MARA

Introducing the first M-cobot

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Meet MARA, modular and collaborative

MARA stands for: Modular Articulated Robotic Arm. It is a collaborative robotic arm with ROS 2.0 in each actuator, sensor or any other representative module. Each module has native ROS 2.0 support, can be physically extended in a seamless manner and delivers industrial-grade features including synchronization, deterministic communication latencies, a ROS 2.0 software and hardware component lifecyle and more. Altogether, MARA empowers new possibilities and applications in the professional landscape of robotics.

Daisy Chaining

Power and communication is exposed at the module level allowing for simplified extensions.

Position

Velocity

Acceleration

Data monitoring

Every H-ROS™ module is able to monitorize a variety of intrinsic aspects, in real time.

Power readings

Instantaneous voltage, current and power readings from each module, individually.

Inertial position

Embedded accelerometers, magnetometers and gyroscopes empower each module with intertial data that allows robots to automatically reconfigure.

HW and SW life cycle

Life cycle for each module allowing greater control over the state of software (the ROS system) and hardware (the underlying components).

Powered by the H-ROS™ SoM

Device-level modularity

The H-ROS™ System on Module (SoM) is a tiny device for building industrial grade plug-and-play robot modules. MARA is the first robot arm with ROS 2.0 at its core, powered by the SoM. All the components included in MARA have an H-ROS™ SoM inside, providing security, interoperability, real-time and extensibility capabilities, among others.

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IMG. MARA 3D view

The modular revolution

MARA is built with modularity at its core. It contains robot modules that interoperate and can be exchanged between robots, seamlessly. Thanks to the HRIM standard, MARA delivers a vendor-agnostic no lock-in experience. You're free to extend the robot with whatever sensor, actuator or any other ROS 2.0-enabled hardware module.


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Collaborative. For real

Add additional sensors and enable new applications
in a safe manner

We've built MARA having Industry 4.0 in mind. To collaborate with humans, side by side. Modular torque sensors, external safety cameras or other safety-enabling modules can be easily added.

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Built with ROS 2.0

Fully distributed software and hardware robotic architecture powered by ROS 2.0, enabling new capabilities within robots. Examples include high levels of hardware introspection, selective control of each hardware component’s lifecyle (e.g. switch components on or off selectively, limit the power consumption, produce notifications, etc.), simplified maintenance prediction and even simplified robot hardware comparisons.

Our software architecture

A variety of end-effectors

We are working with manufacturers to modularize a wide range of end-effectors. Moreover, we have designed a mechanical system that allows to change the end-effector manually, without needing any tool. Due to a simple but efficient design, without gaps, MARA allows to work in a time-saving, precise and meticulous manner.

Pick an end-effector Modularize your end effector

Powered by top robotics research

MARA is the result of years of work in modular robots. Find below a few of our articles and tech reports:

Time-Sensitive Networking for robotics

Many of the existing real-time industrial solutions will slowly be replaced by TSN. This will lead towards a unified landscape of physically interoperable robots and robot components. We discuss some of the TSN features relevant for deterministic communications and evaluate experimentally one of the shaping mechanisms –the time-aware shaper– in an exemplary robotic scenario.

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Real-time Linux communications: an evaluation of the Linux

As robotics systems become more distributed, the communications between different robot parts play a key role for the reliability of the overall robot control. We evaluate the real-time performance of UDP based communications in Linux on multi- core embedded devices as test platforms.

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Towards a distributed and real-time framework for robots: Evaluation of ROS 2.0 communications for real-time robotic applications

An evaluation of ROS 2.0 communications in a robotic inter-component (hardware) communication case on top of Linux. We demonstrate experimentally how computation and network congestion impacts the communication latencies and propose a setup that, under certain conditions, mitigates these delays and obtains bounded traffic.

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Time Synchronization in modular collaborative robots

We propose a new sub-class of cobots named M-cobots and demonstrate how with them we are able to obtain distributed sub-microsecond clock synchronization accuracy among modules, timestamping accuracy of ROS 2.0 messages under 100 microseconds and millisecond-level end-to-end communication latencies.

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The Hardware Robot Operating System (H-ROS); an infrastructure to create interoperable robot components

Having modular robot parts can considerably reduce the integration effort of building robots. We present a joint hardware and software infrastructure to create those vendor-agnostic and reconfigurable robot parts.