flexible manufacturing with a robotic arm and lego’s elm 4701 elm project fall 2002
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Flexible Manufacturing with a Robotic Arm and Lego’s
ELM 4701ELM 4701
ELM Project ELM Project
Fall 2002Fall 2002
04/18/23 A. Rust, J. Turgeon, M. Jarrett
Background
What is Flexible Manufacturing?What is Flexible Manufacturing? Automatic Product SwitchingAutomatic Product Switching Rapid Introduction of New ProductRapid Introduction of New Product
History of the RM-501History of the RM-501
04/18/23 A. Rust, J. Eastman, J. Turgeon, M. Jarrett
Problem
Develop an Automated System that FlexiblyDevelop an Automated System that Flexibly
Manufactures at Least Two ProductsManufactures at Least Two Products
Use Existing Robotic ArmUse Existing Robotic Arm Assemble Two Electromechanical Lego Assemble Two Electromechanical Lego
ProductsProducts
04/18/23 N. Lamie, M. Nusbaum, W. Fisher
Lego Products
Night Light Night Light Light Activated Cooling FanLight Activated Cooling Fan
04/18/23 W. Fisher, N. Lamie
Night Light
04/18/23 M. Nusbaum, B. Crosby, J. Turgeon
Light Activated Cooling Fan
04/18/23 A. Rust, J. Eastman, W. Fisher, N. Lamie, M. Jarrett
Solutions
Keypad for User InputKeypad for User Input HC11 Interface to Robot ControllerHC11 Interface to Robot Controller Gripper ModificationGripper Modification Circular Array of HoppersCircular Array of Hoppers
04/18/23 A. Rust, M. Jarrett
System Overview
Keypad
PC
RM-501
Display
HC11A
04/18/23 A.Rust, K. Garant, J. Eastman, M. Jarrett
Project Organization
MechanicalMechanical SoftwareSoftware ElectricalElectrical
04/18/23 B. Crosby, M. Nusbaum, J. Turgeon, N. Lamie
Mechanical
Lego ProductsLego Products GripperGripper Production PlatformProduction Platform
Robot Work ZonesRobot Work Zones HoppersHoppers Assembly AreaAssembly Area
04/18/23 W. Fisher, M. Nusbaum, J. Turgeon
Lego Products
Night LightNight Light Light Activated Cooling FanLight Activated Cooling Fan
04/18/23 W. Fisher, N. Lamie
Night Light
04/18/23 M. Nusbaum, B. Crosby, J. Turgeon
Light Activated Cooling Fan
04/18/23 B. Crosby, M. Nusbaum, J. Turgeon, N. Lamie
Mechanical
Lego ProductsLego Products GripperGripper Production PlatformProduction Platform
Robot Work ZonesRobot Work Zones HoppersHoppers Assembly AreaAssembly Area
04/18/23 W. Fisher
Gripper
04/18/23 W. Fisher, N. Lamie
Gripper Modifications
Reshape Gripper Fingers Reshape Gripper Fingers Adjustable StopAdjustable Stop
04/18/23 N. Lamie, W. Fisher, P. Johnson
Old Gripper
04/18/23 N.Lamie
New Gripper
04/18/23 W. Fisher
Adjustable Stop on Gripper
04/18/23 W. Fisher
Adjustable Stop
04/18/23 W. Fisher
Force Limits of Stop
Max Load = Yield % * Ultimate Strength * Effective Area
3mm Load = 143.7lbs
1/4-20” Load = 887.7lbs
04/18/23 B. Crosby, M. Nusbaum, J. Turgeon, N. Lamie
Mechanical
Lego Products Lego Products GripperGripper Production PlatformProduction Platform
Robot Work ZonesRobot Work Zones HoppersHoppers Assembly AreaAssembly Area
04/18/23 B. Crosby, M. Nusbaum, J. Turgeon, N. Lamie
Mechanical
Lego Products Lego Products GripperGripper Production PlatformProduction Platform
Robot Work ZonesRobot Work Zones HoppersHoppers Assembly AreaAssembly Area
04/18/23 B. Crosby
Robot Work Zones
04/18/23 M. Nusbaum, B. Crosby, J. Turgeon
Mechanical
Lego ProductsLego Products GripperGripper Production PlatformProduction Platform
Robot Work Zones Robot Work Zones HoppersHoppers Assembly AreaAssembly Area
04/18/23 M. Nusbaum, B. Crosby, J. Turgeon
Hoppers
04/18/23 B. Crosby, M. Nusbaum, J. Turgeon
Hoppers
Guide BlockGuide Block Lego FixtureLego Fixture Part Pick-upPart Pick-up
04/18/23 B. Crosby, M. Nusbaum, J. Turgeon
Guide Block
04/18/23 J. Turgeon
Lego Fixture
04/18/23 B. Crosby, W. Fisher, N. Lamie, M. Jarrett
Part Pick-up
04/18/23 B. Crosby, M. Nusbaum, J. Turgeon
Mechanical
