Project Name: MoCAAS

Consortium: Spin Robotics IVS,
Pehama Production A/S

Project Hashtag: #plugnproduce


Every day, millions of screws, bolts and other objects with threads are mounted in the European manufacturing industry by employees with handheld screwdrivers in everything from windows, cars, refrigerators to electronic products. It is an expensive, time consuming and inefficient assembly process. The repetitive work from manual screwdriving can cause physical disabilities and strain. With MoCAAS, the two partners – Spin Robotics (DK) and Pehama Production (DK) will introduce a new flexible mobile assembly workstation on the marked, targeting SMEs in the automotive and electronics industry. The workstation is special designed, for assembly of objects with threads. The technological impact is a new safe End-ofarm-tool and a flexible feeder system. Both products are already under development by the two partners. All integrated in a small mobile platform which can be moved around in the production. The technology will be a finished product and commercially available after the project, ready to ship to global customer on a half euro pallet. The MoCAAS workstation will cover the gap in the marked between the fully automatic screwdriving systems and manual screwdriver tool.

During the ESMERA project the technical focus will be the following:

Phase 1:

• Flexible feeder mechanics: A new mechanical flex-feeder is developed to present the robot with aligned adj. feets. One of the key design criteria are the reconfigurability of the mechanism and low cost.

• Safety sensor: A prototype of a new safety sensor/system is designed to increase the overall safety of the system.

• Building of the first prototype: A initial experiment platform is constructed and assembled. This setup is used through phase 1 and demonstrated in M9.

Phase 2:

• Final demonstration: We will plan, prepare and run the final demonstration. Before the final demonstration a risk assessment of the entire workstation is completed to ensure compliance with the standards.

• Robot force control: A peg-in-hole algorithm is developed either directly at the robot controller or at the controller box using ROS and the new Universal Robot ROS driver. The focus during the activity are search algorithms based on force feedback to optimize the path.

• Guiding system: During, a repositioning of the MoCAAS workstation a guiding system will instruct the user how to place the platform. A marker placed in the environment and the onboard camera are used to compute an error metric which is shown to the user at the robot controller in a graphical and easy way.