company overview - 原見精機 · application 1 ｜maintenance 3 ｜human-robot independent...

Company Overview

In May, participates Taipei Intelligent Machinery &

Manufacturing Technology Show (iMTdou) with ITRI.

In August, releases Finger Teach in Taipei International

Industrial Automation Exhibition with ABB, Epson, Mitsubishi,

and FANUC (Century Trading Corporation).

Realizes Taiwan’s first Human-Robot Collaboration (HRC)

production line with Qisda and ABB in April.

In August, participates Taipei International Industrial

Automation Exhibition and TAIROS with ABB, Epson, Century

Trading Corporation, Mitsubishi, and Kawasaki Heavy

Industries (KHI).

Let Tactile Sensing TechnologyBroaden the Future of Industrial Robot

Create a Beautiful Human Robot Collaboration World

In the winter of 2009, I received a mission from ITRI: “Imagine

what technologies would be essential for robots 10 years in

the future?”. As getting along with robots for many years,

I think robots would eventually be able to walk out of the

fence and work with people dealing with various interactive

situations. Thus, I realized the development of tactile sensing

technology would be the key point. In our daily life, there

were already various applications of visual sensing and

auditory sensing technologies helping people to engage

in production, socialization, and entertainment. However,

in industrial field, we physically isolated the robot in order

to prevent from the risk of human impact. The world where

people and robots coexist with high interaction is inevitable,

and the idea of developing tactile sensing technology grows

firmly in my heart. Over the next 8 years, our team developed

the world-leading robot tactile sensing technology under

numerous debates and researches. In addition, we would

not stop our debates and researches to define the future of

tactile sensing technology. Under these discussions between

theories and practices, we hope to develop the best product

which could bring us a better life and future.

In 2017, I founded Mechavision Inc. with tactile sensing

technique, product, and R&D team from ITRI. In cooperation

with well-known robot company such as ABB, Epson, Fanuc,

Kawasaki, Mitsubishi Electronic, etc., we have launched

products such as "Contact Skin" and "Finger Teach". As we

can see that there will be explosive growth in the future

of robot’s application, I believe that the tactile sensing

technology will enhance the application level of robots and

expand more fields. Mechavision Inc. will continue to focus

in developing tactile sensing technology and committing to

bring positive value to the society and create a better world.

Mechavision Inc.

Chairman Dr. Camus Su

Create a wonderful life of

human-robot collaboration

Mechavision

Dr. Su, Chairman of Mechavision Inc. , leads industrial robot

tactile sensing technologies team in Industrial Technology

Research Institute (ITRI).

Succeeds in producing and unveiling Contact Skin on

industrial robot.

Participating Taiwan Automation Intelligence and Robot

Show (TAIROS) and releasing Tactile Safety- Contact Skin

solution with ITRI.

In November, Mechavision Inc. is established in Nangang.

2010 2018

2019

2015

2017

Application

1｜Maintenance 3｜ Human-Robot Independent Operation in Same Field

2｜ Assembly Line Human-Robot Cooperation

5｜ Parts Feeding 6｜ Inspection4｜ Human-Robot Interactive

robot's workspace worker's workspace

I n t h e s m a r t m a n u f a c t u r e e r a , t h e

improvement of labor quality and the

change of the working environment have

both emphasized the role of robots that

played. The traditional production way has

also changed from "few items large amount"

to "many items small amount" due to the

customer's fast changing requirements.

According to the report from International

Federations of Robotics (IFR), the number of

robots supplied by the factory world-wide

will reach approximately 630,000 per year till

2021. The trend shows that the working area

between robots and workers will be closer,

and the application level of human-robot

collaboration is more and more extensive,

and security will be the cornerstone of robot

application upgrade.

Human robot collaboration brings the

b e n e f i t s o f e f f i c i e n c y i m p r o ve m e n t

t o m o d e r n f a c t o r i e s a n d d r i v e s t h e

development of sensing technology as

well. In the past, most of the techniques

used torque sensing or formulated the

speed of robots to reduce the impact to

human body, which is not perfect solutions

for safety. Therefore, Mechavision Inc.

develops "Contact Skin" which is based

on tactile sensing technology in order to

provide robots to have the tactile sensation.

