Assembly Line Simulation With Multi-Robot Control
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Transcript of Assembly Line Simulation With Multi-Robot Control
Assembly Line Simulation With Multi-Robot Control
Peter McHughThomas ZackKyle Fecteau
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
Staubli
6 Degree of Freedom Arm
Uses a pneumatic source to control the gripper.
Scara
4 Degree of Freedom Arm
Uses pneumatics to control the gripper.
Microbot
Establish connection through serial port
Accepts string commands through serial port, if command is executed outputs a 1 to user.
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
Mechanical Design of Staubli Gripper
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.
I/O Control
Questions?