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

10/03/02 Alex Rust, Jon Turgeon, Mark Jarrett Background What is flexible manufacturing? What is flexible manufacturing?  Automatic Product Switching  Rapid Introduction of new product History of the RM-501 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. 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.

10/03/02 Jon Turgeon, Alex Rust, Joe Eastman, Mark Jarrett Problem Develop a 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 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. 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.

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 Johnson: Good sequence choice Johnson: Good sequence choice

10/03/02Will Fisher, Nate Lamie Child’s Night Light Johnson: Dart photos. Consider a standard iso like point of view. See below. Johnson: Dart photos. Consider a standard iso like point of view. See below.

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 Johnson: ‘versatile hoppers’? Johnson: ‘versatile hoppers’?

10/03/02Alex Rust, Mark Jarrett System Overview Hopper Robot controller HCll Hopper Keypad 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?) 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?)

10/03/02 Work Platform Hoppers Hoppers Fixturing Fixturing Assembly Area Assembly Area Progress Progress Johnson: color hoppers for emphasis Johnson: color hoppers for emphasis

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 Johnson: fixturing right? Johnson: fixturing right?

10/03/02 B. Crosby, M. Nusbaum, J. Turgeon, N. Lamie, W. Fisher, M. Jarrett Fixturing - Guide Block Johnson: keep using names you’ve established (title) Johnson: keep using names you’ve established (title)

10/03/02 Brian Crosby, Will Fisher, Nate Lamie, Mark Jarrett Fixturing - Part Pick-up Johnson: again Johnson: again

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 Johnson: use your 3D model even for an ortho view as in System overview Johnson: use your 3D model even for an ortho view as in System overview

10/03/02 Work Platform Hoppers Hoppers Fixturing Fixturing Assembly Area Assembly Area Progress Progress

10/03/02 Joe Eastman, Alex Rust, Karl Garant Program Flow Chart

10/03/02 Karl Garant, Joe Eastman, Alex Rust 18 User Interface Push button keypad Push button keypad LCD display LCD display

10/03/02 Alex Rust, Joe Eastman, Karl Garant Integrating Arm with 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 The adding of fans to the robot controller The adding of fans to the robot controller Johnson: short title. Kill empty paragraphs. Bullet color Johnson: short title. Kill empty paragraphs. Bullet color

10/03/02 Alex Rust, Joe Eastman, Karl Garant, Mark Jarrett Circuit Block Diagram PC HC11 MC1488 Driver RM-501 Robot Controller TxD Johnson: I’m out of time. Good luck and keep up the good work. Johnson: I’m out of time. Good luck and keep up the good work.

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