Review of Selected Mobile Robot and Robotic Manipulator Technologies

Christopher M. Gifford

University of Kansas 2335 Irving Hill Road

Lawrence, KS 66045-7612 http://cresis.ku.edu

Technical Report CReSIS TR 101

October 4, 2006

This work was supported by a grant from the

National Science Foundation (#ANT-0424589).

http://cresis.ku.edu/

Review of Selected Mobile Robot and

Robotic Manipulator Technologies

Christopher M. Gifford

Center for Remote Sensing of Ice Sheets (CReSIS)

University of Kansas

Lawrence, KS 66045

cgifford@cresis.ku.edu

Abstract

Research in Polar Regions is a complex task due to the extremely harsh environment.

Mobile robots and robotic manipulators can aid research in these regions by performing

tasks with automated precision, reducing the need for human involvement. Because

most projects in these regions are labor-intensive, expensive in terms of time and cost,

and possibly dangerous, autonomously performing such tasks using a robot can be

beneficial. This technical report presents the current state of medium-sized mobile

robots and research-based robotic manipulators, including a listing of specifications,

characteristics, options, and price (where available) for each at the time of this research.

Keywords: robotics, mobile robots, robotic manipulators, robotic arms

1 Introduction

The Center for Remote Sensing of Ice Sheets (CReSIS) [20] at the University of Kansas

is responsible for performing state-of-the-art ice sheet research involving radar, uncrewed

vehicles, and seismic imaging systems. We have designed, built, and utilized mobile robots

to autonomously traverse polar terrain in order to conduct research and perform radar data

gathering in Greenland and Antarctica. These Polar Regions are extremely harsh and dan-

gerous, making use of mobile robots and robotic manipulators very attractive. For example,

robotically planting one or more geophones into polar firn represents a task which could be

accomplished by a mobile robot, robotic manipulator, or combination of the two.

This technical report provides an overview of mobile robots and robotic manipulators,

as well as an extensive presentation of related commercial and research technology. Current

mobile platform and manipulator technologies are outlined and arranged to allow comparison

based on several features.

Although this research was geared toward possible use in polar environments, the pre-

sented technology could be used in any environment. Therefore, some of the mobile robots

and robotic manipulators may be more suitable for special or hazardous applications. This

report is not an all-inclusive representation of the robotics market, as this lucrative field

dynamically increases.

2 Robotic Mobility and Control

Various styles, shapes, and sizes of robots exist. Some robots make use of appendage-like

mechanisms for mobility (such as legs, fins, and anthropomorphic limbs), while others make

use of spinning blades, wheels, or propulsion (such as a helicopter, ATV, or rocket). Wheeled

vehicles can also be optionally tracked to increase their ability to traverse rough terrains, such

as snow and ice. Companies have even created snake-like manipulators with tens of motors

and degrees-of-freedom to access tight spaces and work around multiple corners. Of course,

more articulation and ability equate to higher cost and maintenance. These mechanisms

form the three main categories of robot bases: aquatic, aerial, and ground. Each can range

from microscopic size of dust particles to extremely large, heavy machines. The applications

and desired tasks determine what style, shape, and size of robot is necessary.

Although wheels are the most common form of locomotion, they perform poorly over

2

uneven terrain. Traction can also be an issue on predominantly ice or snow surfaces. Unless

the wheels can pivot, obstacles with height of more than the radius of the robot’s wheels can

cause difficulty. Wheels are, however, mechanically simple and easy to construct.

Tracks represent a more complex and heavier mobility option, but are inherently less

susceptible to environmental hazards and can negotiate larger obstacles. The ability to

easily travel on snow and ice makes this the desired option for polar travel. They are

however inefficient due to friction and slippage within the tracks themselves. More energy is

used during turning, as the tracks are required to slip against the ground.

Legged robots also represent a more complex and heavier mobility option. They also

bring high manufacturing costs and are more prone to failure for fragile models. Legged

robots can traverse rugged terrain, but also require extremely complex control algorithms to

manipulate the many degrees-of-freedom for each leg. For these reasons, legs are often too

complex and less robust for polar travel.

