MTAB Aristo Robot

This MTAB Aristo robot is the first robot that i have been operated during my calss session. From the robot operation that I obtain, I have finished the tasks and able to program the Aristo 6-axes robot according to their required tasks or problem. From the task I must select the low speed of the robot arm because of the high speed will cause a momentum to the robot arm that makes the arm cannot go to the point or position exactly like what we have been write in the program. The high speed also dangerous for the robot because if the robot arm is hit object or human with high speed it will cause severe damage.

In every program, I have put the command HOME ALL and the end of the program is to make sure that the robot is already home the initial position and this will make easy to the robot in making the next movement or execute the other programs. HOME ALL command is use to make the robot arm to come back to the initial position and reset the position of origin in every joint.

The program of the robot is like as C or C++ program that include the command of looping process by using conditional commands like IF, JUMP and LABEL. This all commands is use to loop or repeat the program again. If 'S' is equal to "zero" the program is execute once than the command ADD S = S + 1 is to add the S = "zero" with one and overwrite the answer in 'S' so that for the conditional command IF, when the answer of 'S' is lower that the value of the conditional set the program is execute again and jump to the LABEL declared. While the S will add again and when the conditional command is not fulfill, so that the program will pass the conditional command and execute the next command.



Below is the procedure or safety guide to be taken during operate a robot:

a) All connections to PC, power control unit and robot is in place.
b) The power and air pressure is on.
c) Safety:
i. Be careful not to collide or being touched by the robot to avoid injury
ii. Be aware of robot movement, close monitoring is given to the robot when it makes a move to prevent
from damaging the structure of the robot.
d) Caution:
i. All programs is test at low speed.
ii. Emergency press of is pressed when necessary.
iii. All axes are homed (HOME ALL) every time before running in the new programs.
iv. The robot is don’t to be touched during their operation or movement.

Intelligent Robot

What is an intelligent robot? Intelligent robot is the machine that can think their operation by itself. Since the machine have a ‘brain’ to think like a machine (robot) with neuro-fuzzy system or genetic algorithm to implement the input to get their output according to the programmed system of the machine (robot).

The vedeo below is one of the robot arm that been use during my CIM laboratory session. the robot procedure as stated below


The vedeo show the robot movement during bolting process. the operation done for 4 bolt operation but the operation shown is not fully bolt feeding process, just the movement of the end effector of the robot arm to each point.

Robotized Bolting Module
Uploaded by fooartz

Workspace

One of the software that ihave been learn in my college to program the robot is using Workspace. There are three main methods to move a robot model using “Workspace”: with the Pendant, the Follow Mouse command or moving to GPs. Below is the Pendant in workspace in controlling the movement of the robot.

First method byusing the Pendant to move a robot model there are six joint values that can be change from 1 to 6. By changing the any value from 1 to 6 the corresponding joint moves. If the value beyond the limit of that joint, a warning error appears. By clicking button Home, the robot returns to its Home position. Second method, the robot moves to the position of the mouse click if it’s within reach, otherwise a warning is given in the message section of the pendant.

Second method is by Learn GP on the Pendant. A GP is set of axes in the main view port shown as green color axes in the picture and it’s listed in the GP folder of the robot. By clicking button Home, the robot returns to its Home position. The robot will returns to GP when select Move to by right click on the name of the GP.

Sumo Robot Competition (SumoBOT)

In 2004 I had been participated a competition in my faculty call Sumo Robot Competition Interfaculty. in this competition, the robot that have been use are from parallax manufacturer. Below is the picture of the robot that have been use.

The robot components which contain whells, DC servo motor, Battery pack and the other components are being installed together. The robot program of the sumo robot is using the Basic Stamp Editor as shown in figure below:


Robot which defined as device that imitiate human action ussually being programmed by computer is giving us many benefit in order in replacing human work.

CIM Robot Video 2

The system of the bearing supply module is using the Omron PLC control features model CPM2C-S110C-DRT with 15 inputs and 13 outputs. The function of the control features makes the actuator works, by referring to the sensing input. The PLC also make the system is run in sequence for the bearing supply processes.

The other control features that control the system in sequential process is microcontroller.
The inputs that have been used in this system are:
• Reed type magnetic detector (D-C73L)
• Proximity detector micro switch (Omron V-166-1C5)
• Reed type magnetic detector (D-A93L)
• Linear potentiometer (NOVOTECHNIK TR25)

The function of the sensor is to detect the input in which the sensing input then is transferred to the PLC. The reed type magnetic detector is use to check the extension and retraction of the pneumatic actuator and the Proximity detector micro switch is used to detect the appearance of the bearing. While the linear potentiometer is used to check the bearing thickness.

Bearing Supply Module 1
Uploaded by fooartz

CIM Robot Video 1

As stated before here are the video containing the operation in CIM system. This video i'd recorded during my lab session. the robot will transfer the part to the conveyor after chechking procedure. just take a look...

Body Supply Module 2
Uploaded by fooartz

The function of this station (Body Supply Module) is to supply the correct part of body (position and orientation) to the pallet on the conveyor or transfer system.
Below is the flowchart of handling process of the body supply module station:

1. The pallet is brought to sensor (limit switch) through the conveyor. The sensor will detect the existence of the pallet. Next the machine is run after the PLC is receiving the input that there have a pallet on the conveyor in limit switch.

2. The cylinder will extend and retract to push the body to the position verification part(First cylinder moved)

3. Cylinder (which is located above the position verification part) will extend to check whether the body is in the correct orientation or not, by fitting the end of the extended cylinder into housing of the body.

4. If the body is not in the correct orientation, the sensor on the cylinder will not blinking (red) and send an input to PLC. The cylinder will retract. Then, the body will be extended and guide the the rejection of incorrect body (transfer point) part. The body will be push down the ramp and throwned out from the operating system (reject).

5. Next, the process is started again (the process is repeated by using a new body from the 2nd step).

6. If the body is in the correct orientation, the sensor will blinking (red) and send an input to PLC.

7. Cylinder (Robot end effector) which has 4 suction cups (terminal element), is then being extended on to the body. The vacuum will sucked the body up. The cylinder will retract and bring up the body.

8. Finally the robot arm will extend to transfer the body to the pallet