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Assembly Line Simulation With Multi-Robot Control . Peter McHugh, Thomas Zack, Kyle Fecteau Advisor: Dr. Carlos Luck . Overview. Introduction to the Robots Staubli , Scara , and Microbot Tennis Ball Assembly Line Mechanical Designs and Modifications Stäubli Gripper Pallet - PowerPoint PPT Presentation
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ASSEMBLY LINE SIMULATION WITH MULTI-ROBOT
CONTROL Peter McHugh, Thomas Zack, Kyle Fecteau
Advisor: Dr. Carlos Luck
Overview Introduction to the Robots
Staubli, Scara, and Microbot Tennis Ball Assembly Line Mechanical Designs and Modifications
Stäubli Gripper Pallet SCARA Gripper Rotary Lid Nest
Programming Work That Can Be Done Next Year
Stäubli Scara
Microbot Establish
connection through serial port
Accepts string commands through serial port, if command is executed outputs a 1 to user.
Turntable Accessory
2009/2010 Robotics Research Group Goals
o Create a practical use of the Staubli and Scara using the 2008/2009 Research Group multi-robot control programs Tennis Ball Assembly Lineo Design and Produce:
o Gripper for Stäubli and Scarao Palleto Turntable Attachmento Lid Nest
o Write Program
Tennis Ball Assembly Line
Mechanical Design of Stäubli Gripper
Mechanically operate using a pneumatic cylinder
Pick up tennis ball tube
Pick up tennis ball Withstand a 10.5 lbf
generated from the 60psi
Mechanical Design of Stäubli Gripper
Mechanical Design of Stäubli Gripper
Scara Gripper
Scara Gripper• Vaccum Pump that is
connected from the solenoid control valve to the gripper tool suction cup.
• (2) Rollers on each side of the suction cup.
• The suction cup has enough compression when the lid is being placed on the tube that the rollers can put pressure against the top of the lid. The gripper rotates 180° clockwise and counterclockwise to seal the lid.
Mechanical Design of Pallet
Design for Turntable
Design of Lid Nest
Capable of securing 3 lids
Allow access to SCARA vacuum gripper
Be removable
Robot Control Programming
Robots control consists of Staubli Adept controller, Scara Adept controller, and the host computer.
Adept Programming
.PROGRAM placelid1()
TOOL TRANS(0,0,100,0,0,0)
CALL tennisballhome()
BREAK
SET a = TRANS(370,-151,56,0,180,0)
BREAK
APPRO a, 50
BREAK
CALL close()
• Both the Stäubli and Scara use V+ programming to control the movements of the robots.
RCML Programming Robot Control Markup Language
Created language that uses XML programs to control the robots in the workspace from a host computer.
A <step> command is used to send instruction to the respective serial port.
Sample RCML Code<configuration>
<conn variable= "staubli" connection= "COM2" interpreter="api.AdeptInterpreter"/>
<conn variable= "scara" connection= "COM4" interpreter="api.AdeptInterpreter"/>
<conn variable= "microbot" connection= "COM5" interpreter="api.MicrobotInterpreter"/></configuration>
<execution timeout= "30000">
<for count= "infinity">
<set><step>scara.wait1</step><step>scara.wait2</step><sequence><step>staubli.tubetotrack</step><step>staubli.pickrotary</step>
<step>Microbot.reset()</step><step>Microbot.read()</step><step>microbot.xx1(100,0,0,0,0,0,0,-272,0,0)</step>
Java Programming• Java is used as the host PC programming
language.• Existing code interprets the command set
by the RCML program and distributes a string to the serial port by use of the AdeptInterpreter and MicrobotInterpreter.
Java Programming The XX1 microbot was initialized in the
MicrobotInterpreter to control the rotary table:
XX1(speed, m1, m2, m3, m4, m5, m6, t1, t2, out)
Work That Can Be Done Java Program For I/O Control Sensor for Microbot rotary table Increase Efficiency
Simultaneous movements of the robots Add more pallets Design of way to load rotary table or system
to supply continuous operation
QUESTIONS?