Applications for automation have increased over the years, with robotics being incor-

porated into mass manufacturing and planetary exploration research. Robotics has also

developed into a major contributor to homeland defense, military, and surveillance opera-

tions. Environments of use for robots can range from indoor, structured (factory, home, or

museum) to outdoor, unstructured (deserts and remote locations) environment. The main

application for this work is polar environments where the vehicle(s) will employ tracks for

reliable mobility.

Specifically in polar settings, legged and wheeled robots would not perform as well as

tracked vehicles. Tracked platforms are able to be mobile in these environments due to a

larger surface area touching the ground. Hybrid platforms that include slightly tracked,

curved legs have proven quite successful on any terrain, including swimming under water

with various leg attachments [16]. In any case, the overall size and weight of the rover

determines how successful it can scale the harsh terrain.

How a vehicle drives also influences its mobility. Everyday cars and trucks employ Acker-

man steering. All wheels must be moving in the same direction using both two- or four-wheel

drive and one of a variety of steering options. On the other hand, some vehicles use skid

3

steering, which allows each side of the vehicle to turn independently. A benefit of skid steer-

ing is that the vehicle can turn 360o in the same location. Skid steering has proven to be a

more reliable method for polar terrains, and can simplify robot localization.

As for robot control, there are a few options. A tethered approach, using a joystick or

controller attached to the robot to send commands, is the least autonomous way to control

a robot. When operation takes place from a remote location, or tele-operation, it represents

a semi-autonomous approach to robotic control. In cases where the robot controls itself

without human intervention, this is known as fully autonomous. For example, the MARVIN

II polar rover at the University of Kansas, shown in Figure 1, is controlled via an onboard

laptop and therefore is considered a hybrid approach between semi- and fully-autonomous.

Figure 1: MARVIN II Polar Rover in Antarctica (2006).

3 Robotic Manipulators and End-Effectors

Robotic manipulators, or arms, provide a means to move about in a work radius with

precision and speed. Using a number of joints, these arms can contort themselves into

various positions or around corners to perform tasks. The degrees-of-freedom (DOF) a

robotic manipulator has is equal to the number of joints (motors) it contains. Based on the

4

DOF and articulation ability, initial and maintenance costs become higher. For instance,

OCRobotics [53] creates extremely articulate arms with many DOF.

Manipulators are successfully used in many applications, and are widely used for seabed

sensor deployments. Automobiles are welded, painted, and assembled by these robot arms.

Companies such as FANUC [25] have even gone so far as to employ their robotic arms to

build replicas of themselves. Factory settings and special-purpose research represent the

major venues for this type of robot. With their extreme precision and repeatability, they

can safely and reliably perform human tasks with relatively no error. A rotating base allows

greater range of motion, while arm reach allows for manipulation below or above its base.

Many different styles and types of robotic manipulators are available. SCARA robots

have two parallel rotary joints for movement in a plane. Some incorporate moveable or

lowering wrists for added range. These robots are typically used for pick-and-place work

and handling machine tools. Gantry/Cartesian systems are characterized by a robot arm

having three prismatic joints representing Cartesian coordinate axes. They are also used for

pick-and-place work, along with being heavily used in assembly and welding applications.

Human-like, articulate arms usually have more than three rotary joints. These arms have

many more degrees-of-freedom and can therefore perform more intricate tasks. Examples of

these types of robots can be seen in Figures 2 - 4.

Figure 2: Gantry Robot [32] and Cylindrical Robot [33].

End-effectors are the mechanisms attached to the end of the robotic arm, similar to a hu-

man hand and its capabilities. They are used to manipulate, pick-up, attach to, and operate

5

Figure 3: Articulated Robot [37] and Spherical Robot [36].

other items or devices in its environment. End-effectors can range from welding and paint-

ing tools to fingers, grippers, and clamps. Pick-and-place manipulators can have specialized

attachments for specific objects they must move and place. Special gripping attachments

can also be added for increased ability. Military robots, for example, employ manipulators

with attachments for small weapons, camera systems, and extensions to perform dangerous

remote operations. A sophisticated, three-fingered gripper [13] can be seen in Figure 5.

Various sensors can also be utilized to increase the usefulness of the manipulator. Such

sensors can include infrared (IR), force, chemical agent, vision, tilt, photo-resistors, and

several others. Devices such as gyroscopes, GPS, and gimbaled joints can also aid in local-

ization, positioning, and operation on tilted surfaces. These arms can be remotely operated,

tele-operated, or fully-autonomous.

