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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
* 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 at pioneering robot
A robot is a machine—especially one Computer program, programmable by a computer—capable of carrying out a complex series of actions Automation, automatically. A robot can be guided by an external control device, or the robot control, co ...
company Unimation. Initially developed by Unimation for General Motors
General Motors Company (GM) is an American Multinational corporation, multinational Automotive industry, automotive manufacturing company headquartered in Detroit, Michigan, United States. The company is most known for owning and manufacturing f ...
, the PUMA was based on earlier designs Scheinman invented while at Stanford University
Leland Stanford Junior University, commonly referred to as Stanford University, is a Private university, private research university in Stanford, California, United States. It was founded in 1885 by railroad magnate Leland Stanford (the eighth ...
based on sponsorship and mentoring from robot inventor George Devol
George Charles Devol Jr. (February 20, 1912 – August 11, 2011) was an American inventor, best known for creating Unimate, the first industrial robot. The National Inventors Hall of Fame says, "Devol's patent for the first digitally operat ...
.
Unimation produced PUMAs for years until being purchased by Westinghouse (ca. 1980), and later by Swiss company Stäubli (1988). Nokia
Nokia Corporation is a Finnish multinational corporation, multinational telecommunications industry, telecommunications, technology company, information technology, and consumer electronics corporation, originally established as a pulp mill in 1 ...
Robotics manufactured about 1500 PUMA robots during the 1980s, the Puma-560 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
''Innerspace'' is a 1987 American science fiction comedy film directed by Joe Dante and produced by Michael Finnell, inspired by the 1966 film ''Fantastic Voyage''. The film stars Dennis Quaid, Martin Short, Meg Ryan, Robert Picardo, and Kevin ...
. An arm was displayed in the "Bird And The Robot" attraction at the World of Motion
World of Motion, presented by General Motors Corporation, 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://ww ...
pavilion of EPCOT.
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