Moreover, we also passed the collision test

to ensure that the impact to human body

is within the acceptable range. "Contact

Skin" is the device that activates safety I/

O immediately when the collision occurs,

which is also compliant to ISO/TS 15066

standard. We can truly realize a safe and

flexible smart manufacturing after we install

"Contact Skin" on robots.

Mechavision Contact Skin

page 03｜ 04

Let the Robot Free from Fence.Achieve Safe and Flexible Smart Manufacturing

Easy to Install

High Sensitivity

Unaffected by Environment

Contact Skin canupgrade production line and enhance its flexibility

Contact Skin stopsthe robot with a firm touch(approximate 1 kg)

Contact Skin sensor is ground-vibration-proof

Contact Skin sensing abilityis not affected by different materials and nonconductor

Contact Skin sensitivity is not affected by robot posture

Standard Solution for Collaborative Scenario of All Kinds of Industrial Robot

No Interference from Torque or Payload

Material Independent

Payload/Company ABB Epson Faunc Kawasaki Mitsubishi

ElectricKuka

(coming soon)

1~10 kg

IRB 1200-5/0.9 C4-A901 (C4L) LR Mate 200iD/7L RS007L RV-7FRL(M)(C)

IRB 1200-7/0.7 VT6-A90S LR Mate 200iD/7LC

IRB 1600-6/1.2 VT6-A90SR LR Mate 200iD

IRB 1600-6/1.45 VT6-A90SW LR Mate 200iD/7C

IRB 1600-10/1.2 LR Mate 200iD/7WP

IRB 1600-10/1.45 LR Mate 200iD/7H

11~20 kg

IRB 2600-12/1.65 M-10iA/12 KR 16 R1610

IRB 2600-20/1.65 KR 20 R1810

21-50 kg IRB 4600-45/2.05

M-20iA

Above 51 kg IRB 4600-60/2.05

Applicable Standard : Functional Safety ISO 13849 : Cat.3 (Double circuit

line design) PL d (PFHd: <10-6) / Collaborative Robot ISO/TS 15066 : Force and Pressure Measurement

FeaturesMechavision Contact Skin

page 05｜ 06

Applicable to each model

ISO / TS 15066 Collision Measurement CertificationMechavision Contact Skin

page 07｜ 08

In Response to the Upgrade of Collaboration Safety, Company Pre-preparation would Enhance Competitive Advantage

How to fulfill the completed safety space of Human-Robot Collaboration?

PILZ Collision Measurement Report

1｜ Robot Qualified

Compliance with ISO 10218-1

2｜ Contact Skin Qualified

Compliance with ISO 13849

CAT.3, PL d

3｜ Collision Safety Robot + Contact Skin

Compliance with ISO/TS 15066

collision measurement

4｜ Field Risk Assessment

It is often to hear that companies have declared

their equipment follows ISO 10218. However, is it ISO

10218-1 or ISO 10218-2? Is it the robot itself or the

system integration?

In general, robots could be regarded as control unit

which cannot complete the automated actions.

According to the current safety regulations, under

this situation, it simply needs to meet ISO 10218-

1. However, when robots were combined with

peripheral systems, we should meet ISO 10218-2

instead in order to evaluate the overall operating

system. Moreover, if we are facing human robot

collaboration scenario, we must refer to the collision

test which mentioned in ISO/TS 15066 to meet

the safety requirements of a complete mechanical

system.

The content of ISO/TS 15066 enables a more specific

security direction when planning a collaborative

environment. For instance, ISO/TS 15066 not only

clearly explains the possibility of collision, the type of

collision, but also how to reduce the risk of collision,

Digitimes / Tim Liu

Body region Specific body area

Quasi-Static Contact Transient Contact

Maximum permissible

pressure Ps[N/c㎡ ]

Maximum

permissible force[N]

Maximum permissible

pressure Ps[N/c㎡ ]

Maximum

permissible force[N]

