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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
142:
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
150:
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.
134:
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
127:
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, like
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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.
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Physical measurements of the 761 and 762 PUMA arm segments. Both arms are identical for these measurements so only one image is needed.
651:"Unimate PUMA Mark III Robot 700 Series Models 761/762 Equipment Manual 398Z1" Unimation Westinghouse. 1986 ch.1 pg.24 fig 1-13
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The control unit also contains the servo power supply, analog and digital feedback processing boards, and servo drive system.
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642:"Unimate PUMA Mark III Robot 700 Series Models 761/762 Equipment Manual 398Z1" Unimation Westinghouse. 1986 ch.1 pg.46
630:"Unimate PUMA Mark III Robot 700 Series Models 761/762 Equipment Manual 398Z1" Unimation Westinghouse. 1986 ch.1 pg.44
618:"Unimate PUMA Mark III Robot 700 Series Models 761/762 Equipment Manual 398Z1" Unimation Westinghouse. 1986 ch.1 pg.43
604:"Unimate PUMA Mark III Robot 700 Series Models 761/762 Equipment Manual 398Z1" Unimation Westinghouse. 1986 ch.2 pg.4
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Physical measurements of the 761 and 762 PUMA arm segments, contrasting the lengths of the two forearm segments.
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Film from 1981 titled 'PUMA...The
Leading Edge in Robotic Technology' produced by Unimation, Inc.
686:"Robotics Technology and Flexible Automation 2nd Edition" S.R. Deb. McGraw Hill. New Delhi. 2010
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761: 1.50m from center axis to center of wrist 762: 1.25m from center axis to center of wrist
675:"Robot Modeling and Kinematics" Manseur, Rachid. DaVinci Engineering Press. Boston, MA. 2006
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664:"Essentials of Mechatronics" Billingsley, John. John Wiley & Sons. Hoboken, NJ. 2006
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583:"Robot 560 C Arm Manual" Staubli Unimation ltd. 1990 {C340.005.05.A} ch.1 pg.12
569:"Robot 560 C Arm Manual" Staubli Unimation ltd. 1990 {C340.005.05.A} ch.1 pg.10
592:"Robot 560 C Arm Manual" Staubli Unimation ltd. 1990 {C340.005.05.A} ch.1 pg.5
560:"Robot 560 C Arm Manual" Staubli Unimation ltd. 1990 {C340.005.05.A} ch.1 pg.1
546:"Robot 560 C Arm Manual" Staubli Unimation ltd. 1990 {C340.005.05.A} ch.2 pg.3
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161:. An arm was displayed in the "Bird And The Robot" attraction at the
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104:, the PUMA was based on earlier designs Scheinman invented while at
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Unimate 500 PUMA (1983), control unit and computer terminal at
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PUMA Robot
Becomes Part of American History at the Smithsonian
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Maximum reach 400 mm from center axis to center of wrist
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Unimation produced PUMAs for years until being purchased by
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Software selectable payloads from 4 kg to 2.5 kg
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or NRS-15 . Nokia sold their
Robotics division in 1990.
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4.0 kg max velocity: 470mm/sec straight line moves
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2.5 kg max velocity: 500mm/sec straight line moves
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Maximum reach 878mm from center axis to center of wrist
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based on sponsorship and mentoring from robot inventor
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Robotics Online, archived on
February 28, 2008 from
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Six-axis arm with 3 axis making up a spherical wrist
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6 Axis arm with 3 axis making up a spherical wrist.
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6 Axis arm with 3 axis making up a spherical wrist.
193:max velocity: 1245 mm/sec straight line moves
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397:max velocity: 1000mm/sec straight line moves
16:Industrial robotic arm developed by Unimation
382:761: 600 kg 762: 590 kg
266:PUMA 560 C robot arm segment measurements.
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119:(ca. 1980), and later by Swiss company
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280:Arm weight: 83 kg (approximate)
659:Books that Reference the PUMA design
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390:761: 10 kg 762: 20 kg
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147:joint back to the control system.
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494:"Oral-History:Victor Scheinman"
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184:Maximum payload: 2.2 kg
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157:The arm appears in the film
129:Nokia NS-16 Industrial Robot
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190:Repeatability ±0.05 mm
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475:Variable Assembly Language
187:Arm weight: 13.2 kg
139:and the Odetics Odex 1.
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734:Robotics at Unimation
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394:Repeatability ±0.2mm
283:Repeatability ±0.1mm
496:. 14 December 2020.
106:Stanford University
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724:Industrial robots
670:978-0-471-72341-7
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35:PUMA arm at NASA
25:Deutsches Museum
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165:pavilion of
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117:Westinghouse
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110:George Devol
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75:anipulation
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67:rogrammable
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48:rogrammable
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729:1975 robots
460:Tool Swivel
344:Tool Flange
258:Model 560 C
248:Tool flange
86:robotic arm
56:achine for
718:Categories
480:References
452:Wrist Roll
444:Wrist Bend
336:Wrist Roll
328:Wrist Bend
240:Wrist roll
232:Wrist bend
159:Innerspace
83:industrial
378:Arm mass:
173:Model 260
98:Unimation
71:niversal
52:niversal
428:Shoulder
415:Degrees
386:Payload:
312:Shoulder
299:Degrees
216:Shoulder
203:Degrees
123:(1988).
96:company
81:) is an
27:, Munich
137:Unimate
121:Stäubli
60:ssembly
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683:Ch.4-5
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517:8 May
436:Elbow
420:Waist
320:Elbow
304:Waist
224:Elbow
208:Waist
167:EPCOT
125:Nokia
94:robot
62:, or
688:ISBN
677:ISBN
672:Ch.9
666:ISBN
519:2013
463:600
455:532
447:200
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347:532
339:280
331:200
323:284
315:266
307:320
251:525
243:575
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227:300
219:320
211:315
41:PUMA
39:The
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79:rm
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77:A
73:M
69:U
65:P
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43:(
Text is available under the Creative Commons Attribution-ShareAlike License. Additional terms may apply.
