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The PUMA (''Programmable Universal Machine for Assembly'', or ''Programmable Universal Manipulation Arm'') is an industrial
Nokia NS-16 Industrial Robot
or NRS-15 . Nokia sold their Robotics division in 1990. In 2002, General Motors Controls, Robotics and Welding (CRW) organization donated the original prototype PUMA robot to the Smithsonian Institution's National Museum of American History. It joins a collection of historically important robots that includes an early Unimate and the Odetics Odex 1.PUMA Robot Becomes Part of American History at the Smithsonian
Robotics Online, archived on February 28, 2008 fro
the original
/ref> The essence of the design is represented in three categories; 200, 500, and 700 series. The 200 series is a smaller desktop unit. Notably, this model was used for the first robotic stereotactic brain biopsy in 1985. The 500 Series and can reach almost 2 meters up. This model is the more popular design and is the most recognizable configuration. The 700 series is the largest of the group and was intended for assembly line, paint, and welding work. All designs consist of two main components: the mechanical arm and the control system. These are typically interconnected by one or two large multi-conductor cables. When two cables are used, one carries power to the servo motors and brakes while the second carries the position feedback for each joint back to the control system. The control computer is based on the LSI-11 architecture which is very similar to PDP11 computers. The system has a boot program and basic debug tool loaded on ROM chips. The operating system is loaded from external storage through a serial port, usually from a floppy disk. The control unit also contains the servo power supply, analog and digital feedback processing boards, and servo drive system. The arm appears in the film Innerspace. An arm was displayed in the "Bird And The Robot" attraction at the
* 6 Axis arm with 3 axis making up a spherical wrist."Robot 560 C Arm Manual" Staubli Unimation ltd. 1990 ch.1 pg.1
* Maximum reach 878mm from center axis to center of wrist
* Software selectable payloads from 4 kg to 2.5 kg
* Arm weight: 83 kg (approximate)"Robot 560 C Arm Manual" Staubli Unimation ltd. 1990 ch.1 pg.10
* Repeatability ±0.1mm"Robot 560 C Arm Manual" Staubli Unimation ltd. 1990 ch.1 pg.12
* 2.5 kg max velocity: 500mm/sec straight line moves
* 4.0 kg max velocity: 470mm/sec straight line moves
* 6 Axis arm with 3 axis making up a spherical wrist.
* Maximum reach
761: 1.50m from center axis to center of wrist
762: 1.25m from center axis to center of wrist"Unimate PUMA Mark III Robot 700 Series Models 761/762 Equipment Manual 398Z1" Unimation Westinghouse. 1986 ch.1 pg.43
* Arm mass:
761: 600 kg
762: 590 kg
* Payload:
761: 10 kg"Unimate PUMA Mark III Robot 700 Series Models 761/762 Equipment Manual 398Z1" Unimation Westinghouse. 1986 ch.1 pg.44
762: 20 kg
* Repeatability ±0.2mm"Unimate PUMA Mark III Robot 700 Series Models 761/762 Equipment Manual 398Z1" Unimation Westinghouse. 1986 ch.1 pg.46
* max velocity: 1000mm/sec straight line moves
Stäubli RoboticsFilm from 1981 titled 'PUMA...The Leading Edge in Robotic Technology' produced by Unimation, Inc.
Industrial robots 1975 robots Robotics at Unimation
robotic arm
A robotic arm is a type of mechanical arm, usually programmable, with similar functions to a human arm; the arm may be the sum total of the mechanism or may be part of a more complex robot. The links of such a manipulator are connected by join ...
developed by Victor Scheinman
Victor David Scheinman (December 28, 1942 – September 20, 2016) was an American pioneer in the field of robotics.
He was born in Augusta, Georgia, where his father Leonard was stationed with the US Army. At the end of the war the family mov ...
at pioneering robot
A robot is a machine—especially one programmable by a computer—capable of carrying out a complex series of actions automatically. A robot can be guided by an external control device, or the control may be embedded within. Robots may be ...
company Unimation
Unimation was the world's first robotics company. It was founded in 1962 by Joseph F. Engelberger and George Devol and was located in Danbury, Connecticut. Devol had already applied for a patent an industrial robotic arm in 1954; was issued in ...
. Initially developed for General Motors
The General Motors Company (GM) is an American Multinational corporation, multinational Automotive industry, automotive manufacturing company headquartered in Detroit, Michigan, United States. It is the largest automaker in the United States and ...
, the PUMA was based on earlier designs Scheinman invented while at Stanford University
Stanford University, officially Leland Stanford Junior University, is a private research university in Stanford, California. The campus occupies , among the largest in the United States, and enrolls over 17,000 students. Stanford is conside ...
.
