Meet SCORBOT







This is a robotic workstation that I put together for my educational demonstrations. The object was that the kids would place blocks of varying sizes on the conveyor belt. The belt would move the blocks down the line. I had two small rails that aligned the blocks before they reached the sensors. Once a block was sensed, the robit arm would locat eand pick it up. Next it would measure it. Finally, it would place the block into one of the 3 bins based on the size of the block. Also visible in the back is a small rotary index table that is also controlled by the robot controller.

The robot controller can be used in three modes:

1. INTERACTIVE where you control the devices or query the inputs using the teach pendant

2. TEACH MODE where you "Teach" the robot how to do something and then save the code (much like a midi file) so that you can "play" it back later

3. PROGRAM mode where the controller can control the robot, 2 motor controlled peripherals, 8 digital outputs and read from 8 digital inputs.

Scorbot Work Center.jpgScorbot Rotary Table.jpgScorbot Arm Full View.jpgScorbot Conveyor 1.jpgScorbot Conveyor 2.jpg

The Scorbot ER-III is a JAR (Jointed Arm Revolute) robot which means it's movements are somewhat similar to that of the human arm. This robot can be very useful for industrial processes, especially where assembly lines and conveyors are involved. With this type of system, duties can be performed with a little more detail than with some other robots. The movements made possible by the ER-III Scorbot allow for more concise orientations of products and enable it to work with a larger scope of products than a robot with a lesser degree of freedom. A degree of freedom is a term which describes the kind of movement a robot can make.


The ER III has three axes of rotation. This robot possesses five degrees of freedom. These degrees are illustrated through the movement of different parts which are

1) Base- lower part of robot which rotates about the y-axis.

2) Shoulder- connects to the base by way of a joint which rotates about the x-axis.

3) Elbow- connects to the shoulder by way of a joint and also rotates about the x-axis.

4) Wrist- this portion is connected to the elbow and gives the robot its final two degrees of freedom. It is capable of rotating as a human wrist would, wrist roll. The wrist is connected by a joint along the x-axis which allows it to flex up and down as a human wrist would, wrist pitch.

5) Gripper- this is end effector attached to the wrist and is capable of opening and
closing. It emulates the action of a human using his/her index finger and thumb to grasp an object. This robot is powered via an electric motor.

Scorbot ER-III Specs & Packing List
Created By: Eric Mack on 01/11/2001 at 05:59 PM
Category: 1. Scorbot ER-III


Here is what comes with the basic Scorbot Robot as sold by Esched Robotec:

1 Esched Scorbot ER-III Mechanical Arm
1 Esched Scorbot ER-III Controller
1 Esched Scorbot ER-III Manual, Schematics, Engineering Drawings & Service Manual
1 Esched Scorbot ER-III User's Manual
1 Set of SCORBASE Software Levels, 1, 2 and 3 on Diskette
1 Esched Scorbot ER-III Teach Pendant with SCORBASE Level 4
1 Power Cable
1 RS-232 Cable


Here are the specs for the Robot:

Mechanical Structure: Vertically Articulated, 5 Axis PLUS Gripper = 6 Axis
Support for 2 additional axis (Conveyor, rotary table, etc)
Controller supports simultaneous control of all 8 axis


Working Envelope:
Axis 1: Base Rotation 310 degrees
Axis 2: Shoulder Rotation +130 Degrees / -35 Degrees
Axis 3: Elbow Rotation +- 130 Degrees
Axis 4: Wrist Pitch +- 130 Degrees
Axis 5: Wrist Roll Unlimited
Axis 6: GRIPPER Open/Close + Measurement of gripper opening

Maximum Working Radius: 61mm (24.4")

Gripper Opening: 75mm (3") without rubber pads
65mm (2.56") with rubber pads

Maximum Work Load: 1kg (2.2 Lb)

Transmission: Gears, Timing Belts and Lead Screw

Actuators: 6 DC Servo Motors with Closed-Loop Servo Control

Feedback: Optical Encoders on All Axis

Hard Home: Fixed Reference Position on all Axes

Repeatability: +- .05mm (+- 0.02")

Maximum Speed: 330mm/Sec. (13"/Sec)

Weight:
Robot Arm: 11kg (24 Lb)
Controller: 5kg (11 Lb)


Controller:
Switches: Motor On/Off Switch
Two Input Switches connected to inputs 1 and 2; these can be used
to simulate inputs

The RESET switch resets controller to its initial state
The LAMP TEST switch tests all display LEDs
The MOTOR TEST switch initiates a diagnostic test of all motors

LED's: A green POWER LED indicates 120VAC power to controller
A green MOTOR ON LED indicates that motor drive circuitry is active
Eight yellow LEDs show status of the 8 INPUT lines
Eight yellow LEDs show status of the 8 OUTPUT lines


Inputs 1-8: Twelve screw terminal connectors are used to connect the eight inputs to
the controller

4 are for GROUND
4 are for inputs 1-8

Outputs 1-4: Relay Outputs available at 4 connectors with connections for:
COM (Common)
NO (Normally Open)
NC (Normally Closed)

Outputs 5-8: Open Collector Outputs available at 4 connectors
An open collector output allows you to determine the external +V
voltage level reuqired for your application.