Skull and forehead1 Middle of forehead 130

130130

1302 Temple 110 110

Face 3 Masticatory muscle 110 65 110 65

Neck4 Neck muscle 140

150280

3005 Seventh neck muscle 210 420

Back and

shoulders

6 Shoulder joint 160210

320420

7 Fifth lumbar vertebra 210 420

Chest8 Sternum 120

140240

2809 Pectoral muscle 170 340

Abdomen 10 Abdominal muscle 140 110 280 220

Pelvis 11 Pelvic bone 210 180 420 360

Upper arms and

elbow joints

12 Deltoid muscle 190150

380300

13 Humerus 220 440

Lower arms and

wrist joints

14 Radial bone 190

160

380

32015 Forearm muscle 180 360

16 Arm nerve 180 360

Hands and fingers

17 Forefinger pad D 300

140

600

280

18 Forefinger pad ND 270 540

19 Forefinger end joint D 280 560

20 Forefinger end joint ND 220 440

21 Thenar eminance 200 400

22 Palm D 260 520

23 Palm ND 260 520

24 Back of the hand D 200 400

25 Back of the hand ND 190 380

Thighs and knees26 Thigh muscle 250

220500

44027 Kneecap 220 440

Lower legs28 Middle of shin 220

130440

26029 Calf muscle 210 420

Human-robot multi-collaborative applications

enhance safety awareness, and a complete safety

certification system will be the key. Mechavision uses

the German PILZ robot measurement system PRMS

(system approved by DGUV), and evaluate Contact

Skin in accordance with the specifications of ISO/

TS 15066. With the collision measurement set PRMS,

we validate industrial robot application which has

Contact Skin by determine the power and force that

occur in the possible collisions in the field, so that the

factory can ensure efficient production and safety.

Compliance with ISO/TS 15066Biomechanical limit for the human during a collisionLimit of human body (below the head) is based on the impact force of abdomen 110N.

Source : Pilz GmbH & Co. KG

Source : ISO/TS 15066 : 2016(en)

such as passively increasing the contacting area,

using buffer materials, or actively controlling power,

strength, and speed. In terms of the safety of the

collaboration environment, if the company could put

the preparation for ISO/TS 15066 in their priority, it

is more possible to complete the creation of safety

environment.

If we followed the regulations mentioned above, it

would be more possible to ensure the employees

working in a safe environment. For companies who

use robot for the first time, clear requirements could

help them to have a better understanding in how to

build the safest environment rather than explore on

their own or make up after the accidents occur.

As mentioned above, ISO regulation is not a "single

article" to comply with. Intricate derivative clauses

and reference provisions are mixed in each main

article. Companies could meet the safety regulations

more effectively through the service companies

which provide security assessment and certification

counseling.

Compliant with DGUVCertified by PILZ PROBms System Collision Measurement for HRC-Application

Skin Model AT0201_Standard AT0201_Plus AT0202_Standard AT0202_Plus

Robot Brand ABB ABB ABB ABB

Series 1200 1200 1200 1200

Robot Model IRB 1200-7/0.7 IRB 1200-7/0.7 IRB 1200-5/0.9 IRB 1200-5/0.9

Robot Payload 7 7 5 5

Robot Reach(m) 0.7 0.7 0.9 0.9

Skin Coverage J3 ~J5 J1~J5 J3 ~J5 J1~J5

Working Range

J1 ±170° ±170° ±170° ±170°

J2 +135° ~-100° +115° ~-95° +135° ~-100° +125° ~-100°

J3 +67° ~-190° +60° ~-190° +70° ~-190° +68° ~-190°

J4 ±270° ±270° ±270° ±270°

J5 +130° ~-115° +130° ~-115° +130° ~-115° +130° ~-115°

J6 ±400° ±400° ±400° ±400°

Electrical Spec.

Power 24V DC 24V DC 24V DC 24V DC

Output NC (Normal Closed) NC (Normal Closed) NC (Normal Closed) NC (Normal Closed)

IP Level 54 54 54 54

Skin Model KT0202_General KT0205_General KT0203_General KT0207

Robot Brand ABB ABB ABB ABB

Series 1600 1600 2600 4600

Robot Model IRB 1600-X/1.2 IRB 1600-X/1.45 IRB 2600-X/1.65 IRB 4600-X/2.05

Robot Payload 6/10 6/10 12/20 45/60

Robot Reach(m) 1.2 1.45 1.65 2.05

Skin Coverage J3 ~J5 J3 ~J5 J3 ~J5 J3 ~J5

Working Range

J1 ±180° ±180° ±180° ±180°

J2 +136° ~-58° +150° ~-90° +155° ~-95° +150° ~ -90°

J3 +55° ~-225° +55° ~-245° +75° ~-180° +75° ~-95°

J4 ±200° ±200° ±400° ±400°

J5 ±115° ±120° ±120° ±115°

J6 ±400° ±460° ±400° ±400°

Electrical Spec.

