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

2. 10/03/02Alex Rust, Jon Turgeon, Mark Jarrett The Background of Flexible Manufacturing What is flexible manufacturing? What is flexible manufacturing? History of the RM-501 History of the RM-501

3. 10/03/02 Jon Turgeon, Alex Rust, Joe Eastman, Mark Jarrett Problem Statement 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. 10/03/02 Nate Lamie, Matt Nusbaum, Will Fisher Lego Products Child’s night light with thermo protection Child’s night light with thermo protection Light activated cooling fan Light activated cooling fan

5. 10/03/02Will Fisher, Nate Lamie Child’s Night Light

6. 10/03/02 Matt Nusbaum, Brian Crosby, Jon Turgeon Light Activated Cooling Fan

7. 10/03/02 Will Fisher,Joe Eastman, Alex Rust, Mark Jarrett Solutions Keypad for user interface Keypad for user interface HC11 interface to robot controller HC11 interface to robot controller Gripper modification Gripper modification Circular array of hoppers Circular array of hoppers

8. 10/03/02Alex Rust, Mark Jarrett System Overview Hopper Robot controller HCll Hopper Keypad *LCA * LCA = Lego Connection Area

9. 10/03/02 Work Platform Hoppers Hoppers Fixturing Fixturing Assembly Area Assembly Area Progress Progress

10. 10/03/02 Matt Nusbaum, Brian Crosby, Jon Turgeon, Nate Lamie, Mark Jarrett Hoppers

11. 10/03/02 Work Platform Hoppers Hoppers Fixturing Fixturing Assembly Area Assembly Area Progress Progress

12. 10/03/02 B. Crosby, M. Nusbaum, J. Turgeon, N. Lamie, W. Fisher, M. Jarrett Guide Block Design

13. 10/03/02 Brian Crosby, Will Fisher, Nate Lamie, Mark Jarrett Part Pick-up

14. 10/03/02 Work Platform Hoppers Hoppers Fixturing Fixturing Assembly Area Assembly Area Progress Progress

15. 10/03/02 Brian Crosby, Matt Nusbaum, Nate Lamie, Jon Turgeon, Mark Jarrett Assembly Layout Lego Connection Area Hopper Lego Connection Area

16. 10/03/02 Work Platform Hoppers Hoppers Fixturing Fixturing Assembly Area Assembly Area Progress Progress

17. 10/03/02Joe Eastman, Alex Rust, Karl Garant Program Flow Chart

18. 10/03/02Karl Garant, Joe Eastman, Alex Rust18 User Interface Push button keypad Push button keypad LCD display LCD display

19. 10/03/02Alex Rust, Joe Eastman, Karl Garant Integrating the Robot Arm with the HC11 Micro Controller Mixing old technology and new Mixing old technology and new  The MAX232 and MC1488 Controlling the data that is sent to the robot Controlling the data that is sent to the robot The adding of fans to the robot controller The adding of fans to the robot controller

20. 10/03/02 Alex Rust, Joe Eastman, Karl Garant, Mark Jarrett Circuit Block Diagram PC HC11 MC1488 Driver RM-501 Robot Controller TxD

21. 10/03/02Will Fisher Gripper

22. 10/03/02Will Fisher, Nate Lamie Gripper Modifications Lego attachment Lego attachment Adjustable stop Adjustable stop

23. 10/03/02Nate Lamie, Will Fisher Lego Attachment

24. 10/03/02Will Fisher Adjustable Stop

25. 10/03/02Will Fisher Adjustable Stop on Gripper

26. 10/03/02 Lego Products Child’s night light with thermo protection Child’s night light with thermo protection Light activated cooling fan Light activated cooling fan

27. 10/03/02Will Fisher, Nate Lamie Child’s Night Light

28. 10/03/02 Matt Nusbaum, Brian Crosby, Jon Turgeon Light Activated Cooling Fan

29. 10/03/02Karl Garant, Joe Eastman Schedule

30. 10/03/02 !!Thank You!! ?? ANY QUESTIONS??

31. 10/03/02 Robot Programming Programming Key Hit ‘Esc’ Key Resets 68HC11 ‘Z’ Key Virtual Teaching Pendant Direct Robot Control Error Checking

32. 10/03/02Joe Eastman, Alex Rust Error Checking Error Light Limit Error Program Error Activate Relay Send ‘RS’ Command Return to Previous Command Mode

33. 10/03/02 Circuit Schematic TO PC HC11 -12 +12 To RM-510 Controller

34. 10/03/02Nate Lamie, Alex Rust Modified Gripper