1 / 20

Electromechanical X-Y Programmable Gantry Positioning System

Electromechanical X-Y Programmable Gantry Positioning System. Wojciech Indyk Slawomir Kielian. UNIVERSITY OF ILLINOIS-URBANA CHAMPAIGN. Introduction. XY Coordinate Positioning System

jolie
Télécharger la présentation

Electromechanical X-Y Programmable Gantry Positioning System

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Electromechanical X-Y Programmable Gantry Positioning System Wojciech Indyk Slawomir Kielian UNIVERSITY OF ILLINOIS-URBANA CHAMPAIGN

  2. Introduction • XY Coordinate Positioning System • Applications: laser micromachining, plasma cutting applications, plotter heads, robotic grippers, microscope applications, etc. • Low cost alternative to presently available linear positioning systems

  3. Objective • Design and Implement a PC programmable XY positioning system • Three modes of operation: • Single Step Mode • Single Command Mode • Programmable Mode • Advanced traversal algorithms • High Precision: 15.875 m / step • Cost efficiency

  4. Project Overview • Mechanical Construction: • Light Weight Aluminum Design • Control Software: • Graphical Users Interface • Traversal Algorithms • Control Hardware: • Stepper Motor Driver Circuit • Limit Switches • Software-Hardware Interface • Parallel Port Connection

  5. Mechanical Construction • 22 Machine Shop • CAD drawings • 46 Mechanical Parts • 0.500-8 ACME • Lead Screws Overall Dimensions: 50” x 59” Plot Region: 39” x 49”

  6. Control Software • Control program implemented using Visual Basic • Graphical User Interface: • Supports three modes of operation • Intuitive Controls • User-Friendly

  7. Graphical User Interface (GUI)

  8. Traversal Algorithms • Single Step Function: • Enables single step in any given direction • Basis for all traversal algorithms • X-Y and Y-X Traversals • Shortest Distance Traversal: • Finds the shortest distance between two input coordinates

  9. Traversal Algorithms (cont.) • Circular Traversal • CW or CCW (clock-wise or counter clock-wise) traversal direction • Start and End Angle option • Start and End Offset option with tool up or down option during offset execution • Polar coordinate entry available (by product)

  10. Control Hardware • Stepper Motor Driver Circuit • Implemented using LMD18245 Stepper Motor Driver IC • Provides Stepper Motors with Gray Code input bit sequences • Limit Switches: • Monitor plotting boundary conditions

  11. Stepper Motor Driver Circuit

  12. Parallel Port I/O Interfacing DB-25 Male Connector } Data Reg. (0x0378) Status Reg. (0x0379) Control Reg. (0x037A) 8 Data Outputs 4 Misc. Outputs 5 Data Inputs

  13. Test and Verification • Message Center Window: - Parallel port register contents - Update user with program status info • Debug Coordinate Window: - Output coordinates for plotting (Mathematica plots generated) • Post-Assembly Test: - “U of I” sign generation

  14. Traversal Algorithm Simulation Results: Part 1 • Y-X Traversal • X-Y Traversal

  15. Traversal Algorithm Simulation Results: Part 2 • Shortest Distance Traversal • Circular Traversal

  16. Traversal Algorithm Simulation Results: Part 3 • Circular Traversal: Special Features

  17. “U of I” Sign Generation

  18. Successes • Design was fabricated and tested • All design specifications were met • Educational Benefits: • Stepper motor principles and control • GUI programming (Visual Basic) • Team collaboration and communication with manufacturing personnel

  19. Future Development • Research interrupt techniques for Windows NT and Windows 2K operating systems • Investigate variable output frequency algorithms • Improve crucial mechanical tolerances

  20. Questions ?

More Related