Requirements.pdf

REQUIREMENTS DOCUMENT

Title: Robot arms for Bimanual Manipulation test methods, Brand-Name Only for Universal Robot (UR)-10e collaborative robotic arm.

Requesting Lab: Engineering Laboratory

I. BACKGROUND INFORMATION

The Engineering Laboratory (EL) at NIST works on the Grasping, Manipulation, and Contact safety performance of robotic systems designing test methods that benchmark performance of collaborative robot systems. The Grasping, Manipulation, and Contact Safety project develops and standardizes performance metrics, test methods, and associated measurement tools that support the development of robotic systems that have human-like dexterity and force-control characteristics.

These types of robotic systems enable tactual-based safe human collaboration and contact-rich manufacturing operations, such as assembly, while addressing the barriers to automation faced by low-volume, high-mix manufacturing environments.

II. Purpose: The purpose of this requirement is to obtain two (2) collaborative robotic manipulator arms, on a Brand-Name Only basis for the Universal Robots (UR)-10e collaborative robotic arm described below, which will assist NIST in the creation of standards for benchmarking the performance of coordinated control between separate robotic arms.

III. MINIMUM REQUIREMENTS

The Contractor shall provide a robotic arm that meets all technical specifications identified below for a Universal Robot (UR)-10e collaborative robotic arm on a Brand-Name Only basis. The UR10e is manufactured by Universal Robots.

Universal Robots, a Danish manufacturer of collaborative robotic arms, is headquartered in Odense, Denmark. This is a Brand-Name Only requirement for a UR10e robotic arm. All items must be new. Used or remanufactured equipment will not be considered for award. Experimental, prototype, or custom items will not be considered. The use of “gray market” components are not authorized for sale in the U.S. by the Contractor is not acceptable. All line items shall be shipped in the original manufacturer’s packaging and include all original documentation and software, when applicable.

Line Item 0001: UR-10e Robot Manipulator arm Description A robot arm with 7 degrees of freedom Quantity: 2 Technical Specifications (all of which must be met):

At least 7 degrees of freedom.

Integrated joint torque sensors at the end-effector (wrist joint) Power supply supporting a 120V utility power input.

Capable of handling a 5.5kg load Compatibility with ROS2 Controllable from remote computer including a start and stop program

Capable of receiving position commands in real time and provide feedback in real-time

Capable of communicating between arms with no time delay exceeding 100ms

IV. DELIVERABLES

Description Quantity Due Date UR 10e Robot Manipulator Arm 2 8 weeks ARO

Standards of Acceptance: The NIST Contracting Officer’s Representative (COR) shall review all deliverables and respond with an acceptance or request for revision email to the Contractor Point of Contact (POC) within 1 week of receipt of deliverable.

Brand-Name Determination: NIST is working to develop test methods which quantify the coordinated control between robot systems, which is a measure of how well two systems can perform an action together with as little lag between actions as possible. This requires that NIST purchases two (2) arms from the same manufacturer that can be given commands remotely and in real time while programs are running, and that the position and force information be provided in real-time and shared between each arm so that a measure of information exchange time can be recorded. The UR10e robot arm is the only arm that has the integrated joint torque sensor at the wrist that can achieve all of these requirements. The robot arms also must be compatible with the Robotic Operating System 2 (ROS2). ROS2 is middleware software currently being utilized at NIST, which simplifies the creation of complex and robust robot behavior and their platforms, such as real-time control-loop behavior.

V. LEAD TIME FOR DELIVERY

Eight (8) Weeks ARO

VI. DELIVERY TERMS

Delivery shall be F.O.B Destination and shall occur in accordance with the delivery due dates provided in the above table.

FOB Destination means: The contractor shall pack and mark the shipment in conformance with carrier requirements, deliver the shipment in good order and condition to the point of delivery specified in the purchase order, be responsible for any loss of and/or damage to the goods occurring before receipt and acceptance of the shipment by the consignee at the delivery point specified in the purchase order;

and pay all charges to the specified point of delivery. The contractor shall deliver all Line Items to the NIST Shipping and Receiving address identified below. The delivery will then be directed to the equipment’s final destination, also identified below.

National Institute of Standards and Technology Shipping and Receiving 100 Bureau Drive, Building 301

Gaithersburg, MD 20899

NIST Final Equipment Destination:

100 Bureau Drive Building 202, Room 135 Gaithersburg, MD 20899-0001

VII. INSPECTION & ACCEPTANCE

In addition to the inspection and acceptance terms articulated in 52.212-4, the Government reserves the right to perform such performance tests and evaluations as defined below to verify specified system performance. Such tests and evaluations, if performed, shall be conducted within the environment that the system is to be operated. The Contractor has the right to be present during the tests and evaluations, if performed, at the Contractor’s expense.

Performance Tests:

1. Initial setup and calibration, which will be performed by the government.

A visual inspection of the equipment will be performed by the NIST Subject Matter Expert (SME) to identify surface defects or any form of indication that any equipment was damaged during transport to NIST. The Government shall have sole discretion to require repair or replacement of damaged and/or nonconforming supplies at no cost to the Government. The Government at any time prior to acceptance may reject the equipment due to defects and/or nonconformance. The vendor is responsible for latent defects discovered any time after final inspection. However, the extent of its liability shall be prorated over the useful life of the equipment.

The Government will test, inspect, and accept or reject the equipment within 1 week of the receipt of the equipment unless otherwise indicated above. The Government reserves the right to conduct quality assurance testing to confirm that a given instrument(s) meets the manufacturer’s and/or the Government’s performance specifications. The equipment shall meet all manufacturer’s specifications and/or the Government’s performance specifications identified in the most recent operations and maintenance manual for each piece of equipment and/or in this document.

VIII. TRAINING AND INSTALLATION:

No training or installation requirements shall be performed by the contractor.

IX. WARRANTY

The contractor shall warrant the entire system in accordance with the contractor’s or original equipment manufacturers’ (OEM) standard commercial item warranty.