Possible designs for Polar Regions involve specially designed robotic manipulators that

are able to withstand the harsh environment. Because most are made specifically for fac-

tory environments and normal temperatures, few companies carry arms capable of this task.

Thus, weatherproofing and winterizing become extremely important additions to manipula-

tor construction and dramatically increase cost.

6

Figure 4: Parallel Robot [34] and SCARA Robot [35].

Figure 5: BarrettHand BH3-Series Gripper [14].

7

4 Medium-Sized Mobile Robots

Tables in this section describe the current state of medium-sized mobile robots on the market.

Large mobile robots are not listed due to the focus of these tables toward a mobile robot

seismic team, which is proposed to consist of smaller-sized robots.

Tables 1 - 10 show mobile robot companies, their models, and associated features. The

listed features are price, dimensions, weight, clearance, payload, towing, propulsion, power,

computing power, ruggedness, and availability.

After the tables are listed, thumbnail images of each mobile robot are displayed. Addi-

tional information on any of the mobile robots can be found at the referenced company’s

websites.

8

Company Vehicle PriceActivMedia[48] P3-AT $5,995

Seekur $60KAllen Vanguard[3] Vanguard MK2 Online Quote

BombTec Defender Online QuoteAngelus Research[6] Art I $20K-$50K

Intruder $10KRanger $20K-$50KPiper $20K-$50K

Applied AI Systems[7] GAIA-2 $20K-$23KM2 $52K

Automatika[10] AuroraDragon RunnerPandora

Autonomous Solutions[11] ChaosBoston Dynamics[16] Rhex $70K-$100KCodarra Advanced Systems[17] SilverbackDeltic Group[21] Ground Hog $50K-$250K

Bison $50K-$250KCyclops $50K-$250K

Engineering Services, Inc.[23] MR-2 $125K-$180KMR-7 $100K-$135KMR-P $55K-$70K

Foster-Miller[26] TALON > $60KHDE Manufacturing[27] MURV-100 $13K-$24,250InRob Tech Ltd.[30] FFR-1

Hornet MK-5iRobot[39] PackBot $39,500K-Team Corporation[40] Koala II $5,800-$8,200

Table 1: Mobile Robot Companies, Vehicles, and Prices (1st Half).

9

Company Vehicle PriceMacroSwiss[45] Crawler MK

Spyrobot MK IITankbot

Mesa Robotics[46] MaudMarv $10.5K-$18KMATILDA II $48K-$52K

Oxford Technologies[55] ROIDP&R Technologies[59] Spike

Gladiator / RT-20Pedsco Canada Ltd.[57] RMI-9WT $76,403

RMI-9WBRMI-10 $60,500

Progucci Robotics[60] M6RCAUK[62] Mini UGV 32KRemotec[52] Andros WolverineRoper Resources[70] Micro VGTV $19KRobosoft[67] ATRV 2 ¿43.5K-¿70K

ATRV Mini ¿11.5K-¿30KATRV Jr. ¿27.5K-¿50K

Robotic FX[68] Negotiator < $10KRotundus AB[71] Rotundus < $400KROV Services[72] Roller 4 ¿4,990-¿8,900

Mini Track ¿4,990-¿9,000Maxi Track ¿9,990-¿35,900

Sandia[73] RATLER $10KMarvin

The Machine Lab[83] MMP-5 $545MMP-8 $795MMP-30 $4,745-$5,430MMP-40 $5,310-$8,190

WiFiBoT[84] 4GWM Robots[85] MR-5 $160K

Table 2: Mobile Robot Companies, Vehicles, and Prices (2nd Half).

