1. Flexible Manufacturing with a Robotic Arm and Lego’s ELM 4701 ELM Project Fall 2002

2. 6/1/2015A. Rust, J. Turgeon, M. 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

3. 6/1/2015 A. Rust, J. Eastman, J. Turgeon, M. Jarrett Problem 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

4. 6/1/2015N. Lamie, M. Nusbaum, W. Fisher Lego Products Night Light Night Light Light Activated Cooling Fan Light Activated Cooling Fan

5. 6/1/2015W. Fisher, N. Lamie Night Light

6. 6/1/2015 M. Nusbaum, B. Crosby, J. Turgeon Light Activated Cooling Fan

7. 6/1/2015 A. Rust, J. Eastman, W. Fisher, N. Lamie, M. Jarrett Solutions Keypad for User Input Keypad for User Input HC11 Interface to Robot Controller HC11 Interface to Robot Controller Gripper Modification Gripper Modification Circular Array of Hoppers Circular Array of Hoppers

8. 6/1/2015A. Rust, M. Jarrett System Overview Keypad PC RM-501 Display HC11 A

9. 6/1/2015 A.Rust, K. Garant, J. Eastman, M. Jarrett Project Organization Mechanical Mechanical Software Software Electrical Electrical

10. 6/1/2015 B. Crosby, M. Nusbaum, J. Turgeon, N. Lamie Mechanical Lego Products Lego Products Gripper Gripper Production Platform Production Platform  Robot Work Zones  Hoppers  Assembly Area

11. 6/1/2015 W. Fisher, M. Nusbaum, J. Turgeon Lego Products Night Light Night Light Light Activated Cooling Fan Light Activated Cooling Fan

12. 6/1/2015W. Fisher, N. Lamie Night Light

13. 6/1/2015 M. Nusbaum, B. Crosby, J. Turgeon Light Activated Cooling Fan

14. 6/1/2015 B. Crosby, M. Nusbaum, J. Turgeon, N. Lamie Mechanical Lego Products Lego Products Gripper Gripper Production Platform Production Platform  Robot Work Zones  Hoppers  Assembly Area

15. 6/1/2015W. Fisher Gripper

16. 6/1/2015W. Fisher, N. Lamie Gripper Modifications Reshape Gripper Fingers Reshape Gripper Fingers Adjustable Stop Adjustable Stop

17. 6/1/2015N. Lamie, W. Fisher, P. Johnson Old Gripper

18. 6/1/2015N.Lamie New Gripper

19. 6/1/2015W. Fisher Adjustable Stop on Gripper

20. 6/1/2015W. Fisher Adjustable Stop

21. 6/1/2015W. Fisher Force Limits of Stop Max Load = Yield % * Ultimate Strength * Effective Area 3mm Load = 143.7lbs 1/4-20” Load = 887.7lbs

22. 6/1/2015 B. Crosby, M. Nusbaum, J. Turgeon, N. Lamie Mechanical Lego Products Lego Products Gripper Gripper Production Platform Production Platform  Robot Work Zones  Hoppers  Assembly Area

23. 6/1/2015 B. Crosby, M. Nusbaum, J. Turgeon, N. Lamie Mechanical Lego Products Lego Products Gripper Gripper Production Platform Production Platform  Robot Work Zones  Hoppers  Assembly Area

24. 6/1/2015B. Crosby Robot Work Zones

25. 6/1/2015 M. Nusbaum, B. Crosby, J. Turgeon Mechanical Lego Products Lego Products Gripper Gripper Production Platform Production Platform Robot Work Zones Robot Work Zones  Hoppers  Assembly Area

26. 6/1/2015 M. Nusbaum, B. Crosby, J. Turgeon Hoppers

27. 6/1/2015 B. Crosby, M. Nusbaum, J. Turgeon Hoppers Guide Block Guide Block Lego Fixture Lego Fixture Part Pick-up Part Pick-up

28. 6/1/2015 B. Crosby, M. Nusbaum, J. Turgeon Guide Block

29. 6/1/2015J. Turgeon Lego Fixture

30. 6/1/2015 B. Crosby, W. Fisher, N. Lamie, M. Jarrett Part Pick-up

31. 6/1/2015 B. Crosby, M. Nusbaum, J. Turgeon Mechanical Lego Products Lego Products Gripper Gripper Production Platform Production Platform Robot Work Zones Robot Work Zones Hoppers Hoppers  Assembly Area

32. 6/1/2015N. Lamie, W. Fisher Assembly Area

33. 6/1/2015N. Lamie, W. Fisher, P. Johnson Section View

34. 6/1/2015 A. Rust, K. Garant, J. Eastman, M. Jarrett Project Organization Mechanical Mechanical Software Software Electrical Electrical

35. 6/1/2015J. Eastman, K. Garant, A. Rust Software Simplifying Interface Simplifying Interface  PC to Robot Communication  Pendant to PC  Programs

36. 6/1/2015J. Eastman, K. Garant, A. Rust Software Simplifying Interface Simplifying Interface  PC to Robot Communication  Pendant to PC  Programs

37. 6/1/2015J. Eastman, K. Garant, A. Rust Software Simplifying Interface Simplifying Interface PC to Robot Communication PC to Robot Communication  Pendant to PC  Programs

