The PUMA (Programmable Universal Machine for Assembly, or Programmable Universal Manipulation Arm) 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 ...

The first surgical robot, PUMA 560, was used in 1985 in a stereotaxic operation, in which computed tomography was used to guide the robot as it inserted a needle into the brain for biopsy, a procedure previously subject to error from hand tremors during needle placement.

The PUMA 560 robot is a 6-axis robot arm, it has a payload of 2.5 kg and a reach of 864 mm. Manufacturing applications include Remote TCP.

The PUMA robot is connected to a 1980 series controller that has a programming language called VAL II which translates simple commands into the electrical signals needed to drive the robot.

The PUMA 560 is a industrial robot arm with six degrees of freedom and all rotational joints. In this experiment at first a brief theory about PUMA 560 robot is presented in the theory section. The theory for mathematical computations was obtained from a wide variety of sources encompassing books, papers and internet.

2017年4月11日 · In 1985, Unimation’s PUMA 560 system, the first non-laparoscopic robotic device, was used to perform the first documented robotic-assisted surgical procedure, when it was used for a percutaneous brain biopsy (Fig. 1.2) [3].

2023年10月22日 · The PUMA 560, a remarkable robotic arm, is designed to perform a wide range of tasks in industrial and manufacturing settings. Equipped with six degrees of freedom, this versatile machine can move and orient itself in three …

2016年9月9日 · This chapter describes the PUMA 560 industrial robotic system that will be used as the demonstrator throughout this project; highlighting its main components and how they interact with each other.

The Puma 560 is a six degree of freedom robot manipulator. The end-effector of the robot arm can reach a point within its workspace from any direction. The six degrees of freedom are controlled by six brushed DC servo motors, each coupled with a 500-1000 count 3 channel encoder and a potentiometer.

The PUMA 560 robotic manipulator, produced by Unimate, is an old (>25 years), but functional, multi-joint robot and was used in this project, due to the availability of the spare parts that are required for simulation of the different faults (as discussed