10

Vehicle Dimensions Weight ClearanceP3-AT 50cm x 49cm x 26cm 12 kg 8 cmSeekur 55in x 51in x 42in 770 lbs 7 inVanguard MK2 91.5cm x 43.5cm x 40.5cm 20 kg 5.75 cmBombTec Defender 0.725m x 1.25m x 0.89m 250 kgArt I 7in x 13in x 22in 40 lbsIntruder 22in x 17in x 10in 35 lbsRanger 32in x 16in x 12in 55 lbsPiper 9in x 13.5in x 20in 22 lbsGAIA-2 50cm x 49cm x 26.5cm 40 kgM2 142cm x 73cm x 48cm 100 kgAurora 24in x 6in x 4in < 20 lbsDragon Runner 15.5in x 11.25in x 5in 16 lbsPandora 32in x 16in x 8in 60 lbsChaos 64cm x 42cm x 10cmRhexSilverbackGround HogBisonCyclopsMR-2MR-7MR-PTALON 22.5in x 34in x 11in 45 kg 2.75 inMURV-100 59cm x 43.5cm x 11.5cm 14 kg 3.85 cmFFR-1 162cm x 114cm x 138cm 940 kgHornet MK-5 94cm x 60cm x 76cm 100 kgPackBot 69cm x 41cm x 18cm 18 kg 5.1 cmKoala II 32cm x 32cm x 20cm 4 kg 30 mm

Table 3: Dimensions, Weight, and Clearance Features (1st Half).

11

Vehicle Dimensions Weight ClearanceCrawler MK 240mm x 260mm x 175mm 2.5 kgSpyrobot MK II 240mm x 260mm x 175mm 2.5 kgTankbotMaudMarv 19in x 14in x 9in 20 lbsMATILDA II 30in x 21in x 12in 61 lbsROID 290mm x 140mm x 220mm 15 kgSpike 38in x 28.5in x 22.5in 375 lbs 3 inGladiator / RT-20 > 1 tonRMI-9WT 47in x 27in x 29in 140 kg 11.5 cmRMI-9WB 43.5in x 26.5in x 28in 260 lbs 3.5 inRMI-10 34in x 22in x 20in 140 lbs 4.6 inM6 55cm x 65cm x 15cmMini UGV .65m x .5m x .56m 75 kgAndros Wolverine 58in x 29in x 40in 810 lbs 5.5 inMicro VGTV 7.5in x 6.5in x 10inATRV 2 1050mm x 490mm x 650mm 15 mmATRV Mini 605mm x 490mm x 450mm 10 mmATRV Jr. 775mm x 490mm x 550mm 12 mmNegotiator 25in x 16in x 7.6in 20 lbsRotundus 60cm high sphere 20 kg RollsRoller 4 600mm x 450mm x 350mm 45 kgMini Track 550mm x 250mm x 220mm 40 kgMaxi Track 1260mm x 785mm x 430mm 235 kgRATLERMarvinMMP-5 10.25in x 10.25in x 4.1in 4.5 lbsMMP-8 14in x 12.5in x 4.1in 7.5 lbsMMP-30 19.5in x 20in x 7.5in 30 lbsMMP-40 27.5in x 20in x 7.5in 40 lbs4G 30cm x 30cm x 30cm 4.5 kgMR-5

Table 4: Dimensions, Weight, and Clearance Features (2nd Half).

12

Vehicle Payload Towing Propulsion TypeP3-AT 20 kg 4 wheels / SkidSeekur 70 kg 4 wheels / Omni-directionalVanguard MK2 80 kg Tracked or WheeledBombTec Defender 6 wheels / DirectArt I TrackedIntruder 4 wheelsRanger > 50 lbs TrackedPiper 4 wheels / Diff driveGAIA-2 20 kg 4 wheels / Diff driveM2 150 kg 4 wheels (2WD)Aurora Single steerable trackDragon Runner 4 wheels, rear drivePandora Tracks, wheels, or legsChaos 4 moving tracked legsRhex 6 moving tracked legsSilverback 4 wheel ATV / PetrolGround Hog 4 wheelsBison 4 wheels, floatation, tracksCyclops 4 wheels or trackedMR-2 6 wheelsMR-7 TrackedMR-P Tracked or 6 wheelsTALON 100 lbs 200 lbs TrackedMURV-100 6-10 wheels / Skid (tracks)FFR-1 TrackedHornet MK-5 20 kg TrackedPackBot 64.1 kg Tracked / SkidKoala II 3 kg 6 wheels

Table 5: Payload, Towing, and Propulsion Features (1st Half).