38. 6/1/2015J. Eastman, K. Garant, A. Rust Pendant

39. 6/1/2015J. Eastman Teaching Pendant Code GF 0 PS 201,-4395,-3250,2000,1000,500,0 PS 202,-4395,-3370,2000,1041,456,0 10 NT 20 SP 9 30 MO 201 40 SP 1 50 MO 202

40. 6/1/2015J. Eastman, K. Garant PC Pendant

41. 6/1/2015J. Eastman, K. Garant, A. Rust Software Simplifying Interface Simplifying Interface PC to Robot Communication PC to Robot Communication Pendant to PC Pendant to PC  Programs

42. 6/1/2015J. Eastman, A. Rust, K. Garant Main Program User Hits Key Setu p Key? Yes DR P? No Yes Direct Robot Programming Production Platform No Product

43. 6/1/2015J. Eastman, K. Garant, A. Rust Direct Robot Programming Key Hit ESC key? Yes No Reset HC11 PC Pendant

44. 6/1/2015J. Eastman, K. Garant, A. Rust Product No A?A? Yes Prod. A Prog. Prod. B Prog. Product

45. 6/1/2015J. Eastman, K. Garant ‘C’ Product Code printf("GF 0\n"); delay_1s(); printf("PS 201,-4395,-3250,2000,1000,500,0\n"); delay_1s(); printf("10 NT\n"); delay_1s(); printf("20 SP 9\n"); delay_1s(); printf("30 MO 201\n");

46. 6/1/2015 A. Rust, K. Garant, J. Eastman, M. Jarrett Project Organization Mechanical Mechanical Software Software Electrical Electrical

47. 6/1/2015A. Rust, J. Eastman, K. Garant Electrical System Communication System Communication  Electrical Concept  Upgrade Electronics  User Interface

48. 6/1/2015A. Rust, J. Eastman, K. Garant Electrical System Communication System Communication  Electrical Concept  Upgrade Electronics  User Interface

49. 6/1/2015 A. Rust, J. Eastman, K. Garant, M. Jarrett Electrical Concept MC1488 RM-501 120 VAC 5 VDC PC Keypad Display HC11 A

50. 6/1/2015A. Rust, J. Eastman, K. Garant Electrical System Communication System Communication Electrical Concept Electrical Concept  Upgrade Electronics  User Interface

51. 6/1/2015A. Rust, J. Eastman, A. St. Denis Signal Control

52. 6/1/2015J. Eastman, K. Garant, A. Rust Error Checking Sensor LED Optical Sensor

53. 6/1/2015A. Rust, J. Eastman Error Checking

54. 6/1/2015A. Rust, J. Eastman, K. Garant Electrical System Communication System Communication Electrical Concept Electrical Concept Upgrade Electronics Upgrade Electronics  User Interface

55. 6/1/2015K. Garant, J. Eastman, A. Rust55 User Interface Push Button Keypad Push Button Keypad LCD Display LCD Display

56. 6/1/2015K.Garant Keypad

57. 6/1/2015K.Garant LCD

58. 6/1/2015 A. Rust, K. Garant, J. Eastman, M. Jarrett Project Organization Mechanical Mechanical Software Software Electrical Electrical

59. 6/1/2015K. Garant, J. Eastman Schedule

60. 6/1/2015 !!Thank You!! ?? ANY QUESTIONS??

61. 6/1/2015M. Nusbaum, W.Fisher Budget (Matt, Will)

62. 6/1/2015 Other Safety Safety Schedule Schedule Budget Budget Website Website

63. 6/1/2015 Mark Jarrett, Brian Crosby, Alex Rust Safety Concerns

64. 6/1/2015 Saftey

65. 6/1/2015 A. Rust, K. Garant, J. Eastman, M. Jarrett Project Organization Mechanical Mechanical Software Software Electrical Electrical Other Other

66. 6/1/2015 Website file:///I|/WEB/DOCS/ELM/Projects/2002-2003/MiniProject/webpage/ file:///I|/WEB/DOCS/ELM/Projects/2002-2003/MiniProject/webpage/

67. 6/1/2015Nate Lamie, Alex Rust Modified Gripper

68. 6/1/2015 Brian Crosby, Matt Nusbaum, Nate Lamie, Jon Turgeon, Mark Jarrett Production Platform Lego Connection Area Hopper Lego Connection Area

69. 6/1/2015Nate Lamie, Will Fisher Lego Attachment

70. 6/1/2015A. Rust, J. Eastman, K. Garant Upgrade Electronics Mixing Old Technology and New Mixing Old Technology and New  The MAX232 and MC1488  HC11 and Robot Controller Controlling Data Sent to Robot Controlling Data Sent to Robot

71. 6/1/2015J. Eastman, K. Garant, A. Rust Error Checking Sensor LED Optical Sensor

72. 6/1/2015J. Eastman, A. Rust Error Checking Error Light On? Yes No Send ‘RS’ Command Return to Previous Command Mode

73. 6/1/2015A. Rust, M. Jarrett Circuit Schematic PC RM-501 -12 V +12 V HC11