invites you to

Discover theModularRobot



Contents:
Intro
Video
Specs
Papers
3D Pendant
Contact


Introduction

The Modular Robot offers the industrial automation engineer, the researcher or the experimenter a general purpose, high performance, fully configurable system that outperforms fixed-form manipulators at a lower cost. 1-DOF rotary or linear modules are joined together to build

quickly, reliably and at low cost.


Sample 5-DOF Puma configuration.

Click here for MMS  video "Discover the Modular Robot"
(~15MB, fast link recommended)


MMS Module Specifications

type
/ size
Rotary Joint
Linear Joint
Elbow Link
Straight Link
5 cm T = 60 nt-m
e = 0.5 arc sec
F = 50 nt
D = 25 cm
L = 8 cm
O = 3 cm
L = 10 cm
7 cm T = 125 nt-m
e = 0.5 arc sec
F= 100 nt
D = 35 cm
L = 11 cm
O = 4 cm
L = 14 cm
10 cm T = 240 nt-m
e = 0.5 arc sec
F = 300 nt
D = 50 cm
L = 16 cm
O = 6 cm
L = 20 cm
14 cm T = 450 nt-m
e = 0.5 arc sec
F = 600 nt
D = 70 cm
L = 22 cm
O = 8 cm
L = 28 cm
20 cm T = 750 nt-m
e = 0.5 arc sec
F = 2000 nt
D = 100 cm
L = 32 cm
O = 12 cm
L = 40 cm
parameters subject to change


Papers

W. Schonlau, "MMS, a Modular Robotic System and Model-Based Control Architecture", SPIE Sensor Fusion and Decentralized Control in Robotic Systems, Boston Massachusettes, September 1999.

W. Schonlau, "A Modular Manipulator System (MMS), Architecture and Implementation",
IEEE Intl Conf on Advanced Robotics, Monterey California, July 1997.

W. Schonlau, "Fuzzy Associative Memory System for Modular Robot Kinematics", to be published.

W. Schonlau, "Model Manager: A Visually Programmed, Model Themed Data-Flow Programming Language for Robot Control", SPIE International Symposium on Intelligent Systems and Advanced Manufacturing, Boston, Massachusettes, Oct 28, 2001.


3D-Pendant

Click here to exercise the Model Manager's 3D control pendant.
(Requires VRML-2 browser plug-in, download latest version for Netscape, MSIE or Mac.)



Contact
for further information please contact MMS