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

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

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

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.

New Design Arm

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.

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

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.

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

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

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.

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

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

Questions??