13

Vehicle Payload Towing Propulsion TypeCrawler MK TrackedSpyrobot MK II TrackedTankbot 6 wheels / 4 wheels with TrackMaud TrackedMarv 10 lbs Tracked / Electric motorsMATILDA II 125 lbs 225 lbs TrackedROID TrackedSpike 5in wide Tracks / HydrostaticGladiator / RT-20 TrackedRMI-9WT 6 wheels / TrackedRMI-9WB 6 wheels / TracksRMI-10 4 wheelsM6 6 wheels / Revolute jointsMini UGV 6 wheels / SkidAndros Wolverine 6 wheels / TrackedMicro VGTV Tracked / Variable GeometryATRV 2 100 kg 4 wheelsATRV Mini 9.1 kg 4 wheelsATRV Jr. 25 kg 4 wheelsNegotiator TrackedRotundus Rolls on ground (sphere)Roller 4 50 kg 4 wheelsMini Track 20 kg TrackedMaxi Track 200 kg TrackedRATLER 4 wheels or trackedMarvin 4 wheelsMMP-5 4 lbs 4 wheelsMMP-8 7 lbs 6 wheelsMMP-30 20-30 lbs 4 wheels or trackedMMP-40 30-40 lbs 6 wheels or tracked4G 4 wheelsMR-5 2 tracks or 6 wheels

Table 6: Payload, Towing, and Propulsion Features (2nd Half).

14

Vehicle Power Computer ArmP3-AT Up to 3 batteries SH7144 controller NoSeekur 5/12/24V Up to 5 onboard PC’s NoVanguard MK2 24VAC YesBombTec Defender 24V YesArt I 1KW / 6 batteries NoIntruder Motorola 68HC11 NoRanger 1KW NoPiper 2 Motorola controllers NoGAIA-2 PC-104 processor NoM2 Two 12V batteries PC-104, Intel PIII NoAurora Li-ion recharge PC-104, Intel PIII NoDragon Runner Military batteries NoPandora Li-ion recharge Pentium PC onboard NoChaos NoRhex NiMH and Li-ion NoSilverback YesGround Hog YesBison High capacity 4 firing circuits YesCyclops 4 firing circuits YesMR-2 YesMR-7 YesMR-P NoTALON Lead acid, Li-ion YesMURV-100 2 lead acid / 12V YesFFR-1 24V / Batteries NoHornet MK-5 Two 12V batteries YesPackBot 18-30V NoKoala II NiMH Batteries Motorola 68331, 22MHz No

Table 7: Power, Computer, and Arm Features (1st Half).

15

Vehicle Power Computer ArmCrawler MK 11.1V, 6.6Ah NoSpyrobot MK II 11.1V, 6.6Ah NoTankbot Li-polymer NoMaud NoMarv 12VDC Battery NoMATILDA II 12VDC NiMH NoROID NoSpike 8Hp diesel, 4 stroke NoGladiator / RT-20 NoRMI-9WT Battery YesRMI-9WB YesRMI-10 YesM6 ST72331N controller NoMini UGV 24V Lead Acid NoAndros Wolverine Four 12V Batteries YesMicro VGTV 110/220VAC NoATRV 2 Four 24VDC NoATRV Mini Four 24VDC NoATRV Jr. Four 24VDC NoNegotiator NoRotundus Low energy rolling NoRoller 4 24VDC by cable YesMini Track YesMaxi Track YesRATLER Battery or fuel cell NoMarvin NoMMP-5 12V 1400 MaH NiMh NoMMP-8 12V 1400 MaH NiMh NoMMP-30 2 x 24 Volt 3.6 Ah NoMMP-40 2 x 24 Volt 3.6 Ah No4G Two NiMH Packs NoMR-5 Yes

Table 8: Power, Computer, and Arm Features (2nd Half).

16

Vehicle Rugged AvailabilityP3-AT Yes CommercialSeekur Yes CommercialVanguard MK2 Yes CommercialBombTec Defender Yes CommercialArt I Semi CommercialIntruder Semi CommercialRanger Yes CommercialPiper No CommercialGAIA-2 Yes CommercialM2 Yes CommercialAurora No PrototypeDragon Runner Yes PrototypePandora Yes PrototypeChaos Yes CommercialRhex Yes CommercialSilverback Yes CommercialGround Hog Yes CommercialBison Yes CommercialCyclops Yes CommercialMR-2 Yes CommercialMR-7 Yes CommercialMR-P Yes CommercialTALON Yes CommercialMURV-100 Semi CommercialFFR-1 Yes CommercialHornet MK-5 Yes CommercialPackBot Yes CommercialKoala II No Commercial

Table 9: Ruggedness and Availability (1st Half).

