Chauncey Costello EMAE 398 Final Presentation M
-
Upload
chauncey-costello -
Category
Documents
-
view
116 -
download
0
Transcript of Chauncey Costello EMAE 398 Final Presentation M
CNC Machine part manipulator system for multi-plane, complex
machining processesProject By:
Advised By: Dr. Roger D. Quinn
AgendaBackgroundProject ObjectivesProject ScopeFinal Design SpecificationsApproachRobot Body DesignRobot Manipulator Head DesignCurrent ProgressFuture Work
Background
Part manipulation between router machining processes increases production time Accurately repositioning part requires
careful part movement and inspection Improperly positioned parts cause
production errors High production volume of complex
CNC machined parts requires a costly workforce
No low cost, high-volume solution for complex or carved wood products.
Project Objectives Design of an automated part
manipulation system for lightweight parts with 3-axis CNC router machines such as the ShopBot Accurately move and rotate part
between each machining process Function in tandem with typical CNC
routers without disrupting machine cycles
Stretch Goals Part loading/unloading cycles Simple integrated vision system for part
location verification: Dr. Francis Merat
Final Design Specifications
3 Degrees of FreedomMaximum Reach: 31.6 inch Radius2” x 2” x 2” Maximum Part VolumeMaximum Load: 0.75 lb PartPolycarbonate Structure
Minimal bending Increased accuracy
Approach
Robot ArchitectureSCARA Articulated
Feasibility Study5” x 5” x 5” Sample Part
Cedar: 2.12 lbBalsa: 0.72 lbABS: 4.61 lbPolycarbonate: 5 lbAluminum: 12.19 lb – Too Heavy
2” x 2” x 2” Sample PartCedar: 0.14 lbBalsa: 0.05 lbABS: 0.29 lbPolycarbonate: 0.31 lbAluminum: 0.78 lb – Can be actuated with servos
Servo SelectionDynamixel RX-24F Smart Serial Servo ROBOTIS BIOLOID CM-700 Controller
Detail Design
Robot Body Design – Assembly in progress
Base Assembly
‘Shoulder’ Assembly
Arm Assembly
Wrist Assembly
Manipulator Head Design
Current ProgressMachining and assembly of body nearly completeLeft to Machine:Mounting Plates for AxlesElbow Axle
3D printed Servo mounts to be printed next week
Spend to Date: $1,492.81Structure Materials: $634.313D Printed Piece: $301Servos and Microcontroller: $557.50
Reimbursement: $600Total Investment: $892.81
Future Work Short-term
Structural Analysis for Final ReportFinalize Assembly with Servo IntegrationProgram SystemTest Functionality
Long-term
Additional FundingBuild Manipulator HeadServo Integration for ManipulatorPart Loading/Unloading Cycle ProgrammingSimple Image Processor for part location verification
Thank you
Special Thanks to
Dr. Roger Quinn – Project AdvisorJim Drake – Machine Shop Use and Advice