MARA. Modular collaborative robot, product specification. Electrical characteristics. Software characteristics. Motion characteristics

Transcription

1 MARA Modular collaborative robot, product specification Electrical characteristics Power input Vac, 50-60Hz. Nominal power consumption <200W Communications interface IEEE Gigabit Ethernet Electrical connector H-ROS connector A Topology Daisy-chained modules, fully distributed Software characteristics Motion characteristics Degrees of freedom 6 DoF, extensible Motion range per axis ±360 Tool speed 1 m/s Maximum speed 90 /s Repeatability ±0.1 mm Rated torque 9.4/30 Nm Payload 3 Kg Robotics framework ROS 2 Crystal Clemmys Information model Hardware Robot Information Model (HRIM ), version 0.2.0, codename Beriain (docs) Communications framework Data Distribution Service (DDS) Simulation Gazebo Operating System Embedded real-time Linux Communication interface 1 Gbps Ethernet Compliant with TSN standards: ASrev/AS, IEEE 1588, 802.1Qbv, 802.1Qci, 802.1CB, 802.1Qcc. Security (module-level) - Dedicated crypto chip (tamper resistance, cryptographic key storage, SHA-256 Hash Algorithm with HMAC, ECDSA sign-verify authentication. Mechanical characteristics - Secure communications (SROS2, IPSec, TLS). Weight 21 Kg - File System encryption IEEE Version 2 Height 871 mm Reach 656 mm Footprint 204 mm Temperature Operational temperature range: 0-50 C Materials Aluminium, ABS and PPMA plastic. IP Classification 54 MARA Modular collaborative robot powered by ROS 2. - Secure unique ID storage in cryptochip. - Hacker-powered security through continuous penetration tests. Automatic updates Over-the-Air (OTA) Robot controller (not included) Any ROS 2.0 enabled controller. Recommended: Open Robot Controller (ORC). page 1 of 10

2 Short description MARA is the first modular collaborative robot with the Robot Operating System (ROS 2.0) natively running into its actuators. Each of MARA s modules contains the H-ROS SoM, a tiny device that provides capabilities such us security, automatic updates, a high speed (Gigabit Ethernet) synchronous and real-time capable communication bus and a real-time operating system among other capabilities. With this technology at its core, the Modular Articulated Robotic Arm (MARA) is presented as the first ROS-native collaborative robot. MARA is constructed through daisy chaining different modules. Power and communication are exposed at the module level allowing for simplified extensions. Moreover, there is a software and hardware life cycle for each module allowing greater control over the state of software (the ROS system) and hardware (the underlying components) which empowers new possibilities and applications in the landscape of robotics. Key benefits of MARA: Modularity. No vendor lock-in. Each module is powered by ROS 2. Fully distributed software and hardware architecture. Highly customizable. Daisy chained communications and power exposed at the module level allowing for simplified extensions. Real-time architecture powered by H-ROS technology. GbE TSN enabled communications. Power-efficient. Hardware-accelerated drivers. Instantaneous power readings from each individual module including voltages, currents and the capability of selectively switching on or off each module. Managed granularity. Hardware and software life cycle for each module allowing better control. Collaborative. Force control capabilities using current readings. Additional force torque sensors available (requires additional module). Modularity diagram of the robot MARA Modular collaborative robot powered by ROS 2. page 2 of 10