Power 24V DC 24V DC 24V DC 24V DC

Output NC (Normal Closed) NC (Normal Closed) NC (Normal Closed) NC (Normal Closed)

IP Level 54 54 54 54

Product｜ Mechavision Contact Skin

page 09｜ 10ABBseries

ABBAT0201_Standard

ABBAT0201_Plus

ABBAT0202_Standard

ABBAT0202_Plus

ABBKT0202_General

ABBKT0203_General

ABBKT0205_General

ABBKT0207

Skin Model AT0301_Standard AT0301_Plus AT0303_Standard

Robot Brand Fanuc Fanuc Fanuc

Series LR Mate 200iD LR Mate 200iD LR Mate 200iD

Robot Model 7L, /7LC 7L, /7LC 200iD, / 7C, /7WP, /7H

Robot Payload 7 7 7

Robot Reach(m) 0.911 0.911 0.717

Skin Coverage J3 ~J5 J2~J5 J3 ~J5

Working Range

J1 ±180° ±180° ±180°

J2 +145° ~-100° +130° ~-78° +145° ~-100°

J3 +199° ~-57° +192° ~-57° +205° ~-57°

J4 ±190° ±190° ±190°

J5 ±125° ±125° ±125°

J6 ±360° ±360° ±360° *

Electrical Spec.

Power 24V DC 24V DC 24V DC

Output NC (Normal Closed) NC (Normal Closed) NC (Normal Closed)

IP Level 54 54 54

Skin Model AT0303_Plus KT0304_Standard KT0364_Standard

Robot Brand Fanuc Fanuc Fanuc

Series LR Mate 200iD M-10iA M-20iA

Robot Model 200iD, / 7C, /7WP, /7H M-10iA/12 M-20iA

Robot Payload 7 12 20

Robot Reach(m) 0.717 1.42 1.811

Skin Coverage J2~J5 J3 ~J5 J3 ~J5

Working Range

J1 ±180° ±360° ±170°

J2 +127° ~-75° +160° ~ -80° +160/-80°

J3 +205° ~-57° +80° ~ -170° ±229°

J4 ±190° ±360° ±200°

J5 ±125° ±150° ±180°

J6 ±360° * ±360° ±450°

Electrical Spec.



IP Level 54 54 54


page 11｜ 12Fanucseries

FanucAT0301_Standard

FanucAT0301_Plus

FanucAT0303_Standard

FanucAT0303_Plus

FanucKT0304_Standard

FanucKT0364_Standard

(coming soon)

註 *: 7H 無 J6軸註 *: 7H 無 J6軸

Skin Model AT0101 AT0104 AT0602

Robot Brand Epson Epson Mitsubishi Electric

Series C VT RV-FR

Robot Model C4-A901(C4L) VT6-A90S, /A90SR, /A90SW RV-7FRL(M)(C)

Robot Payload 4 6 7

Robot Reach(m) 0.9 0.9 0.908

Skin Coverage J3 ~J5 J2~J5 J2~J5

Working Range

J1 ±170° ±170° /± 30° ±240°

J2 +65° ~-160° -160° ~ + 65° +115° ~-100°

J3 +225° ~-51° -51° ~ + 190° +157° ~0°

J4 ±200° ± 200° ±400°

J5 ±135° ± 125° ±120°

J6 ±360° ± 360° ±360°

Electrical Spec.



IP Level 54 54 54

Skin Model AT0701 designing designing

Robot Brand Kawasaki Kuka Kuka

Series R KR16 KR20

Robot Model RS007L 1610 1810

Robot Payload 7 16 20

Robot Reach(m) 0.93 1.612 1.813

Skin Coverage J2 ~J5 designing designing

Working Range

J1 ±170° designing designing

J2 +160/-80° designing designing





Electrical Spec.

Power 24V DC designing designing

Output NC (Normal Closed) designing designing

IP Level 54 designing designing


page 13｜ 14Epson, Mitsubishi Electric, Kawasaki, Kukaseries

EpsonAT0101

EpsonAT0104

Mitsubishi ElectricAT0602

KawasakiAT0701

Kuka Kuka

(coming soon) (coming soon)

company overview - 原見精機 · application 1 ｜maintenance 3 ｜human-robot independent...

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