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Flexible Manufacturing with a Robotic Arm and Lego’s

Johnson: How about a larger image?. Flexible Manufacturing with a Robotic Arm and Lego’s. ELM 4701 ELM Project Fall 2002. Johnson: Excellent Presentation. I’m looking forward to it. Background. What is Flexible Manufacturing? Automatic Product Switching

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Flexible Manufacturing with a Robotic Arm and Lego’s

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  1. Johnson: How about a larger image? Flexible Manufacturing with a Robotic Arm and Lego’s ELM 4701 ELM Project Fall 2002 Johnson: Excellent Presentation. I’m looking forward to it.

  2. Background • What is Flexible Manufacturing? • Automatic Product Switching • Rapid Introduction of New Product • History of the RM-501 A. Rust, J. Turgeon, M. Jarrett

  3. Problem Develop an Automated System that Flexibly Manufactures at Least Two Products • Use Existing Robotic Arm • Assemble Two Electromechanical Lego Products A. Rust, J. Eastman, J. Turgeon, M. Jarrett

  4. Lego Products • Night Light • Light Activated Cooling Fan N. Lamie, M. Nusbaum, W. Fisher

  5. Night Light Johnson: Excellent photographic quality w/ backdrop etc., but don’t you mean to show just the product? The fixturing/display hardware is distracting W. Fisher, N. Lamie

  6. Light Activated Cooling Fan M. Nusbaum, B. Crosby, J. Turgeon

  7. Solutions • Keypad and Display for User Input • HC11 Interface to Robot Controller • Gripper Modification • Circular Array of Hoppers A. Rust, J. Eastman, W. Fisher, N. Lamie, M. Jarrett

  8. System Overview PC Keypad Display RM-501 Johnson: I’m not really suggesting that you rework your system overview since you’ve done a good job of using it as a reference image lower right. But see the next slid as a suggestion of how to avoid mixed/serifed/small fonts HC11 A A. Rust, M. Jarrett

  9. System Overview PC Keypad Display HC11 A RM-501 Johnson: Flipping everything from top to bottom to give a front-to-back logic might be better than this A. Rust, M. Jarrett

  10. Project Organization • Mechanical • Software • Electrical A.Rust, K. Garant, J. Eastman, M. Jarrett

  11. Mechanical • Lego Products • Gripper • Production Platform • Robot Work Zones • Hoppers • Assembly Area B. Crosby, M. Nusbaum, J. Turgeon, N. Lamie, W. Fisher, M. Jarrett

  12. Lego Products • Night Light • Light Activated Cooling Fan W. Fisher, M. Nusbaum, J. Turgeon, B. Crosby, N. Lamie

  13. Night Light W. Fisher, N. Lamie

  14. Light Activated Cooling Fan M. Nusbaum, B. Crosby, J. Turgeon

  15. Mechanical Johnson: footer problems • Lego Products • Gripper • Production Platform • Robot Work Zones • Hoppers • Assembly Area B. Crosby, M. Nusbaum, J. Turgeon, N. Lamie, W. Fisher, M. Jarrett

  16. Gripper W. Fisher

  17. Gripper Modifications Johnson: What are you stopping? • Reshape Gripper Fingers • Adjustable Stop on Gripper Opening W. Fisher, N. Lamie

  18. Gripper (Nate) N.Lamie

  19. Adjustable Stop on Gripper Johnson: Wow. That is very cool. W. Fisher

  20. Adjustable Stop W. Fisher

  21. Force Limits of Stop Max Load = Yield % * Ultimate Strength * Effective Area W. Fisher

  22. Mechanical • Lego Products • Gripper • Production Platform • Robot Work Zones • Hoppers • Assembly Area B. Crosby, M. Nusbaum, J. Turgeon, N. Lamie, W. Fisher, M. Jarrett

  23. Mechanical • Lego Products • Gripper • Production Platform • Robot Work Zones • Hoppers • Assembly Area B. Crosby, M. Nusbaum, J. Turgeon, N. Lamie, W. Fisher, M. Jarrett