Lego ProductsLego Products GripperGripper Production PlatformProduction Platform
Robot Work Zones Robot Work Zones HoppersHoppers Assembly AreaAssembly Area
04/18/23 N. Lamie, W. Fisher
Assembly Area
04/18/23 N. Lamie, W. Fisher, P. Johnson
Section View
04/18/23 A. Rust, K. Garant, J. Eastman, M. Jarrett
Project Organization
MechanicalMechanical SoftwareSoftware ElectricalElectrical
04/18/23 J. Eastman, K. Garant, A. Rust
Software
Simplifying Interface Simplifying Interface PC to Robot Communication PC to Robot Communication Pendant to PCPendant to PC ProgramsPrograms
04/18/23 J. Eastman, K. Garant, A. Rust
Software
Simplifying InterfaceSimplifying Interface PC to Robot CommunicationPC to Robot Communication Pendant to PCPendant to PC ProgramsPrograms
04/18/23 J. Eastman, K. Garant, A. Rust
Software
Simplifying Interface Simplifying Interface PC to Robot CommunicationPC to Robot Communication Pendant to PCPendant to PC ProgramsPrograms
04/18/23 J. Eastman, K. Garant, A. Rust
Pendant
04/18/23 J. Eastman
Teaching Pendant Code
GF 0PS 201,-4395,-3250,2000,1000,500,0PS 202,-4395,-3370,2000,1041,456,0
10 NT20 SP 930 MO 20140 SP 150 MO 202
04/18/23 J. Eastman, K. Garant
PC Pendant
`1
5 CCW2
5 CW3
5 UP4
5 DN5
5 UP6
5 DN7
1 UP8
1 DN9
6 CW0
6 CCW- =
QW
new progE R
T test prog
Y demo 1
U IO
LEGO 1P
LEGO 2[ ]
A 250 CW
S 250 CCW
D 250 UP
F 250 DN
G 250 UP
H 250 DN
J 250 UP
K 250 DN
L 250 CW
; 250 CCW
'
ZX
grip open
C grip
closeV B N M , . /
Alt Alt
Tab
Back space
Ctrl
Caps Lock
Shift
Ctrl Space
Shift
\
Enter
04/18/23 J. Eastman, K. Garant, A. Rust
Software
Simplifying Interface Simplifying Interface PC to Robot CommunicationPC to Robot Communication Pendant to PCPendant to PC ProgramsPrograms
04/18/23 J. Eastman, A. Rust, K. Garant
Main Program
User Hits Key
Setup
Key?Yes
DRP? No
YesDirect RobotProgramming
Production Platform
NoProduct
04/18/23 J. Eastman, K. Garant, A. Rust
Direct Robot Programming
Key Hit
ESC key?Yes
No
Reset HC11
PCPendant
04/18/23 J. Eastman, K. Garant, A. Rust
Product
No A?
Yes
Prod. A Prog.
Prod. B Prog.
Product
04/18/23 J. Eastman, K. Garant
‘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");
04/18/23 A. Rust, K. Garant, J. Eastman, M. Jarrett
Project Organization
MechanicalMechanical SoftwareSoftware ElectricalElectrical
04/18/23 A. Rust, J. Eastman, K. Garant
Electrical
System CommunicationSystem Communication Electrical ConceptElectrical Concept Upgrade ElectronicsUpgrade Electronics User InterfaceUser Interface
04/18/23 A. Rust, J. Eastman, K. Garant
Electrical
System CommunicationSystem Communication Electrical ConceptElectrical Concept Upgrade ElectronicsUpgrade Electronics User InterfaceUser Interface
04/18/23 A. Rust, J. Eastman, K. Garant, M. Jarrett
Electrical Concept
MC1488
RM-501 120 VAC
120 VAC
5 VDC
PC
Keypad
Display
HC11A
04/18/23 A. Rust, J. Eastman, K. Garant
Electrical
System CommunicationSystem Communication Electrical ConceptElectrical Concept Upgrade ElectronicsUpgrade Electronics User InterfaceUser Interface
04/18/23 A. Rust, J. Eastman, A. St. Denis
Signal Control
MC1488A
51 +12
-12
TxD
Port A Bit 6
+5 Volts
To Robot Controller
1MCU Port
04/18/23 J. Eastman, K. Garant, A. Rust
Error Checking Sensor
LEDOptical Sensor
04/18/23 A. Rust, J. Eastman
Error Checking
LM741
1k
light
51K
1k
5 Votls
Gound
Error Input
MCU Port
04/18/23 A. Rust, J. Eastman, K. Garant
Electrical
System CommunicationSystem Communication Electrical Concept Electrical Concept Upgrade ElectronicsUpgrade Electronics User InterfaceUser Interface
04/18/23 K. Garant, J. Eastman, A. Rust 55
User Interface
Push Button KeypadPush Button Keypad LCD Display LCD Display
04/18/23 K.Garant
Keypad
04/18/23 K.Garant
LCD
04/18/23 A. Rust, K. Garant, J. Eastman, M. Jarrett
Project Organization
MechanicalMechanical Software Software ElectricalElectrical
04/18/23 K. Garant, J. Eastman
Schedule
04/18/23
!!Thank You!!
?? ANY QUESTIONS??