P19611:

1. P19611: Mini Industrial roBot Vincent Hurley Jesse Fronckowiak Aaron MacWilliams Jon Caves Brad Sciera

2. Team Introduction and Roles

3. Mission Statement To develop and deliver a cost effective, portable, and user friendly robotic system capable of transporting milled CNC parts to nearby surfaces.

4. Problem Statement, Current State • Dedicated workers for loading and unloading machines • Current industrial robots are extremely expensive and not portable • Current scenarios require a dedicated robotic arm per machine • Portable solution would minimize robot down time

5. Project Statement, Desired State • Robot capable of removing parts off the CNC when it is done cutting • System compatibility with multiple CNC machines • More cost effective than dedicated operators or off the shelf robots • Minimize idle machine time

6. Project Deliverables • Working prototype of the SCARA arm • A controller capable of operating stepper motors and pneumatic drivers/amplifiers • The body of the SCARA arm • Working portable cart system (for moving the robotic solution) • Working PC control and communication application • An application for creating data position files to operate the SCARA arm • A program capable of communicating to the controller through serial communication • Test matrices written and used to verify systems correct operation • Design documents/Technical papers • User’s guide for operation

7. Key Stakeholders • Employees/Operator • Maintenance • RIT • Shop Floor manager • Customer • Purchaser of Machine • Consumers of product(s) made with help from our device • Our project team

8. Norms & Values

9. Intellectual Property • Briefly met with intellectual property expert for advice • He suggested that we adress IP in the following manner: • Should not release the project as open source • Anyone on the design team has the right to pursue the project further • No member of the team should inhibit any other member from pursuing the project further

10. Use Case Scenarios Considered Finishes Cut Send Position Info • Can physically move solution to another CNC machine • Cheap method for hobbyists to unload parts off of a 3d printer table in order to allow stacking of print operations without needing dedicated personnel for the printer. Starts Program Operator moves arm to another CNC in use Arm Lifts Part Moves to Desired Position Program Ends

11. Customer/Other Interview

12. · What is the condition of the environment the system will be operating in? • The system will only be on concrete floors • It will be operating alongside other machines with moving parts which cannot be interfered with • Although the vacuum system is very effective in keeping the dust level down there is concern of the system failing prematurely do to dust. · How often do you see activities that are physically repetitive in your business’s day to day activities? • The CNC is constantly cutting on a day to day basis and the operator at this point is constantly unloading before starting the next cut. There already exist methods of loading new full sheets of material onto the CNC automatically but the unloading could really benefit from some automatic process. · What are the associated pains of the current unloading system? • The operator starts the CNC and walks away to perform different tasks. When the machine has finished milling out the parts it goes to its resting position and waits for the operator to come off from their other task to unload, put new material on, and start the next file. This process takes around 15 min to perform 5 times a day, 4 days a week, 50 weeks a year giving a total time of 1000 min a year or 16.6 hours a year. There are ways for the machine to self load but that cannot happen until the old material is removed. If when the CNC finishes cutting and robotic system removes the parts and the CNC self loads the next material it could save an employ 16.6 hours a year plus improving the time it takes to process jobs through the CNC. · Were other solution methods investigated besides using a robotic solution? • The CNC can push the milled pieces and scrap off of the cutting table and onto another table that humans could walk over to and unload. This solution looked very effective however it still required people to stack parts/remove scrape and it took up a lot of space/increased the total footprint of the CNC’s working envelope 2X · Could a fully developed solution potentially be used by another company or external party? • Yes, this system should be capable of being implemented into any factory/manufacturing environment ·Will all components be off the shelf or will some be custom designed(such as a custom PCB)? • We should try to keep all the components “off the shelf” but if a custom part would be cost effective they should not be dismissed ·How will this project push our engineering skills assuming the team as the primary or secondary stakeholders? • From my experience, communication between a PC and some kind of motion controller can be difficult/challenging. With that said, I believe a great deal of skill will be required in order to successfully have clear communication between a desktop application and a robotic systems controller. ·Could the device be used for in another similar process without the CNC? • Yes, this system should be designed and built with the mindset of using it on a variety of machines and not just for the unloading of a CNC situation, although that is how the system will be tested. ·Is there any current process to how the device will be moved either by hand or with other device such as forklift or crane? • No. We would like the end device to be capable of rolling around the manufacturing area without a forklift or crane.

13. Customer Requirements • Had a round table discussion with our customer • Created our Customer Requirements (CR’s) with ratings of importance • Presented our table of CR’s to our customer

14. Customer Requirements

15. Engineering Requirements • Reviewed our CR’s and customer interview questions and answers • Constructed a table of measurable Engineering Requirements

16. Engineering Requirements

17. House of Quality

18. CR and ER Chart

19. Highlights from House of Qualities • There are three key parts of our project • Robotic arm design and creation • Cart created for Making Robotic system portable • An easy to use desktop application to control the arm • Major areas of focus • Easy of use • Portable • Safety • Affordable

20. Risk

21. Project Plan Next Steps • Go over and define all subsystems to fulfill the customer and engineering requirements • Plan design of each subsystem while accounting for subsystem interaction • Perform risk assessment of different design choices • Research and compare different design types of arm and agree on one that would best fulfill our requirements • Research skills necessary to accomplish goals and deliver on each subsystem

22. Project Plan Breakdown Feasibility:analysis, and benchmarking critical technology: 1/29-2/11 • Research gripping methods of different robots and benchmark(ME) • Research ways to make solution more portable(ME) • Research Power distribution methods for system(EE) • Research motors for Arm and benchmark(EE) • Research microcontrollers and motor control shields, benchmark both(EE)

23. Project Plan Breakdown Preliminary Gantt Chart for subtasks, matches up with Phase 2 plan and individual goals

24. Gantt Chart • The Project Plan will be maintained via a week end review and through our GroupMe chat • Our private home page has a weekly update and links to google drive and calendar for enhanced collaboration

25. Thank you! Any questions?