1. Assembly Line Simulation With Multi-Robot Control Peter McHugh Thomas Zack Kyle Fecteau

2. Overview Introduction to the Robots ◦Staubli, Scara, and Microbot Changes made last year Tennis Ball Assembly Line Mechanical and Electrical Modifications ◦Staubli Gripper and I/O Control

3. Staubli 6 Degree of Freedom Arm Uses a pneumatic source to control the gripper.

4. Scara 4 Degree of Freedom Arm Uses pneumatics to control the gripper.

5. Microbot Establish connection through serial port Accepts string commands through serial port, if command is executed outputs a 1 to user.

6. 2008/2009 Robotics Research Group Created a program that allowed for both the Staubli and Scara to operate concurrently using commands from a program.

7. Tennis Ball Assembly Line

8. Mechanical Design of Staubli Gripper

9. 8051 Microcontroller 8051 Microcontroller used as an I/O driver Uses I/O ports to send and receive data Host computer reads the serial computer uses serial communicator program to read input from sensors. Use assembly language to program controller.

10. I/O Control

11. Questions?