Robotics Research Group - RRG
POLITECNICO DI TORINO
Dipartimento di Automatica e Informatica
Corso Duca degli Abruzzi, 24
10129 Torino

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The COMAU Smart S2 Robot

 
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GENERALITIES

Since January 2000 the Laboratory hosts an industrial robot Comau SMART S2, endowed with an "open control" C3G 900 by Tecnospazione SpA and a force/torque sensor ATI Gamma SI-130-10.

For a short general introduction to the robot characteristics you can download the manual file ManualeSmartS2.pdf.

ROBOT DESCRIPTION

Overall dimensions and working space

This SMART S2 is a 6 dof articulate robot conceived for small to middle loads and industrial applications as:

  • arc welding
  • palletizing/depalletizing
  • machine loading/downloading
  • part assembling with force control
  • part inspection
  • glue/sealing application
  • painting
Other caracteristics are:
  • large working envelope
  • max wrist load capacity equal to 78,45 N (8 kg)
  • brakes on all motors
  • electrical and pneumatic services available at the forearm
  • brushless motors
  • gear reductions on the first fiveaxes
  • absolute axis position, obtained with resolvers integrated into the motors and absolute transducer modules RPT (Resolver Position Tracker)

MECHANICAL STRUCTURE

6 DOF articulated robot


Mechanical structure


The LabRob installation

Operative toolcenter with a force/torque sensor connected by a serial link to the command PC


The force/torque sensor


A CCD camera mounted on the wrist

Controller cabinet with teach-pendant


The teach-pendant

MOTORS

6 brushless motors with reduction gears

CONTROL ARCHITECTURE
... under construction ...

PC INTERFACE
... under construction ...

SUPERVISION & MANAGEMENT SOFTWARE
... under construction ...

Last modified 2 December 2003
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