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?