1. Flexible Manufacturing with a Robotic Arm and Lego’s ELM 4701 ELM Project Fall 2002 Johnson: How about a larger image? Johnson: How about a larger image? Johnson: Excellent Presentation. I’m looking forward to it. Johnson: Excellent Presentation. I’m looking forward to it.

2. 6/15/2015A. 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. 6/15/2015 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. 6/15/2015N. Lamie, M. Nusbaum, W. Fisher Lego Products Night Light Night Light Light Activated Cooling Fan Light Activated Cooling Fan

5. 6/15/2015W. Fisher, N. Lamie Night Light Johnson: Excellent photographic quality w/ backdrop etc., but don’t you mean to show just the product? The fixturing/display hardware is distracting Johnson: Excellent photographic quality w/ backdrop etc., but don’t you mean to show just the product? The fixturing/display hardware is distracting

6. 6/15/2015 M. Nusbaum, B. Crosby, J. Turgeon Light Activated Cooling Fan

7. 6/15/2015 A. Rust, J. Eastman, W. Fisher, N. Lamie, M. Jarrett Solutions Keypad and Display for User Input Keypad and Display 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. 6/15/2015A. Rust, M. Jarrett System Overview Keypad PC RM-501 Display HC11 A Johnson: I’m not really suggesting that you rework your system overview since you’ve done a good job of using it as a reference image lower right. But see the next slid as a suggestion of how to avoid mixed/serifed/small fonts Johnson: I’m not really suggesting that you rework your system overview since you’ve done a good job of using it as a reference image lower right. But see the next slid as a suggestion of how to avoid mixed/serifed/small fonts

9. 6/15/2015A. Rust, M. Jarrett System Overview Keypad PC RM-501 Display HC11 A Johnson: Flipping everything from top to bottom to give a front-to-back logic might be better than this Johnson: Flipping everything from top to bottom to give a front-to-back logic might be better than this

10. 6/15/2015 A.Rust, K. Garant, J. Eastman, M. Jarrett Project Organization Mechanical Mechanical Software Software Electrical Electrical

11. 6/15/2015 B. Crosby, M. Nusbaum, J. Turgeon, N. Lamie, W. Fisher, M. Jarrett Mechanical Lego Products Lego Products Gripper Gripper Production Platform Production Platform  Robot Work Zones  Hoppers  Assembly Area

12. 6/15/2015 W. Fisher, M. Nusbaum, J. Turgeon, B. Crosby, N. Lamie Lego Products Night Light Night Light Light Activated Cooling Fan Light Activated Cooling Fan

13. 6/15/2015W. Fisher, N. Lamie Night Light

14. 6/15/2015 M. Nusbaum, B. Crosby, J. Turgeon Light Activated Cooling Fan

15. 6/15/2015 B. Crosby, M. Nusbaum, J. Turgeon, N. Lamie, W. Fisher, M. Jarrett Mechanical Lego Products Lego Products Gripper Gripper Production Platform Production Platform  Robot Work Zones  Hoppers  Assembly Area Johnson: footer problems Johnson: footer problems

16. 6/15/2015W. Fisher Gripper

17. 6/15/2015W. Fisher, N. Lamie Gripper Modifications Reshape Gripper Fingers Reshape Gripper Fingers Adjustable Stop on Gripper Opening Adjustable Stop on Gripper Opening Johnson: What are you stopping? Johnson: What are you stopping?

18. 6/15/2015N.Lamie Gripper (Nate)

19. 6/15/2015W. Fisher Adjustable Stop on Gripper Johnson: Wow. That is very cool. Johnson: Wow. That is very cool.

20. 6/15/2015W. Fisher Adjustable Stop

21. 6/15/2015W. Fisher Force Limits of Stop Max Load = Yield % * Ultimate Strength * Effective Area

22. 6/15/2015 B. Crosby, M. Nusbaum, J. Turgeon, N. Lamie, W. Fisher, M. Jarrett Mechanical Lego Products Lego Products Gripper Gripper Production Platform Production Platform  Robot Work Zones  Hoppers  Assembly Area

23. 6/15/2015 B. Crosby, M. Nusbaum, J. Turgeon, N. Lamie, W. Fisher, M. Jarrett Mechanical Lego Products Lego Products Gripper Gripper Production Platform Production Platform  Robot Work Zones  Hoppers  Assembly Area

24. 6/15/2015B. Crosby Robot Work Zones

25. 6/15/2015 M. Nusbaum, B. Crosby, J. Turgeon, N. Lamie Mechanical Lego Products Lego Products Gripper Gripper Production Platform Production Platform Robot Work Zones Robot Work Zones  Hoppers  Assembly Area

26. 6/15/2015 M. Nusbaum, B. Crosby, J. Turgeon, N. Lamie, M. Jarrett Hoppers(Brian)

27. 6/15/2015 B. Crosby, M. Nusbaum, J. Turgeon, N. Lamie, W. Fisher, M. Jarrett Hoppers Guide Block Guide Block Lego Fixture Lego Fixture Part Pick-up Part Pick-up

28. 6/15/2015 B. Crosby, M. Nusbaum, J. Turgeon, N. Lamie, W. Fisher, M. Jarrett Guide Block

29. 6/15/2015B. Crosby Lego Fixture (Brian)

30. 6/15/2015 B. Crosby, W. Fisher, N. Lamie, M. Jarrett Part Pick-up

31. 6/15/2015 B. Crosby, M. Nusbaum, J. Turgeon, N. Lamie, W. Fisher, M. Jarrett Mechanical Lego Products Lego Products Gripper Gripper Production Platform Production Platform Robot Work Zones Robot Work Zones Hoppers Hoppers  Assembly Area

32. 6/15/2015N. Lamie, W. Fisher Assembly Area

33. 6/15/2015N. Lamie, W. Fisher, P. Johnson Section View

34. 6/15/2015N. Lamie, W. Fisher, P. Johnson Blow-up Johnson: excellent three slide sequence. Nate, need help with the color? Johnson: excellent three slide sequence. Nate, need help with the color?

