CNC Machine part manipulator system for multi-plane, complex

machining processesProject By:

Advised By: Dr. Roger D. Quinn

AgendaBackgroundProject ObjectivesProject ScopeFinal Design SpecificationsApproachRobot Body DesignRobot Manipulator Head DesignCurrent ProgressFuture Work

Background

Part manipulation between router machining processes increases production time Accurately repositioning part requires

careful part movement and inspection Improperly positioned parts cause

production errors High production volume of complex

CNC machined parts requires a costly workforce

No low cost, high-volume solution for complex or carved wood products.

Project Objectives Design of an automated part

manipulation system for lightweight parts with 3-axis CNC router machines such as the ShopBot Accurately move and rotate part

between each machining process Function in tandem with typical CNC

routers without disrupting machine cycles

Stretch Goals Part loading/unloading cycles Simple integrated vision system for part

location verification: Dr. Francis Merat

Final Design Specifications

3 Degrees of FreedomMaximum Reach: 31.6 inch Radius2” x 2” x 2” Maximum Part VolumeMaximum Load: 0.75 lb PartPolycarbonate Structure

Minimal bending Increased accuracy

Approach

Robot ArchitectureSCARA Articulated

Feasibility Study5” x 5” x 5” Sample Part

Cedar: 2.12 lbBalsa: 0.72 lbABS: 4.61 lbPolycarbonate: 5 lbAluminum: 12.19 lb – Too Heavy

2” x 2” x 2” Sample PartCedar: 0.14 lbBalsa: 0.05 lbABS: 0.29 lbPolycarbonate: 0.31 lbAluminum: 0.78 lb – Can be actuated with servos

Servo SelectionDynamixel RX-24F Smart Serial Servo ROBOTIS BIOLOID CM-700 Controller

Detail Design

Robot Body Design – Assembly in progress

Base Assembly

‘Shoulder’ Assembly

Arm Assembly

Wrist Assembly

Manipulator Head Design

Current ProgressMachining and assembly of body nearly completeLeft to Machine:Mounting Plates for AxlesElbow Axle

3D printed Servo mounts to be printed next week

Spend to Date: $1,492.81Structure Materials: $634.313D Printed Piece: $301Servos and Microcontroller: $557.50

Reimbursement: $600Total Investment: $892.81

Future Work Short-term

Structural Analysis for Final ReportFinalize Assembly with Servo IntegrationProgram SystemTest Functionality

Long-term

Additional FundingBuild Manipulator HeadServo Integration for ManipulatorPart Loading/Unloading Cycle ProgrammingSimple Image Processor for part location verification

Thank you

Special Thanks to

Dr. Roger Quinn – Project AdvisorJim Drake – Machine Shop Use and Advice