations in which human and robot must work side-by-side. The robot is meant to complement and not replace a worker, and it should be flexible to meet SME (Small and Medium sized Enterprises) needs. The main applications of IRA-15 are assembly, material handling, material removal, machine load- ing, room cleaning and other process tasks under various indus- trial environments. By integrating colli- sion avoidance fea- ture (torque sensing and vision), IRA-15 can conduct the b t k ll b ti l ith IRA-20 can be configured in two ways: Option-1 con- sists of base, turret, shoul- der tilt, upper link, elbow mount, elbow tilt, lower link, wrist roll, tilt and second roll joints. A modular joint design is used. The turret and shoulder tilt use one size module, and the wrist roll and tilt use another size module. Each d l i d f h i Option-2 c shoulder c upper link tilt, lower l nector, wr joints. A sh for the sho wrist conn tilt. These w consequen and dynam f th ff Collaborative applications include ope which human and robot must work The robot is meant to complemen replace a worker, and it should to meet SME (Small and Med Enterprises) needs. IRA-15 Collaborative Robot Collaborative Robots (Continued on page 21)