  24. Robot Work Zones B. Crosby

  25. Mechanical • Lego Products • Gripper • Production Platform • Robot Work Zones • Hoppers • Assembly Area M. Nusbaum, B. Crosby, J. Turgeon, N. Lamie

  26. Hoppers(Brian) M. Nusbaum, B. Crosby, J. Turgeon, N. Lamie, M. Jarrett

  27. Hoppers • Guide Block • Lego Fixture • Part Pick-up B. Crosby, M. Nusbaum, J. Turgeon, N. Lamie, W. Fisher, M. Jarrett

  28. Guide Block B. Crosby, M. Nusbaum, J. Turgeon, N. Lamie, W. Fisher, M. Jarrett

  29. Lego Fixture (Brian) B. Crosby

  30. Part Pick-up B. Crosby, W. Fisher, N. Lamie, M. Jarrett

  31. Mechanical • Lego Products • Gripper • Production Platform • Robot Work Zones • Hoppers • Assembly Area B. Crosby, M. Nusbaum, J. Turgeon, N. Lamie, W. Fisher, M. Jarrett

  32. Assembly Area N. Lamie, W. Fisher

  33. Section View N. Lamie, W. Fisher, P. Johnson

  34. Blow-up Johnson: excellent three slide sequence. Nate, need help with the color? N. Lamie, W. Fisher, P. Johnson

  35. Project Organization • Mechanical • Software • Electrical A. Rust, K. Garant, J. Eastman, M. Jarrett

  36. Software Johnson: drop bullet for list of one Simplifying Interface • PC to Robot Communication • Pendant to PC • Programs J. Eastman, K. Garant, A. Rust

  37. Software • Simplifying Interface • PC to Robot Communication • Pendant to PC • Programs J. Eastman, K. Garant, A. Rust

  38. Software • Simplifying Interface • PC to Robot Communication • Pendant to PC • Programs J. Eastman, K. Garant, A. Rust

  39. Pendant J. Eastman, K. Garant, A. Rust

  40. Teaching Pendant Code GF 0 PS 201,-4395,-3250,2000,1000,500,0 PS 202,-4395,-3370,2000,1041,456,0 10 NT 20 SP 9 30 MO 201 40 SP 1 50 MO 202 J. Eastman

  41. PC Pendant Johnson: good. J. Eastman, K. Garant

  42. Software • Simplifying Interface • PC to Robot Communication • Pendant to PC • Programs J. Eastman, K. Garant, A. Rust

  43. Main Program Johnson: Use connectors! User Hits Key Setup Key? No Product Yes DRP? Production Platform No Yes Direct Robot Programming J. Eastman, A. Rust, K. Garant

  44. Direct Robot Programming Key Hit ESC key? Yes Reset HC11 No PC Pendant J. Eastman, K. Garant, A. Rust

  45. Product Johnson: So, any key other than set-up or A results in the production of product B? Product No A? Yes Prod. A Prog. Prod. B Prog. J. Eastman, K. Garant, A. Rust

  46. ‘C’ Product Code printf("GF 0\n"); delay_1s(); printf("PS 201,-4395,-3250,2000,1000,500,0\n"); delay_1s(); printf("10 NT\n"); delay_1s(); printf("20 SP 9\n"); delay_1s(); printf("30 MO 201\n"); J. Eastman, K. Garant

  47. Project Organization • Mechanical • Software • Electrical A. Rust, K. Garant, J. Eastman, M. Jarrett

  48. Electrical • System Communication • Electrical Concept • Upgrade Electronics • User Interface A. Rust, J. Eastman, K. Garant

  49. Electrical • System Communication • Electrical Concept • Upgrade Electronics • User Interface A. Rust, J. Eastman, K. Garant

  50. Electrical Concept PC Keypad Display MC1488 Johnson: See System Overview 120 VAC HC11 5 VDC A RM-501 120 VAC A. Rust, J. Eastman, K. Garant, M. Jarrett

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