17

Vehicle Rugged AvailabilityCrawler MK Yes CommercialSpyrobot MK II Yes CommercialTankbot Yes CommercialMaud No PrototypeMarv Semi CommercialMATILDA II Yes CommercialROID No CommercialSpike Yes CommercialGladiator / RT-20 Yes CommercialRMI-9WT Yes CommercialRMI-9WB Yes CommercialRMI-10 Yes CommercialM6 Yes CommercialMini UGV Semi CommercialAndros Wolverine Yes CommercialMicro VGTV Yes CommercialATRV 2 Semi CommercialATRV Mini Semi CommercialATRV Jr. Semi CommercialNegotiator Yes CommercialRotundus Yes CommercialRoller 4 Semi CommercialMini Track Semi CommercialMaxi Track Semi CommercialRATLER Yes CommercialMarvin Yes GovernmentMMP-5 No CommercialMMP-8 No CommercialMMP-30 Semi CommercialMMP-40 Semi Commercial4G No CommercialMR-5 Yes Commercial

Table 10: Ruggedness and Availability (2nd Half).

18

P3-AT Seekur Vanguard MK2

BombTec Defender Art I Intruder

Ranger Piper GAIA-2

Table 11: Mobile Robot Images.

19

M2 Aurora Dragon Runner

Pandora Chaos RHex

Silverback Ground Hog Bison

Table 12: Mobile Robot Images.

20

Cyclops MR-2 MR-7

MR-P TALON MURV-100

FFR-1 Hornet MK-5 PackBot

Table 13: Mobile Robot Images.

21

Koala II Crawler MK Spyrobot MK II

Tankbot Maud Marv

MATILDA II ROID Spike

Table 14: Mobile Robot Images.

22

Gladiator / RT-20 RMI-9WT RMI-9WB

RMI-10 M6 Mini UGV

Andros Wolverine Micro VGTV ATRV 2

Table 15: Mobile Robot Images.

23

ATRV Mini ATRV Jr. Negotiator

Rotundus Roller 4 Mini Track

Maxi Track RATLER MARVIN

Table 16: Mobile Robot Images.

24

MMP-5 MMP-8 MMP-30

MMP-40 4G MR-5

Table 17: Mobile Robot Images.

25

5 Research-Based Robotic Manipulators

In this section, the current state of research-based robotic manipulators is outlined. In-

dustrial manipulators are much more expensive and heavier than those of non-industrial

(research-based) companies.

Tables 18 - 23 show robotic manipulator companies, their arms, and associated features.

The listed features are price, degrees-of-freedom, weight, payload, reach, temperature, power,

repeatability, rotation, and grippers/hands.

After the tables are listed, thumbnail images of each robotic manipulator are displayed.

Additional information on any of these arms is provided by the referenced company websites.

26

Company ArmActivMedia[48] Power Arm

Pioneer ArmAdept Technology, Inc.[1] Viper s650

Viper s850Alliance Spacesystems, Inc.[4] Mars 2001 and IDDAmtec Robotics[5] / SCHUNK[76] Power Cube

Ultra Lightweight ArmsApplied AI Systems, Inc.[7] / Neuronics[51] Harmonic Arm (Katana)

Harmonic Arm 2Barrett Technology, Inc.[12] WAM Arm

BarrettHand (3-fingered)BlueBotics[15] ERA-5Hydro-Lek[28] HLK SeriesInternational Submarine Engineering[38] MAGNUM

ATOMMetrica, Inc. / TRACLabs[47] MARS ManipulatorMitsubishi / Rixan[63] PA10-6C

PA10-7CMotoman[49] / Intelitek[31] SV3OCRobotics[53] Snake-like ArmsRoboProbe Technologies, Inc.[66] GRIPS

PREDATORRAPTOR

Robosoft[67] AGV-M6Lightweight Arm

Roper Resources Ltd.[70] PythonSchilling Sub-Atlantic Alliance[74] Orion

RigMasterConanTitan

ST Robotics[78] R17 and R19Systemantics[80] SCARA-style Arm

Table 18: Robotic Manipulator Companies and Arms.

