Introduction to the Ragnar robot Open Platform

2. The climb towards the stars
Vinder strategier
G
G
G
G
G
G
time

3. Simplisity is the new black

4. Disruption is facilitated by
sophisticated technology that makes
processes simple and things fool proof
Experimentation
& Problem
solving
Pattern recognition
Rule
based
COMPLEX
SIMPLE
Breaking
the market
barriers
Job Qualify
Tech/economi
cal Feasibility
Configure
Platform
Modules and
architecture
Produce
Assembly, test
& eLearing
Deploy
Shipping &
install
Maintain
Productivity
yield

5. Genetic optimal – Job2Bdone focus
8%
10%
37%
16%
9%
6%
43%
15%
37%
33%
0%
5%
10%
15%
20%
25%
30%
35%
40%
45%
Forskel
Forskelt
Decathon (ethan) og Specialist (WR)
100m 10,35 9,58
long jump 8,03 8,95
Shot put 14,55 23,12
High jump 2,05 2,45
400m 46,9 43,18
110m hurdle 13,56 12,8
Discos Trow 42,53 74,08
pole vault 5,2 6,14
Spire 61,96 98,45
1500m 04:33,3 03:26,0
Disciplins 10K OR
Over
performan
ce
100m 10.35 9.58 8% Usain Bolt (JAM)
Long jump 8.03 8.95 10% Mike Powell (USA)
Shot put 14.55 23.12 37% Randey Barnes
High jump 2.05 2.45 16% Javier Sotomayor
400m 46.9 43.18 9% Michael Johnson (USA)
110m hurdle 13.56 12.8 6% Aries Merritt
Discus trow 42.53 74.08 43% Jürgen Schult
Pole jump 5.2 6.14 15% Sergey Bubka
Javelin torw 61.96 98.45 37% Jan Železný
1500m 04:33.3 03:26.0 33% Hicham El Guerrouj
If we just
could clone
Usain ?! Ethan your
great , but
not perfect

6. Industrial robotics innovation looks
mostly like bodybuilding
• Not Pretty!
• Odd performance
factors that does not
match ANY real world
problem
• But marketing keeps it
alive
• And top level IEEE
Robotics Researchers
and Industry
Innovators, helped to
prove we have a new
agenda to pursue ..

7. Short introduction to RAGNAR robot
A disruption in the robotics market
7
Low complexity and
number of
components
Main driver in keeping cost down
Multipurpose and
portable platform
easily configured to 3D-printing
etc.
10x lower cost
than SOTA 1:1 conventional solutions
Radical workspace extension
compared to conventional solutions
1/10 weight and power
consumption ratio
compared to conventional solutions
• Newly developed parallel robot kinematics increase workspace and payload, but occupies less space at 1/10 of the cost for solutions available on the
market
• Re-configuration of workflow and robot location within minutes
• Platform based - not just a single product
• Open source, enabling customers and dealers to maximize independence, allowing BWF to allocate resources to further strengthening and developing
the platform and ensure cost-effective and fast delivery
Key attributes to the RAGNAR robot platform

8. Short introduction to RAGNAR robot
Explorer and Industrial versions , both Parametric and modular
RAGNAR Explorer
8
RAGNAR Industrial
Weght From 24 kg.
Drive system Timing Belt/Geared Stepper motor driven
Software Ragnar Explorer, ROS-I , Open 3D Pritning,
MachineKit, WebSocket, SDK
Dynamics Max. Speed 4 m/s , Max Acc. 24 m/s2
Payload Rated 700 g (max 8 kg)
Comercial launch Q1 2016
Weght From72kg. (full portable framed )
Drive system Precision Gear/Servo motor driven
Software Ragnar Caps -EtherCAT / ROS-I / SDK
Dynamics Max. Speed 80 m/s , Max Acc. 110 m/s2
Payload Rated 2kg. (Max 12 kg)
Commercial launch Q4 2016
ROS-I Driver
Ready
MachineKit ROS-I Driver
EtherCAT
master
MachineKit
based
TBA

9. RAGNAR Robot modules and
interfaces
RAGNAR Robot
Open Source
Platform
Arms
Base
Frame
Object Recognition
Pick & Place
Package
BlueFREKE
(grasping)
HuginEYE
(Perception)
Ragnar control
(add-on Conveyor tracking)
Experimental
Fabrication Multi-Tool Heads
Package
3d Printer
Laser
Milling
Food Extruder
Clay Extruder
4/30/2016 9

10. 4/30/2016 10
Object
Recognition
Pick & Place
Package
BlueFREKE
HuginEYE
Conveyor Belt
With these three modules, bound together by a graphical user interface, you will be
able to recognize and allocate objects, such as apples or oranges, in a basket or
moving along a conveyor belt, in order to perform pick and place operations on them,
I.e. bin picking or conveyor tracking
A gripper end-effector made of silicon and works of compressed air. It gives the
possibility of gently picking up products and precisely placing them again, while
maintaining a high capacity
A combination of a 3D camera and object recognition software allows you to allocate
objects in a 3 dimensional space. The software is capable of self-training vision models
and guidance of the robot
A conveyor belt allows you to emulate an industrial environment and move objects
through the workspace of the robot, there by utilizing the conveyor tracking and path
planning software

11. Target areas
• Loading ( primary packaging /
batching, processing, )
• Non rigid non uniform
• Foods
• Non Foods
• Sorting /batching
• Raw proteins ( Fish, pork, meat,
poultry)
• Fresh produce
• Waste ( plastics, AlU, glass, rare
earth minerals)
•

12. Target areas
• Logistics ( Material handling)
• Trailer loading/unloading
• Packaging/sorting
• Palletizing
• Bin packing
• Bin Loading

13. Processing Jobs and Services
• Large volumetric 3D printing
• CNC processing
• Dispensing
• Inspection

14. 4/30/2016 14
Experimental
Fabrication
Multi-Tool
Heads
Package
3d Printer
Laser
Milling
Food Extruder
Clay Extruder
Currently we have plastic extruder (interchangeable nozzles). ceramics/paste
extruder, chocolate extruder, LASER module (with small power DVD diode –
enough to cut paper and engrave).
Enables you to create three-dimensional models in materials such as ABS, PLA, PVA, Nylon, Rubber, Timberfill,
Woodlay, Ninjaflex. Standard nozzle 0.4mm, accepts also precise 0.3 or 0.2 mm for ultimate precision.
that enables cutting in wood, paper, cardboard, polycarbonate as well as other harder materials when trajectory is
repeated. Transform your robot into material cutter or engraver.
Enables to engrave, cut and mill in 2D and 3D. This toolhead is subtracting material and can cut through plastic
PCV, wood, balsa, gypsum, polystyrene foam and other similar materials
Enables 2D printing and simple volumetric 3D printing of food paste like cake or chocolate.
Enables 2D printing and simple volumetric 3D printing of dense masses like silicone, porcelain, ceramic.

15. Challenges• Driver for Parallel
kinematic chains, new
to ROS
• Inverse Kinematic pure
analytical
• Forward Kin. Somewhat
more tricky, numerical
semantics

16. ROS-Industrial Driver