MANUFACTURING AUTOMATION

MAE 576 [MECHATRONICS] ProjectGROUP E

Chembrammel Elavunkal Srinivasan Vishwajeet

University at Buffalo, Mechatronics, Spring 2010

Objective

Coordination of multiple controllers and the mutual communication between the controllers

Multi – Robot coordination Mobile robot control Integrate the above mentioned

objectives to achieve the automation of a shop floor.

Schematic Diagram of Factory Automation

Flowchart

BA

BA

Hierarchy of Robot Task Planning

Origin Destination Turn 4 Turn 3 Turn 2 Turn 1Initial State

Number of Turns

Code

Home R1 0 0 0 1 1 5 35

Home R2 1 0 0 1 1 5 195

Home R3 0 1 0 1 1 5 115

Home R4 1 1 0 1 1 5 275

Home C2 1 0 1 1 1 5 235

R1 C1   1 0 0 1 4 94

R2 C1   1 0 0 0 4 84

R3 C1   1 0 0 1 4 94

R4 C1   1 0 0 0 4 84

C1 C2       1 1 2 32

C1 R1   0 0 1 0 4 24

C1 R2   1 0 1 0 4 104

C1 R3   0 1 1 0 4 64

C1 R4   1 1 1 0 4 144

C2 W         1 1 11

W C2         0 1 1

W R1 0 0 1 1 1 5 75

W R2 1 0 1 1 1 5 235

W R3 0 1 1 1 1 5 155

W R4 1 1 1 1 1 5 315

W Home   0 0 1 1 4 34

Legend

1 Left

0 Right

-The path of the AGV is broken down to sections of left and right turns

- These turns are coded in binary as 0 and 1 respectively

- Thus a path is represented by number

For example, for the pair of Home-R4, the binary number formed by the turns is 11011. Total number of bits in the number = 5. The decimal equivalent of the number is 27. So the code is 27 * 10 + 5 = 275.

Bluetooth Communication Protocol

System Implementation

AGV Conveyor Mechanism

Raw Material

Automated Plant

GUI Implementation

For semi – automatic control

Circuit Diagrams Boe Bot

Conveyor

Goals Achieved Automated floor shop to manage

inventory and manufacturing processes

Task Planning for the AGV was done for sequencing a day’s work

A novel communication scheme was developed for the communication between the Boe-Bot and the base station via Bluetooth