1. Motions are Repetitive Design changes Intermittently
Minimalist Robotics
Motivation:
“Robots must be inexpensive and easy to apply. The
factory floor user is not interested in, and cannot
support, complex technology.”
Brian Carlisle, Adept Technology
For Manufacturing:
Part Geometry in Known
Motions are Repetitive
Design changes Intermittently
Primary Criteria: Cost, Throughput, Reliability
Status Quo:
Fixed (Hard) Automation
Robotics is viewed as Overkill
Workcell Layout is a Black Art

2. - Simple Sensors and Actuators - Rigorous Scientific Models
Minimalist Robotics
- Modular Hardware
- Simple Sensors and Actuators
- Rigorous Scientific Models
- Efficient Design/Layout Software
“Apply Robotics algorithms to Automation hardware”
J. Canny and K. Goldberg, “RISC” for Robotics (1994)
Whiney (1978, 1986, 1993)
Lozano-Perez, Mason, and Taylor (1984)
Mason and Erdmann (1986), Mason (1986, 1991)
Peshkin and Sanderson (1986)
Mishra (1992), Latombe (1992)
Brooks (1986), Kanade (1992)

3. 1860:
1910:
2000:
Interchangeable Parts
Assembly Lines
Building Assembly Lines from
Interchangeable Parts
Rapid Deployment Automation (RDA)
Goal: Reduce time to set up an assembly line by 10x.
APPROACH:
Modular Hardware:
High-Speed Robot Arms
Flexible Feeders and Fixtures
Standard Interfaces
Simulation/Design Software:

4. Digital Workcell User-Friendly CAD Tools Import of IGES Product Models
Throughput Prediction

5. Minimalist Robotics
Taking it too far?
A really minimalist robot!
“The efficiency derives from the lack of velocities,
accelerations, and generalized forces.”
D. Hillis, MIT