1. Automated Electromagnetic Crane Greg DeKing Fran Simmonds

2. Principles of Design Functionality Mechanical Design Sensor Design Embedded Design Cost Problems Questions

3. Functionality The Automated Electromagnetic Crane locates, acquires, and removes steel blocks from a target area to a designated container in an uninterrupted sequence.

4. Specifications Runs in fully automated mode. User may pause operation and move blocks. All blocks are relocated after every “grab” operation. Closest-to-bucket order of pickup.

5. Limitations All blocks must be fully inside target area. If a block is dropped the “drop” operation will still proceed. Blocks must be of a conductive material with a strong magnetic field.

6. Designer imposed constraints High success rate.  Sensors. Low cost. Stationary. Battery power.

7. Components HC12 Duramag ER1-071 Electromagnet 3 12V Stepper Motors 8 74151 8-1 Mux OPB 745 Optoisolator

8. Duramag ER1-071 Electromagnet Part NumberDiameterLengthThread Tap Dept h Lead Location Lead Length Watt s *Holding Value Net Weight 12 VD C 24 VDC 110 VDC ABT G Lbs. ER1 -071 ER2- 071 -3/41-1/410-323/83/1624"1.561.7 oz. Part NumberDiameterLengthThread Tap Dept h Lead Location Lead Length Watt s *Holding Value Net Weight 12 VD C 24 VDC 110 VDC ABT G Lbs. ER1 -071 ER2- 071 -3/41-1/410-323/83/1624"1.561.7 oz.

9. Motors 12V Airpax stepper motor 2 12V NMB stepper motors Stepper interface boards

10. Optoisolator Inductive spike caused from switching magnet off. 25.5 Volt magnitude. Separate 12V source. Magnet on/off controlled by optoisolator circuit.

11. Mechanical Design

12. Mastercam – side view

13. Mechanical Design

14. Tower Support

15. Mastercam -- top view

16. Sensor Placement

17. Sensor Design Conductive rings separated by non-conductive material Inside rings of row in series Outside rings of column in series

18. Sensor Function Input signal applied to inner ring Block completes circuit Corresponding mux control HC12 reads voltage “hit”

19. Interfacing

20. MULTIPLEXER SYSTEM

21. Sensor Map 37 bytes. Each byte 1 Column. Each bit represents row number.  Sensor sweep will fill sensor map one row at a time.  When all 37 columns for each row complete next row will begin.

22. Embedded Design begin read AD store AD in TEMP change MUX controls LoopITERATION += 1 bit test bit 0 branch {bit not set} to next set bit MAP_POINTER + BIT_POINTER nextMAP_POINTER += 1 Shift TEMP Test ITERATION branch {less than 8 } to loop ITERATION = 0 Test MAP_POINTER Branch { less than 37 } to begin BIT_POINTER += 1 Test BIT_POINTER Branch {less than 8} to begin BIT_POINTER = 0

23. Foreseeable Problems Multiplexing of I/O. Blocks contacting multiple sensors. Two Blocks on same sensor.

24. Cost Electromagnet $40.00 Motors$15.00 Circuit Boards$30.00 Muxs$15.00 Aluminum $60.00  Total$180.00

25. Questions Any Questions ?