27

Arm Price DOF Weight PayloadPower Arm 6 4.4 lbsPioneer Arm $4,795 5 5 ozViper s650 6 62 lbs 11 lbsViper s850 6 64 lbs 11 lbsMars 2001 and IDDPower Cube 2-7Ultra Lightweight Arms 7 25 lbs 6.6 lbsHarmonic Arm (Katana) 4,5,6 6-9 lbs 1.1 lbsHarmonic Arm 2 ∼$100K 6,7 31 lbs 6-11+ lbsWAM Arm $99,500 4,7 56 lbs 10 lbsBarrettHand (3-fingered) $29,500 3 2.6 lbs 13.2 lbsERA-5 $67,500 5 22 lbs 4.5 lbsHLK Series 4-6 10.5-28 kg 25-40 kgMAGNUM 3-7 71 kg 295 kgATOM 6 159 kg 136 kgMARS Manipulator ∼$100K 5 20-45 lbs 20-50 lbsPA10-6C 6 38 kg 10 kgPA10-7C 7 40 kg 10 kgSV3 $36K-$60K 6 66 lbs 7 lbsSnake-like Arms ManyGRIPS 6 59 kg 45 kgPREDATOR 6 81 kg 91 kgRAPTOR 6 73 kg 91 kgAGV-M6 $76K 6 77 lbs 4.4-31 lbsLightweight Arm $36K-$60K 5 44 lbs 22 lbsPython Many 32-42 lbs 15 lbsOrion 7 54 kg 68-250 kgRigMaster 5 61 kg 181-270 kgConan 7 91 kg 159-273 kgTitan 7 97 kg 122-454 kgR17 and R19 $13,900 5 48.4 lbs 4.4 lbsSCARA-style Arm 4 25-30 lbs 1.1 lbs

Table 19: Price, Degrees-of-Freedom, Weight, and Payload Features.

28

Arm Reach Temps PowerPower Arm 80 cm No 24 VDC (20-80 amps)Pioneer Arm 50 cm No 5-12 VDCViper s650 653 mmViper s850 854 mmMars 2001 and IDDPower Cube 1.3 mUltra Lightweight Arms 1.34 m 24 VDCHarmonic Arm (Katana) 60 cm 12 V (3.5 amps)Harmonic Arm 2 1-2 m -10oC 40 VWAM Arm 1 m -45oC 18-90 VDCBarrettHand (3-fingered) NA -45oC 120 VAC (outlet)ERA-5 0.6 m 24 V, max 400 WHLK Series 630-1500 mmMAGNUM 1.5 mATOM 1.9 mMARS Manipulator 1.1 0oC 24-60 VPA10-6C 930 mm 0oC 240 VPA10-7C 930 mm 0oC 240 VSV3 677 mm 0oCSnake-like ArmsGRIPS 1575 mm 26-40 VDCPREDATOR 79.5 in 26-40 VDCRAPTOR 64.5 in 26-40 VDCAGV-M6 1050 mm Yes 48 VDCLightweight Arm 120 cm 0oC 48 VDCPython 625 mm 24 VDC (3 amps)Orion 1800 mm 24 VDCRigMaster 1300 mm 24 VDCConan 1806 mm 24 VDCTitan 1916 mm 24 VDCR17 and R19 750 mm Yes 120-350 WSCARA-style Arm 750 mm No 110/240 VAC

Table 20: Reach, Temperature, and Power Features.

29

Arm Repeatability RotationPower Arm 1 mm 180 degrees at jointsPioneer Arm 1 cm 180 degrees at jointsViper s650 0.02 mmViper s850 0.03 mmMars 2001 and IDDPower Cube 180 degrees at jointsUltra Lightweight Arms 180 degrees at jointsHarmonic Arm (Katana) 0.1 mm Work radiusHarmonic Arm 2 0.1 mm Work radiusWAM Arm 0.3 mm 270 degree averageBarrettHand (3-fingered) Arm repeatability 180 spread, 140 fingersERA-5 90-120 degrees at jointsHLK Series 360 (continuous), 180 (joints)MAGNUM 360 base, 90 avg jointsATOM 360 base, 120 avg jointsMARS ManipulatorPA10-6C 0.1 mm 175+ swing and rotationPA10-7C 0.1 mm 175+ swing and rotationSV3 0.03 mm 170+ degrees at jointsSnake-like ArmsGRIPS 180 degrees at jointsPREDATOR 200+ degrees at jointsRAPTOR 200+ degrees at jointsAGV-M6 1 mm 120 base, 130 wristLightweight Arm SCARA, 90 base, 170 jointsPython 360 degrees volumeOrion Mostly linear, up to 360RigMaster Mostly linear, up to 360Conan Mostly linear, up to 360Titan Mostly rotary, up to 270R17 and R19 0.2 mmSCARA-style Arm 0.1 mm

Table 21: Repeatability and Rotation Features.

