Assembly Line Simulation With Multi-Robot Control

Peter McHughThomas ZackKyle Fecteau

Overview

Introduction to the Robots◦Staubli, Scara, and Microbot

Changes made last yearTennis Ball Assembly LineMechanical and Electrical Modifications

◦Staubli Gripper and I/O Control

Staubli

6 Degree of Freedom Arm

Uses a pneumatic source to control the gripper.

Scara

4 Degree of Freedom Arm

Uses pneumatics to control the gripper.

Microbot

Establish connection through serial port

Accepts string commands through serial port, if command is executed outputs a 1 to user.

2008/2009 Robotics Research Group

Created a program that allowed for both the Staubli and Scara to operate concurrently using commands from a program.

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Tennis Ball Assembly Line

Mechanical Design of Staubli Gripper

8051 Microcontroller• 8051 Microcontroller used as an I/O driver

• Uses I/O ports to send and receive data

• Host computer reads the serial computer uses serial communicator program to read input from sensors.

• Use assembly language to program controller.

I/O Control

Questions?