35. 6/15/2015 A. Rust, K. Garant, J. Eastman, M. Jarrett Project Organization Mechanical Mechanical Software Software Electrical Electrical

36. 6/15/2015J. Eastman, K. Garant, A. Rust Software Simplifying Interface  PC to Robot Communication  Pendant to PC  Programs Johnson: drop bullet for list of one Johnson: drop bullet for list of one

37. 6/15/2015J. Eastman, K. Garant, A. Rust Software Simplifying Interface Simplifying Interface  PC to Robot Communication  Pendant to PC  Programs

38. 6/15/2015J. Eastman, K. Garant, A. Rust Software Simplifying Interface Simplifying Interface PC to Robot Communication PC to Robot Communication  Pendant to PC  Programs

39. 6/15/2015J. Eastman, K. Garant, A. Rust Pendant

40. 6/15/2015J. 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

41. 6/15/2015J. Eastman, K. Garant PC Pendant Johnson: good. Johnson: good.

42. 6/15/2015J. 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

43. 6/15/2015J. 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 Johnson: Use connectors! Johnson: Use connectors!

44. 6/15/2015J. Eastman, K. Garant, A. Rust Direct Robot Programming Key Hit ESC key? Yes No Reset HC11 PC Pendant

45. 6/15/2015J. Eastman, K. Garant, A. Rust Product No A?A? Yes Prod. A Prog. Prod. B Prog. Product Johnson: So, any key other than set-up or A results in the production of product B? Johnson: So, any key other than set-up or A results in the production of product B?

46. 6/15/2015J. 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");

47. 6/15/2015 A. Rust, K. Garant, J. Eastman, M. Jarrett Project Organization Mechanical Mechanical Software Software Electrical Electrical

48. 6/15/2015A. Rust, J. Eastman, K. Garant Electrical System Communication System Communication  Electrical Concept  Upgrade Electronics  User Interface

49. 6/15/2015A. Rust, J. Eastman, K. Garant Electrical System Communication System Communication  Electrical Concept  Upgrade Electronics  User Interface

50. 6/15/2015 A. Rust, J. Eastman, K. Garant, M. Jarrett Electrical Concept MC1488 RM-501 120 VAC 5 VDC PC Keypad Display HC11 A Johnson: See System Overview Johnson: See System Overview

51. 6/15/2015A. Rust, J. Eastman, K. Garant Electrical System Communication System Communication Electrical Concept Electrical Concept  Upgrade Electronics  User Interface

52. 6/15/2015A. Rust, J. Eastman, A. St. Denis Signal Control Johnson: hope Andre likes this. Sure looks cool to me. Johnson: hope Andre likes this. Sure looks cool to me.

53. 6/15/2015J. Eastman, K. Garant, A. Rust Error Checking Sensor LED Optical Sensor

54. 6/15/2015A. Rust, J. Eastman Error Checking

55. 6/15/2015A. Rust, J. Eastman, K. Garant Electrical System Communication System Communication Electrical Concept Electrical Concept Upgrade Electronics Upgrade Electronics  User Interface

56. 6/15/2015K. Garant, J. Eastman, A. Rust56 User Interface Push Button Keypad Push Button Keypad LCD Display LCD Display

57. 6/15/2015K.Garant Keypad

58. 6/15/2015K.Garant LCD Display Johnson: It’s an Automatic Teller Machine machine? Fix name consistency w/ many previous slides. Good photos Johnson: It’s an Automatic Teller Machine machine? Fix name consistency w/ many previous slides. Good photos

59. 6/15/2015 A. Rust, K. Garant, J. Eastman, M. Jarrett Project Organization Mechanical Mechanical Software Software Electrical Electrical

60. 6/15/2015K. Garant, J. Eastman Schedule Johnson: Very Good Johnson: Very Good

61. 6/15/2015 Thank You ANY QUESTIONS? Johnson: Keep your shirt on with the punctuation Johnson: Keep your shirt on with the punctuation

62. 6/15/2015M. Nusbaum, W.Fisher Budget (Matt, Will)

63. 6/15/2015

66. Other Safety Safety Schedule Schedule Budget Budget Website Website

67. 6/15/2015 Mark Jarrett, Brian Crosby, Alex Rust Safety Concerns

68. 6/15/2015 Saftey

69. 6/15/2015 A. Rust, K. Garant, J. Eastman, M. Jarrett Project Organization Mechanical Mechanical Software Software Electrical Electrical Other Other

70. 6/15/2015 Website file:///I|/WEB/DOCS/ELM/Projects/2002-2003/MiniProject/webpage/ file:///I|/WEB/DOCS/ELM/Projects/2002-2003/MiniProject/webpage/

71. 6/15/2015Nate Lamie, Alex Rust Modified Gripper

72. 6/15/2015 Brian Crosby, Matt Nusbaum, Nate Lamie, Jon Turgeon, Mark Jarrett Production Platform Lego Connection Area Hopper Lego Connection Area

73. 6/15/2015Nate Lamie, Will Fisher Lego Attachment

74. 6/15/2015A. 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

75. 6/15/2015J. Eastman, K. Garant, A. Rust Error Checking Sensor LED Optical Sensor

76. 6/15/2015J. Eastman, A. Rust Error Checking Error Light On? Yes No Send ‘RS’ Command Return to Previous Command Mode

77. 6/15/2015A. Rust, M. Jarrett Circuit Schematic PC RM-501 -12 V +12 V HC11