Flexible Manufacturing with a Robotic Arm and Lego’s ELM 4701 ELM Project Fall 2002
10/03/02Alex Rust, Jon Turgeon, Mark Jarrett The Background of Flexible Manufacturing What is flexible manufacturing? What is flexible manufacturing? History of the RM-501 History of the RM-501
10/03/02 Jon Turgeon, Alex Rust, Joe Eastman, Mark Jarrett Problem Statement Develop an automated system that flexibly manufactures at least two products. Use existing robotic arm. Use existing robotic arm. Assemble two electromechanical Lego products Assemble two electromechanical Lego products
10/03/02 Nate Lamie, Matt Nusbaum, Will Fisher Lego Products Child’s night light with thermo protection Child’s night light with thermo protection Light activated cooling fan Light activated cooling fan
10/03/02Will Fisher, Nate Lamie Child’s Night Light
10/03/02 Matt Nusbaum, Brian Crosby, Jon Turgeon Light Activated Cooling Fan
10/03/02 Will Fisher,Joe Eastman, Alex Rust, Mark Jarrett Solutions Keypad for user interface Keypad for user interface HC11 interface to robot controller HC11 interface to robot controller Gripper modification Gripper modification Circular array of hoppers Circular array of hoppers
10/03/02Alex Rust, Mark Jarrett System Overview Hopper Robot controller HCll Hopper Keypad *LCA * LCA = Lego Connection Area
10/03/02 Work Platform Hoppers Hoppers Fixturing Fixturing Assembly Area Assembly Area Progress Progress
10/03/02 Matt Nusbaum, Brian Crosby, Jon Turgeon, Nate Lamie, Mark Jarrett Hoppers
10/03/02 Work Platform Hoppers Hoppers Fixturing Fixturing Assembly Area Assembly Area Progress Progress
10/03/02 B. Crosby, M. Nusbaum, J. Turgeon, N. Lamie, W. Fisher, M. Jarrett Guide Block Design
10/03/02 Brian Crosby, Will Fisher, Nate Lamie, Mark Jarrett Part Pick-up
10/03/02 Work Platform Hoppers Hoppers Fixturing Fixturing Assembly Area Assembly Area Progress Progress
10/03/02 Brian Crosby, Matt Nusbaum, Nate Lamie, Jon Turgeon, Mark Jarrett Assembly Layout Lego Connection Area Hopper Lego Connection Area
10/03/02 Work Platform Hoppers Hoppers Fixturing Fixturing Assembly Area Assembly Area Progress Progress
10/03/02Joe Eastman, Alex Rust, Karl Garant Program Flow Chart
10/03/02Karl Garant, Joe Eastman, Alex Rust18 User Interface Push button keypad Push button keypad LCD display LCD display
10/03/02Alex Rust, Joe Eastman, Karl Garant Integrating the Robot Arm with the HC11 Micro Controller Mixing old technology and new Mixing old technology and new The MAX232 and MC1488 Controlling the data that is sent to the robot Controlling the data that is sent to the robot The adding of fans to the robot controller The adding of fans to the robot controller
10/03/02 Alex Rust, Joe Eastman, Karl Garant, Mark Jarrett Circuit Block Diagram PC HC11 MC1488 Driver RM-501 Robot Controller TxD
10/03/02Will Fisher Gripper
10/03/02Will Fisher, Nate Lamie Gripper Modifications Lego attachment Lego attachment Adjustable stop Adjustable stop
10/03/02Nate Lamie, Will Fisher Lego Attachment
10/03/02Will Fisher Adjustable Stop
10/03/02Will Fisher Adjustable Stop on Gripper
10/03/02 Lego Products Child’s night light with thermo protection Child’s night light with thermo protection Light activated cooling fan Light activated cooling fan
10/03/02Will Fisher, Nate Lamie Child’s Night Light
10/03/02 Matt Nusbaum, Brian Crosby, Jon Turgeon Light Activated Cooling Fan
10/03/02Karl Garant, Joe Eastman Schedule
10/03/02 !!Thank You!! ?? ANY QUESTIONS??
10/03/02 Robot Programming Programming Key Hit ‘Esc’ Key Resets 68HC11 ‘Z’ Key Virtual Teaching Pendant Direct Robot Control Error Checking
10/03/02Joe Eastman, Alex Rust Error Checking Error Light Limit Error Program Error Activate Relay Send ‘RS’ Command Return to Previous Command Mode
10/03/02 Circuit Schematic TO PC HC To RM-510 Controller
10/03/02Nate Lamie, Alex Rust Modified Gripper