SB1341-16-RQ-0175_Attachment_1__Specifications-Statement_of_Requirements_(Ref_16-01836).pdf

Request for Quotation: SB1341‐16‐RQ‐0178 Attachment 1: Statement of Work

Specifications/Statement of Requirements Universal Robots‐brand UR Collaborative Robot System

1. BACKGROUND INFORMATION

The NIST Robot Systems for Smart Manufacturing (RSSM) program contains a project focused on Performance of Collaborative Robot Systems (PCRS). The PCRS project addresses the measurement science challenges hindering the advancement of robot technologies working collaboratively in flexible factory environments with and without humans in‐the‐loop. This includes human‐robot and robot‐robot collaborations. One component of the PCRS project focuses on “mobile manipulators,” robot arms mounted to and working collaboratively with mobile, robotic bases.

2. PURPOSE AND OBJECTIVES

The development of measurement science at NIST is to advance mobile manipulator performance and involves the use of (2) collaborative, industrial robot systems mounted to different mobile bases. To assess the performance of mobile manipulator technologies that provide safe and accurate performance in support of collaborative robot operations, the continued development and support of a mobile manipulator testbed is required that enables robotic systems to perform manufacturing‐relevant tasks while simultaneously be safe for nearby human operations.

This requirement is for the purchase of two (2), Universal Robots‐brand, single arm, collaborative, industrial robotic systems.

New single‐armed collaborative, industrial robot systems with limiting safety‐related functions are required. These robot systems will support the following program research areas:

a) Develop test methods and use cases specific to collaborative robots and mobile manipulators

b) Leverage collected data available from the testbed to build representative and relevant data sets for the development of collaborative robot technologies

c) Validate existing and/or newly developed tools on real industrial robotic systems relevant to manufacturing systems

d) Identify and validate necessary standards, infrastructure, and technologies needed to deploy collaborative robot technologies and tools

3. SPECIFICATIONS AND MINIMUM REQUIREMENTS

The specifications for the Universal Robots‐ brand, (2) single‐arm, collaborative, industrial robot configuration are as follows:

A. Robot Capabilities

Specification Criteria Minimum Requirement Number of arms 1, each robot

Degrees of freedom ≥ 6 per arm

Payload ≥ 10 kg (for one robot) and ≥ 5 kg (for one robot)

Repeatability (Cartesian) < +/‐ 0.2 mm

Maximum arm speed ≥ 0.5 m/s

B. Robot Size

Portability Robots must be light or mobile enough to be repositioned by a single operator throughout the robot testbed. If manually carried, each robot must be < 30 kg.

Reach 800mm – 900mm (for one robot) and 1100mm – 1300mm (for one robot)

C. Safety

Limiting Safety‐related Functions Joint position; Joint speed, TCP position; TCP speed;

TCP force; Momentum; Power

Standards Compliance Robot must comply with ISO standards for robot safety, specifically ISO 10218‐1:2011 and ISO 13849:2008

D. Power Consumption

Supply voltage 120 VAC 50‐60 Hz

Rated current < 15 A (each robot)

E. Control

Controllers One controller per robot – 2 controllers total

Programming Polyscope graphical user interface on 12 inch touchscreen with mounting

Teach Pendant Teach pendant for manufacturing robot process training and programming

F. Interface

PC Connectivity Communication with an external PC for logging and control robot and sensor data via common network connection (e.g., TCP/IP)

Industry Connectivity Communication via industry standard communication protocols (e.g. FieldBUS, Ethernet IP, DeviceNET)

Data input/output Digital I/O (via 24VDC in control box and 12V/24VDC in tool)

4. DELIVERY AND INSTALLATION:

Delivery shall take place 6 weeks after receipt of the order. Installation instructions shall be provided by the vendor.

5. INSPECTION & ACCEPTANCE:

All components shall be received and tested functional per the specifications before official receipt acceptance. This is to be conducted at NIST.

6. WARRANTY AND MAINTENANCE:

1‐year warranty on parts and labor is required. Given the nature of the repair, repairs may be performed on‐site or the robot may be shipped back to the company for repair. Upgrades are provided for the life of the product. This includes firmware and software upgrades are free for download from the technical website for the lifetime of the product.