Unimation produced PUMAs for years until being purchased by Westinghouse (ca. 1980), and later by Swiss company Stäubli (1988). Nokia
Nokia Corporation (natively Nokia Oyj, referred to as Nokia) is a Finnish multinational telecommunications, information technology, and consumer electronics corporation, established in 1865. Nokia's main headquarters are in Espoo, Finland, i ...
Robotics manufactured about 1500 PUMA robots during the 1980s, the Puma-650 being their most popular model with customers. Some own Nokia Robotics products were also designed, likNokia NS-16 Industrial Robot
or NRS-15 . Nokia sold their Robotics division in 1990. In 2002, General Motors Controls, Robotics and Welding (CRW) organization donated the original prototype PUMA robot to the Smithsonian Institution's National Museum of American History. It joins a collection of historically important robots that includes an early Unimate and the Odetics Odex 1.
Robotics Online, archived on February 28, 2008 fro
the original
/ref> The essence of the design is represented in three categories; 200, 500, and 700 series. The 200 series is a smaller desktop unit. Notably, this model was used for the first robotic stereotactic brain biopsy in 1985. The 500 Series and can reach almost 2 meters up. This model is the more popular design and is the most recognizable configuration. The 700 series is the largest of the group and was intended for assembly line, paint, and welding work. All designs consist of two main components: the mechanical arm and the control system. These are typically interconnected by one or two large multi-conductor cables. When two cables are used, one carries power to the servo motors and brakes while the second carries the position feedback for each joint back to the control system. The control computer is based on the LSI-11 architecture which is very similar to PDP11 computers. The system has a boot program and basic debug tool loaded on ROM chips. The operating system is loaded from external storage through a serial port, usually from a floppy disk. The control unit also contains the servo power supply, analog and digital feedback processing boards, and servo drive system. The arm appears in the film Innerspace. An arm was displayed in the "Bird And The Robot" attraction at the
World of Motion
World of Motion, sponsored by General Motors,"GM's World of Motion Exhibit opens in Epcot Center at the Walt Disney World Resort. Before the year is out, the one millionth visitor to the exhibit is recorded." http://www.gm.com/company/corp_info/h ...
pavilion of EPCOT
Epcot, stylized in all uppercase as EPCOT, is a theme park at the Walt Disney World Resort in Bay Lake, Florida. It is owned and operated by The Walt Disney Company through its Parks, Experiences and Products division. Inspired by an unre ...
.
Model 260
* Six-axis arm with 3 axis making up a spherical wrist * Maximum reach 400 mm from center axis to center of wrist * Maximum payload: 2.2 kg * Arm weight: 13.2 kg * Repeatability ±0.05 mm * max velocity: 1245 mm/sec straight line movesModel 560 C
* 6 Axis arm with 3 axis making up a spherical wrist."Robot 560 C Arm Manual" Staubli Unimation ltd. 1990 ch.1 pg.1
* Maximum reach 878mm from center axis to center of wrist
* Software selectable payloads from 4 kg to 2.5 kg
* Arm weight: 83 kg (approximate)"Robot 560 C Arm Manual" Staubli Unimation ltd. 1990 ch.1 pg.10
* Repeatability ±0.1mm"Robot 560 C Arm Manual" Staubli Unimation ltd. 1990 ch.1 pg.12
* 2.5 kg max velocity: 500mm/sec straight line moves
* 4.0 kg max velocity: 470mm/sec straight line moves
Model 761 and 762
* 6 Axis arm with 3 axis making up a spherical wrist.
* Maximum reach
761: 1.50m from center axis to center of wrist
762: 1.25m from center axis to center of wrist"Unimate PUMA Mark III Robot 700 Series Models 761/762 Equipment Manual 398Z1" Unimation Westinghouse. 1986 ch.1 pg.43
* Arm mass:
761: 600 kg
762: 590 kg
* Payload:
761: 10 kg"Unimate PUMA Mark III Robot 700 Series Models 761/762 Equipment Manual 398Z1" Unimation Westinghouse. 1986 ch.1 pg.44
762: 20 kg
* Repeatability ±0.2mm"Unimate PUMA Mark III Robot 700 Series Models 761/762 Equipment Manual 398Z1" Unimation Westinghouse. 1986 ch.1 pg.46
* max velocity: 1000mm/sec straight line moves
Control system
Variable Assembly LanguageReferences
Books that Reference the PUMA design
*"Essentials of Mechatronics" Billingsley,John. John Wiley & Sons. Hoboken, NJ. 2006 Ch.9 *"Robot Modeling and Kinematics" Manseur,Rachid. DaVinci Engineering Press. Boston, MA. 2006 Ch.4-5 *"Robotics Technology and Flexible Automation 2nd Edition" S.R. Deb. McGraw Hill. New Delhi. 2010External links
{{commons categoryStäubli Robotics
Industrial robots 1975 robots Robotics at Unimation