1. Self Loading and Unloading Conveyor Belt System
Rylie Hanson, Austin Noel, Nicole Ahrens
ET 493
Spring 2016
Advisor: Mohammed Saadeh

2. Objective To design and build a fully operational conveyor belt system
Loading/unloading system with two robotic arms and an unloading disc.
Improve our growing Engineering Technology Program
Comprised of different components for students to learn
Can be improved and modified over the years

3. Original Design SCARA Robot 3in wide, 4ft long conveyor
2 linear actuators attached to servo mounted rotating base
3in wide, 4ft long conveyor

4. New Design: Arms Sphere Robotic Arm (rotational-rotational-rotational)
Consists purely of servos as opposed to the original design which used linear actuators in conjunction with servos.
Frame is built using aluminum C channels
Faster and more accurate
Servos can be accurately positioned.
Gripper coordinates can be calculated using servo feedback (forward kinematics)
Using inverse kinematics, servos can be configured to reach a desired position/orientation.

5. New Design Arm

6. Prototype
Built with 180 degree pan and tilt servos that are programmed using Arduino.
Program takes arrays of degree amounts for each servo and cycles between them using increment loops to control arm position.
Is able to lift small objects and place them at other positions without knocking them over.

7. Conveyor Frame Sheet metal 2 side walls 6.5 ft
6 supporting ribs 13 inches long and spaced 12 inches apart.

8. Conveyor Belt Intralox S900 flat friction top belt
10.92” wide
164” long
Wear strips
DC Motor will be selected by Intralox to accommodate the belt.
Will be programmed in conjunction with the robotic arms to move the boxes in a uniform sequence.

9. Rotating Disk Stepper motor mounted to a hub
Disk will rotate in increments according to the loading of the objects
Mounted bearings reduce uneven force on the motor

10. Budget Servos (8)-------------------------------------------------$800
Gripper (2) $30
Aluminum C channels for frame of robots(4)----$80
Motors (rotating disc) $25
Total $935

11. Tasks Completed
Designed conveyor frame model using solid works based on the belt that Intralox suggested for us to used.
Fully functioning prototype of the robotic arm.

12. Deliverables for next semester
Select and order a conveyor motor with the help from Intralox based on our conveyor belt and load.
Construct conveyor system
Order parts for the robotic arms
4 servos for each arm.
3 C brackets with
Order motor and build rotating disk
Code robotic arms and disk for the loading and unloading of objects

13. Timeline Order conveyor motor - May Order robotic arm parts - May-June
Order motor and build rotating disk – Summer 2016
Construct conveyor system – Summer 2016
Coding of robotic arms and disk – Fall 2016

14. Questions??