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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. Johnson: Sans serif font, course name, raise title to boost contrast Flexible Manufacturing with a Robotic Arm and Lego’s ELM 4701 ELM Project I Fall 2002

  2. Background • What is flexible manufacturing? • Automatic Product Switching • Rapid Introduction of new product • History of the RM-501 Johnson: Shortened title. Purple bullets. Rapid introduction of new product is an aspect of FMS that you folks have paid more respect to than I have, so, even though it’s not part of your problem statement now, you can use this opportunity to forshadow later bragging about programming interface and versatile part handling (I.e. hoppers with no side walls). If you’re really feeling cocky, revise your problem statement and we’ll add some very rudimentry new ‘product’ (two parts?) to the demo. Alex Rust, Jon Turgeon, Mark Jarrett

  3. Problem Develop a system that flexibly manufactures at least two products. • Use existing robotic arm. • Assemble two electromechanical Lego products Johnson: Title shortened. My original prob statement was redundant. Automation is presumable in an FMS. Consider dropping periods, but at least be consistent. Bullet color. Jon Turgeon, Alex Rust, Joe Eastman, Mark Jarrett

  4. Johnson: Good sequence choice Lego Products • Child’s night light with thermo protection • Light activated cooling fan Nate Lamie, Matt Nusbaum, Will Fisher

  5. Johnson: Dart photos. Consider a standard iso like point of view. See below. Child’s Night Light Will Fisher, Nate Lamie

  6. Light Activated Cooling Fan Matt Nusbaum, Brian Crosby, Jon Turgeon

  7. Johnson: ‘versatile hoppers’? Solutions • Keypad for user interface • HC11 interface to robot controller • Gripper modification • Circular array of hoppers Will Fisher,Joe Eastman, Alex Rust, Mark Jarrett

  8. Johnson: Some good improvements. You’re half-way there. First, you’re killing me over the concentric business. You’ve already argued effectively in your status report that the arm should rotate at the CENTER of two concentric regions, so show it that way. And, if you’re only using a range from 9 to 3 o’ clock, then show it that way. LCA abbreviation is too complicated- kill it. See word art below. Everything should be larger - especially fonts and drop the serifs. Sort of ironic that your keypad label is placed within a box that pictorially represents a display right?. Perhaps you mean Keypad/Display? Haven’t you decided to mount the system on a cart? That should be labeled. This slide should be preceded by an appearance slide (either a photo of a mock-up as in the status report or build on the fine 3D model you’ve got -thanks to Alex?) System Overview Hopper Hopper Hopper Assembly Keypad HCll Robot controller Alex Rust, Mark Jarrett

  9. Johnson: color hoppers for emphasis Work Platform • Hoppers • Fixturing • Assembly Area • Progress

  10. Hoppers Matt Nusbaum, Brian Crosby, Jon Turgeon, Nate Lamie, Mark Jarrett

  11. Johnson: fixturing right? Work Platform • Hoppers • Fixturing • Assembly Area • Progress

  12. Johnson: keep using names you’ve established (title) Fixturing - Guide Block B. Crosby, M. Nusbaum, J. Turgeon, N. Lamie, W. Fisher, M. Jarrett

  13. Johnson: again Fixturing - Part Pick-up Brian Crosby, Will Fisher, Nate Lamie, Mark Jarrett

  14. Work Platform • Hoppers • Fixturing • Assembly Area • Progress

  15. Johnson: use your 3D model even for an ortho view as in System overview Assembly Layout Hopper Lego Connection Area Lego Connection Area Brian Crosby, Matt Nusbaum, Nate Lamie, Jon Turgeon, Mark Jarrett

  16. Work Platform • Hoppers • Fixturing • Assembly Area • Progress

  17. Program Flow Chart Joe Eastman, Alex Rust, Karl Garant

  18. User Interface • Push button keypad • LCD display Karl Garant, Joe Eastman, Alex Rust

  19. Johnson: short title. Kill empty paragraphs. Bullet color Integrating Arm with HC11 Micro Controller • Mixing old technology and new • The MAX232 and MC1488 Controlling the data that is sent to the robot • The adding of fans to the robot controller Alex Rust, Joe Eastman, Karl Garant

  20. Johnson: I’m out of time. Good luck and keep up the good work. Circuit Block Diagram PC HC11 MC1488 Driver RM-501 Robot Controller TxD Alex Rust, Joe Eastman, Karl Garant, Mark Jarrett

  21. Gripper Will Fisher

  22. Gripper Modifications • Lego attachment • Adjustable stop Will Fisher, Nate Lamie

  23. Lego Attachment Nate Lamie, Will Fisher

  24. Adjustable Stop Will Fisher

  25. Adjustable Stop on Gripper Will Fisher

  26. Lego Products • Child’s night light with thermo protection • Light activated cooling fan

  27. Child’s Night Light Will Fisher, Nate Lamie

  28. Light Activated Cooling Fan Matt Nusbaum, Brian Crosby, Jon Turgeon

  29. Schedule Karl Garant, Joe Eastman

  30. !!Thank You!! ?? ANYQUESTIONS??

  31. Robot Programming Programming Key Hit ‘Esc’ Key ‘Z’ Key Direct Robot Control Virtual Teaching Pendant Resets 68HC11 Error Checking

  32. Error Checking Error Light Limit Error Program Error Send ‘RS’ Command Activate Relay Return to Previous Command Mode Joe Eastman, Alex Rust

  33. Circuit Schematic HC11 +12 -12 To RM-510 Controller TO PC

  34. Modified Gripper Nate Lamie, Alex Rust