Assembly Line Simulation With Multi-Robot Control
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Transcript of Assembly Line Simulation With Multi-Robot Control
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Assembly Line Simulation With Multi-Robot Control
Peter McHughThomas ZackKyle Fecteau
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Overview
Introduction to the Robots◦Staubli, Scara, and Microbot
Changes made last yearTennis Ball Assembly LineMechanical and Electrical Modifications
◦Staubli Gripper and I/O Control
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Staubli
6 Degree of Freedom Arm
Uses a pneumatic source to control the gripper.
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Scara
4 Degree of Freedom Arm
Uses pneumatics to control the gripper.
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Microbot
Establish connection through serial port
Accepts string commands through serial port, if command is executed outputs a 1 to user.
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2008/2009 Robotics Research Group
Created a program that allowed for both the Staubli and Scara to operate concurrently using commands from a program.
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Tennis Ball Assembly Line
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Mechanical Design of Staubli Gripper
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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.
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I/O Control
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Questions?