3 H-ROS connector A The H-ROS connector family greatly simplifies the assembly of the modules supplying power and communication. Spring-based, the connectors offer the required tolerance and flexibility for an easy mechanical coupling, avoiding cables. H-ROS connector A delivers both Gigabit Ethernet communications and power to daisy chained modules with an industrial-grade mechanical profile. The upper group of the H-ROS connector A, with 8 pins distributed in two rows is dedicated to communications. The lower group, sub-divided in two sub-groups (one connected to positive +48 volts (V) and the other one to ground) dedicated to power. The nominal current rating of each one of the power pins is of 2 amperes (A) and they can stand a peaks of 3 A. 48 V is used as the default voltage level in the positive line. The pitch of the connectors is of 2.54mm/0.1 and they are built using copper alloy plated with a gold cover and nickel. For more information about each individual pin, please refer the pin manufacturer datasheet. H-ROS connector A s electromechanical characteristics are described below: Characteristic Durability Voltage Rating Nominal Current Peak Current Contact Resistance Capacitance Value Up to cycles 100 Vrms/150 Vdc 8 A 12 A 20 mohm/per contact max. 1 pf / per contact max. Mechanical drawing The shape of the connectors provides the necessary flexibility to attach it to different robot modules. The minimum valid shape is described in the right-hand side picture below. Other common combinations are also displayed: MARA Modular collaborative robot powered by ROS 2. page 3 of 10

4 Connector pinout assignment Following T-568B standard, the pinout is assigned as follows: Communication Header pin-assignment Signal 1 White & Orange BI DA+ 2 Solid Orange BI DA- 3 White & Green BI DB+ 4 Solid Blue BI DC+ 5 White & Blue BI DC- 6 Solid Green BI DB- 7 White & Brown BI DD+ 8 Solid Brown BI DD- 3-D Model The 3-D models of the connectors, both, male and female are available com/docs/technology/h-ros/h-ros_connector/h-ros_connector_a#download-the-3d-models: MARA Modular collaborative robot powered by ROS 2. page 4 of 10

5 Headers information Manufacturer part-numbers used: Manufacturer Manufacturer Part Number Description Quantity used Datasheet Mill-Max Pin connector 1 download Mill-Max Pin connector 2 download Mill-Max Pin connector 1 download Mill-Max Pin connector 2 download Male type Female type MARA Modular collaborative robot powered by ROS 2. page 5 of 10

6 Mechanical dimensions Side view Maximum reach Top view Links size MARA Modular collaborative robot powered by ROS 2. page 6 of 10

7 Foot print Bottom view of MARA base MARA Modular collaborative robot powered by ROS 2. page 7 of 10

8 Software capabilities Robotics framework Version: ROS 2 Crystal Clemmys Supported platforms: Ubuntu (Bionic) Ubuntu (Xenial) Mac OS X (Sierra) Windows 10 with Visual Studio 2017 Architectures: x86-64, armhf, aarch64 Features: Support for multiple DDS implementations, chosen at runtime Discovery, transport and serialization over DDS Publish/subscribe over topics Clients and services Set/retrieve parameters Quality of service settings for handling non-ideal networks Support for nodes with managed lifecycles Inter- and intra-process communication using the same API DDS-Security support C++ and python supported APIs Tools: MoveIt!, RViz, rqt, rosbag. Third party packages: Gazebo, OpenCV, Point Cloud Library (PCL). For more information, access MARA s documentation at products/mara. MARA Modular collaborative robot powered by ROS 2. page 8 of 10

9 Product Identification Parts are numbered as MARA-E-S, where E corresponds with the product edition and S is the serial number. This can be better understood as follows: Edition {}}{ MARA }{{} E }{{} -S general identifier serial number Characteristic Value Type Identifier Edition (E) Research Edition (RE) Robot prepared for research and development purposes RE Industrial Edition (IE) Robot qualified and certified for industrial applications IE Exemplary part numbers: MARA-RE-2343d32 - MARA Research Edition with serial number 2343d32 MARA-RE-13423e2 - MARA Research Edition with serial number 13423e2 MARA-IE MARA Industrial Edition with serial number To obtain more information, to order, etc., please contact Acutronic Robotics sales representatives at contact@acutronicrobotics.com. MARA Modular collaborative robot powered by ROS 2. page 9 of 10

10 Release notes Version Notes Release date 1.0 Official public release Update HRIM to version Beriain Emphasized that robot controller is not included MARA Modular collaborative robot powered by ROS 2. page 10 of 10