Highly Flexible Design for Gantry Robot Systems

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Highly Flexible Design for Gantry Robot Systems

• Team F08-77-FLXGANT1
• Client Logic One Robots
• Contact Bill Egert, Engr VP

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Team 77

• Faculty Advisor Dr. Ajay Mahajon
• Project Manager Garth McDermott
• Team Members
• Justin Behrens
• Ryan Engelman
• Jeremy Vaughan
• Doug Wright

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Outline

• Ryan Engelman
• Project Organization Chart
• Doug Wright
• Executive Summary - Project Background, List of
  Deliverables, Cost
• Justin Behrens
• Detailed Project Description
• Literature Review
• Garth McDermott, PM
• Plan to Complete Project
• Timeline, Action Items List, Responsibility
  Chart
• Jeremy Vaughan
• Resources Needed
• Summary

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Project Organization Chart
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Project in General

• Cartesian Robot
• The Problem
• Our Solution

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Deliverables

• 3-D model in inventor
• Scaled down basic model to show dynamics of axis
• List of parts
• 2-D drawings of parts
• Table of possible robot configurations
• Appendix of calculations and analysis

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Responsibilities

• Garth McDermott X-Axis
• Justin Behrens Z-Axis
• Ryan Engelman/Jeremy Vaughan Y-Axis
• Doug Wright Stands Mounting

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Costs

• Up to 32,000 depending on design and size.

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Project Description

• Design a Flexible Gantry Robot
• Stands and Support Beams
• Guides and Bearings
• Drive Systems

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Stands and Support Beams

• Designed to support total robot weight including
  payload.
• Designed to resist vibration and minimize
  deflection.
• Designed for easy assembly and redeployment.

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Guides and Bearings

• Designed to reduce friction.
• Designed to handle the applied loads and moments.
• Materials chosen to reduce wear and increase
  robot life.

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Drive Systems

• Sized to meet the acceleration and jerk
  requirements.
• Gear train will be picked to meet velocity
  requirements.
• Belt drive or rack and pinion will be used to
  transfer power to the robot.
• Hydraulics will be used for the Z-Axis.

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Research

• Several Gantry Robot Manufacturers
• Gudel
• Wittman
• Several Product Lines
• Many different gantry variations and applications

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Plan to Complete the Project

1. Conference call with Greg Janutka,
2. Defining and picking the supports mountings,
   guides, and drivers
3. Construct a table of the possible robot
   configurations
4. Design individual CAD drawing for each of the
   axises
5. Design a 3-D model in Inventor of the entire
   gantry robot to show how it will work

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Action Item List
Activity Person Assigned Due
1 Set up Conf. Call w/ Logic One Garth 12-Jan 16-Jan
2 Design Lg. variation (Base/Stand) Doug 12-Jan 29-Jan
3 Design Lg. variation (X-Axis) Garth 12-Jan 29-Jan
4 Design Lg. variation (Y-Axis) Jeremy Ryan 12-Jan 29-Jan
5 Design Lg. variation (Z-Axis) Justin 12-Jan 29-Jan


Note During items 2 through 5 all Supports Mountings, Guides, and Drivers will be picked out. Note During items 2 through 5 all Supports Mountings, Guides, and Drivers will be picked out. Note During items 2 through 5 all Supports Mountings, Guides, and Drivers will be picked out. Note During items 2 through 5 all Supports Mountings, Guides, and Drivers will be picked out. Note During items 2 through 5 all Supports Mountings, Guides, and Drivers will be picked out.
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Responsibilities, Approval, Support,
Information
Responsibility Approval Support Information (RASI) Responsibility Approval Support Information (RASI) Responsibility Approval Support Information (RASI) Responsibility Approval Support Information (RASI) Responsibility Approval Support Information (RASI) Responsibility Approval Support Information (RASI)
Team Member Garth Doug Jeremy Justin Ryan
Overall Subsystem          
Base/Stand S R A S I
Y-Axis A I R I R
X-Axis R S S A I
Z-Axis I A I R S
Abbreviations  Abbreviations  Abbreviations  Abbreviations 
Responsibility R Support S
Approval A Information I
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Time Line
Week Of 12-Jan 19-Jan 26-Jan 2-Feb 9-Feb 16Feb 23-eb 2-Mar 9-Mar 16-Apr 23-Apr 30-Apr 6-Apr 13-Apr 20-Apr 27-Apr
  1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
Action                 SB              
Design Call With Logic one X               SB              
Design of largest variation (picking of Components)                 SB              
Create a List of Parts Needed                 SB              
Table of Possible Configurations Completed         X       SB              
Progress Report           X     SB              
Progress Orals             X   SB              
CAD Drawings of Subsystems                 SB              
Inventor Drawings                 SB              
Final Compilation of all Calculations                 SB              
Design Reports                 SB         X    
3-D Model                 SB           X  
Orals/ Demonstrations                 SB           X X
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Resources Needed

• Lab Space Mechanical Engineering Lab located in
  A Wing, Room 209
• Computers Provided in lab above by the
  Department of Mechanical Engineering
• Printer Provide in lab by the Department of
  Mechanical Engineering

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Cost To Us

• Since our model will be completed in Autodesk
  Inventor, the cost to us will be minimal
• Production cost will be as addressed above

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Resources Needed Cont.

• Microsoft Word
• Microsoft Excel
• Microsoft PowerPoint
• Autodesk Inventor
• Auto CAD

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Summary

• Project Overview
• Stands and Support Beams
• Guides and Bearings
• Drive Systems
• Plan to Finish on Time
• Resources Needed
• Most are available