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Flexible Manufacturing with a Robotic Arm and Lego’s

Flexible Manufacturing with a Robotic Arm and Lego’s

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Flexible Manufacturing with a Robotic Arm and Lego’s

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  1. Flexible Manufacturing with a Robotic Arm and Lego’s ELM 4701 ELM Project Fall 2002

  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 W. Fisher, N. Lamie

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

  7. Solutions • Keypad 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 HC11 A A. Rust, M. Jarrett

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

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

  11. Lego Products • Night Light • Light Activated Cooling Fan W. Fisher, M. Nusbaum, J. Turgeon

  12. Night Light W. Fisher, N. Lamie

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

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

  15. Gripper W. Fisher

  16. Gripper Modifications • Reshape Gripper Fingers • Adjustable Stop W. Fisher, N. Lamie

  17. Old Gripper N. Lamie, W. Fisher, P. Johnson

  18. New Gripper N.Lamie

  19. Adjustable Stop on Gripper W. Fisher

  20. Adjustable Stop W. Fisher

  21. Force Limits of Stop Max Load = Yield % * Ultimate Strength * Effective Area 3mm Load = 143.7lbs 1/4-20” Load = 887.7lbs W. Fisher

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

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

  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

  26. Hoppers M. Nusbaum, B. Crosby, J. Turgeon

  27. Hoppers • Guide Block • Lego Fixture • Part Pick-up B. Crosby, M. Nusbaum, J. Turgeon

  28. Guide Block B. Crosby, M. Nusbaum, J. Turgeon

  29. Lego Fixture J. Turgeon

  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

  32. Assembly Area N. Lamie, W. Fisher

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

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

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

  36. Software • 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. Pendant J. Eastman, K. Garant, A. Rust

  39. 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

  40. PC Pendant J. Eastman, K. Garant

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

  42. Main Program User Hits Key Setup Key? No Product Yes DRP? Production Platform No Yes Direct Robot Programming J. Eastman, A. Rust, K. Garant

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

  44. Product Product No A? Yes Prod. A Prog. Prod. B Prog. J. Eastman, K. Garant, A. Rust

  45. ‘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

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

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

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

  49. Electrical Concept PC Keypad Display 120 VAC HC11 5 VDC A RM-501 120 VAC MC1488 A. Rust, J. Eastman, K. Garant, M. Jarrett

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