Programmable Universal Machine for Assembly

The PUMA is an industrial robotic arm developed by Victor Scheinman at pioneering robot company Unimation. Initially developed by Unimation for General Motors, the PUMA was based on earlier designs Scheinman invented while at Stanford University based on sponsorship and mentoring from robot inventor George Devol.

Model 260

• Six-axis arm with 3 axis making up a spherical wrist • Maximum reach 400 mm from center axis to center of wrist • Maximum payload: 2.2 kg • Arm weight: 13.2 kg • Repeatability ±0.05 mm • max velocity: 1245 mm/sec straight line moves ==Model 560 C==

Model 560 C

• 6 Axis arm with 3 axis making up a spherical wrist. • Maximum reach 878mm from center axis to center of wrist • Repeatability ±0.1mm • 2.5 kg max velocity: 500mm/sec straight line moves • 4.0 kg max velocity: 470mm/sec straight line moves ==Model 761 and 762==

Model 761 and 762

• 6 Axis arm with 3 axis making up a spherical wrist. • Maximum reach 761: 1.50m from center axis to center of wrist 762: 1.25m from center axis to center of wrist • Arm mass: 761: 600 kg 762: 20 kg • max velocity: 1000mm/sec straight line moves ==Control system==

Control system

Variable Assembly Language ==References==

Books that Reference the PUMA design

• "Essentials of Mechatronics" Billingsley, John. John Wiley & Sons. Hoboken, NJ. 2006 Ch.9 • "Robot Modeling and Kinematics" Manseur, Rachid. DaVinci Engineering Press. Boston, MA. 2006 Ch.4-5 • "Robotics Technology and Flexible Automation 2nd Edition" S.R. Deb. McGraw Hill. New Delhi. 2010 ==External links==

Source: Wikipedia ↗

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