30

Industrial Company Email PhoneABB[82] 1-203-750-2200DENSO[22] info@densorobotics.com 1-888-476-2689FANUC[25] 1-513-754-2400Hyundai Robotics[29] 1-205-216-0170Kawasaki[41] kri-sales@kri-us.com 1-248-446-4100KC Robotics[42] info@kcrobotics.com 1-800-7ROBOTSKUKA Robotics[43] info@kukarobotics.com 1-586-569-2082Lincoln Electric[44] 1-216-383-8027Mitsubishi / Rixan[63] robots@rixan.com 1-937-438-3005Motoman[49] support@intelitek.com 1-800-777-6268Nachi Robotic Systems[50] info@nachirobotics.com 1-248-305-6545OTC Daihen, Inc.[54] sales@DAIHEN-usa.com 1-937-667-0800Panasonic[56] 1-847-495-6100RobotWorx[69] 1-740-383-8383Smart Motion Robotics[77] info@smartmotion.com 1-847-836-7744Staubli Robotics[79] 1-800-257-8235Yamaha Robotics[86] info@yamaharobotics.com 1-610-325-9940

Table 22: Industrial Manipulator Companies and Contact Information.

Company NotesAladco Robotic Hands[2] Grips, clamps, valvesApplied Robotics, Inc.[8] Servo / pneumatic grippers, actuatorsAssurance Technologies, Inc.[9] Tool changers, rotary jointsBarrett Technology, Inc.[13] BarrettHand three-fingered gripperCompact Automation LLC[18] GrippersCPI Products L.C.[19] Grippers, clamps, end-effectersEOA Systems, Inc.[24] Grippers, clamps, end-effectersPhD, Inc.[58] Clamps, grippers, large catalogRAD[61] Hands, tool changers, grippersRobo-Tech Systems, Inc.[64] Grippers, custom wrists / fingers, sensorsRobohand[65] Grippers, clamps, end-effectersSchmalz[75] Vacuum handling and clamping systemsSchunk[76] Grippers, clamps, handlers, end-effectorsTechno-Sommer Automatic[81] Grippers, closers, clamps, swivel units

Table 23: Gripper and Hand Companies.

31

Power Arm Pioneer Arm Viper s650

Viper s850 Mars 2001 Power Cube

Ultra Lightweight Arm Harmonic Arm Harmonic Arm 2

Table 24: Robotic Manipulator Images.

32

WAM Arm BarrettHand ERA-5

HLK Series MAGNUM ATOM

MARS Manipulator PA10-6C PA10-7C

Table 25: Robotic Manipulator Images.

33

SV3 Snake-like Arm GRIPS

PREDATOR RAPTOR AGV-M6

Lightweight Arm Python Orion

Table 26: Robotic Manipulator Images.

34

RigMaster Conan Titan

R17 SCARA-style Arm

Table 27: Robotic Manipulator Images.

35

6 Conclusions

Information in this technical report can be used to determine what mobile robot platform

or robotic manipulator would suit the needs of particular applications. By defining the

environment and application, many of the presented technologies can be specially tailored

for performing a particular task.

Available options for each mobile robot and robotic manipulator were left out of this

review. There are a vast number of options that one could equip these robotic mechanisms

with; essentially nearly anything imaginable. Interfacing to and controlling such options as

cameras, tactile sensors, or defense systems becomes specific to the platform or model.

Information missing from the tables will be filled in as it becomes available, as it was

gathered through conversations with companies and online material. This information is

current as of September 2006.

Acknowledgments

This material is based upon work supported by the National Science Foundation under Grant

No. ANT-0424589. Any opinions, findings, and conclusions or recommendations expressed

in this material are those of the authors and do not necessarily reflect the views of the

National Science Foundation.

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43

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IntroductionRobotic Mobility and ControlRobotic Manipulators and End-EffectorsMedium-Sized Mobile RobotsResearch-Based Robotic ManipulatorsConclusions