Robots
COPacabana HN/IF
This Robot is Outdated
Sometimes, technology advances and that causes us to abandon old systems in favor of newer ones. It seems, this robot has evolved into a newer version and so this information you find here may be outdated.
This robot has been superseded by COPacabana.
Motion Pattern
Organization
Institute for Control Engineering of Machine Tools and Manufacturing Units ISW
University of Stuttgart
Comprising two separate robots, COPacabana Inspection (COP-IF) and COPacabana Handling (COP-HN), COPacabana is a test setup for various scenarios in manufacturing and production environments. Designed to be used cooperatively, COP-HN can load and unload a CNC milling machine with a piece taken from or placed onto the platform of COP-IF. Both systems are based on the IPAnema robot family and use the same hardware design for pulleys, winches, and platform.
Various student theses have been conducted on the system including manipulation of the end effector pose using a smartphone or automated positioning and orienting using a macro camera.
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COPacabana platforms #1
Medium close-up of the two platforms of COPacabana: the inspection platform in the front and the handling platform in the back.
COPacabana long shot
Long shot of COPacabana: the actuating winches in the front, the two platforms on their home base plates in the middle, and the two control cabinets in the background.
COPacabana platforms #2
Medium close-up of the two platforms with the rear/inspection platform elevated at about half the workspace height.
COPacabana inspection platform
Medium close shot of the rear/inspection plaform elevated at about half the workspace height.
COPacabana platform-side cable anchor
Close-up of COPacabana’s platform-sided cable anchor realized as a swivel bolt-like system much like the one found on IPAnema.
COPacabana winch
Close-up of the travelling carriage on the IPAnema/COPacabana winches showing the cable approaching the inner/first pulley which is mounted on a force sensor.
COPacabana platforms
Medium long shot of both platforms of COPacabana in mid-workspace position. Both platforms can be operated independently of each other using separate control systems.