As the first collaborative robot released by ABB globally, we are now very familiar with it. This collaborative robot product released in 2015 was really amazing at that time. What's more amazing is that Yumi won the German Red Dot "Best of the Best" design award as early as 2011. The signature action of the humanoid double-arm makes it closer to the human distance.

Even now, six years later, Yumi is still commendable. Yumi is also the only two-arm cooperative robot visible in mass production in China. And from the design point of view, YUMI was actually used as the way to push backward, the beginning of the most difficult and complete direction to go, not only collaboration, or seven-axis; Not just seven axes, but double seven axes; Not only double seven-axis but also with vision; Not only with vision but electric control cabinet also integrated; Not only mechanical and electrical integration but also a wealth of accessories, so the arms of YUMI released after the release of the single-armed YUMI
Single-arm YUMI is actually two arms YUMI takes one arm alone to form a product, the electric control cabinet is naturally separated from the body. Both arms have the same structure, so let's take a closer look at the characteristics of the one-armed YuMi.

A small load. The YUMI's small load, only 500g, and arm length are only 500mm, and the arm can not be loaded, which also limits the YUMI to very small parts of the assembly or sorting, etc.

High precision. Yumi's repeatable positioning accuracy is 0.02mm, while other brands of collaborative robots are generally 0.1mm level. Even though the accuracy of other products has been improved in recent years, it is mostly 0.05mm or 0.03mm, 0.02mm is comparable to industrial robots.

The hollow. The high precision of YUMI is also related to its joint design. Instead of adopting the design of cooperative standard hollow frameless motor + hollow harmonic + brake + driver, it adopts the way of servo motor + direct plug harmonic which is commonly used in industrial robots.

The advantages of this design are obvious, the assembly is relatively easy, the brake is reliable, the motor cost is lower (certainly not compared with the cost of domestic); The corresponding disadvantage is also obvious, because it is not hollow, and there is no drive in the arm, so like industrial robots, the number of cables from the end to the base is superimposed, one limiting the Angle of rotation of the joint, the other making wiring more difficult.

Low level of protection. Because of the non-hollow reason, YUMI did not pursue high protection level, only IP30, which is also directly related to the application of YUMI for the general good working conditions.

Powerless sensors. Instead of joint force sensors, the Yumi uses a current loop for force control, and for additional safety, the Yumi is wrapped in soft materials.

Many experienced YUMI people will feel that YUMI force control experience is very good, that the power sensor assist, in fact, in addition to the ABB force control algorithm is better, another main reason is that YUMI is small, the motor used, the reducer is small, friction is small, so the identification of the dynamic is relatively more accurate. However, because there is no powerful sensor, it is impossible to achieve accurate force control, so the YUMI Demo we have seen has not shown this.

Allen Bradley	ABB	Honeywell
1768-M04SE	DSTC120 57520001-A	8C-TCNTA1
1768-PA3	DSTA180	8C-TDIL61 51306967-175
1768-PB3	DSTA160	8C-TDILA1
1769-ASCII	DSSR170 48990001-PC	8C-TDILA1 51307141-175
1769-BA	DSSR122 48990001-NK	8C-TDILB1
1769-BOOLEAN	DSSB146	8C-TDOD51 51306975-175
1769-CRL1	DSSB-01C	8C-TDOD61 51306973-175
1769-ECR	DSRF182 57310255-AL	8C-TDODA1
1769-IF16C	DSRF182	8C-TDODB1
1769-IF4	DSQC697 3HAC037084-001	8C-TPOX01 51307022-175
1769-IF4XOF2	DSQC697	8C-TPOXA1
1769-IM12	DSQC679 3HAC028357-001	8U-BXCB20-CN 51307039-100
1769-IQ16	DSQC668 3HAC029157-001	8U-IP0102
1769-IQ32	DSQC663 3HAC029818-001	8U-PAIH54
1769-IQ32T	DSQC662 3HAC026254-001/11	8U-PAIHA1
1769-IQ6XOW4	DSQC661 3HAC026253-001	8U-PAIMA1
1769-IR6	DSQC658	8U-PAINA1
1769-IT6	DSQC652 3HAC025917-001/00	8U-PAOHA1
1769-L19ER-BB1B	DSQC652 3HAC025917-001	8U-PAONA1