MXET400_LAB1

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Texas A&M University *

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400

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Mechanical Engineering

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Feb 20, 2024

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ENTC – 600 Mechatronics – Robotic Manipulators Lab - #1

Lab #1 – Introduction to PolyScope Task 1: Robot Tutorials Analysis: UR tutorials (Module 2 & 4) were completed online as shown in Figure 1. It covered the electrical connections of the robot components and how different move commands work. A sample program was created to move boxes from one conveyor belt to the other and all 3 move types were discussed and tested. Fi gures: Figure 1 – UR modules Task 2: Basic Move Commands Section 2.1: Move J Analysis: A new program was created in PolyScope to model basic movements with various waypoints. Move J was defined, and three random points were selected, keeping in consideration the orientation and trajectory of the robot arm. A wait function was added with a value of 0.01 seconds. The program ran smoothly, and the path can be seen in Figure 2.

Figures: Figure 2 – Move J Trajectory Section 2.2: Move L Analysis: Move J was suppressed and a new move command was added to the same program. It is defined as Move L and four points are selected to create a rectangular path as shown in Figure 3. The program ran without any conflicts/error messages and the task was completed. Figures:

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Figure 3 – Rectangular Path – Move L Task 3: Move P Analysis: Move L is suppressed to create a new Move command. Move P is defined to create a triangle with rounded edges (Figure 4) by changing the bending radius to 50mm and the tool speed to 100mm. The points are spread out to ensure continuous motion of the tool with uniform speed during this task. A pop-up is added at the end of the task that reads “Done” (Figure 5) when the work sequence is completed. Figures:

Figure 4 – Triangle with Round edges – Move P Figure 5 – Pop-up displayed

Lab Questions 1. What is the difference between Move L and Move J? Ans: Move J is faster as it follows a non-linear path and works well in free space while Move L follows a straight path (Linear) which is used in the precise motion of the tool. Move L avoids collision if other components may be present in the workspace. 2. Give examples of where you would use a Move J and where you would use a Move L. Ans: Move L can be used to pick up objects and then Move J can move them near their drop off where Move L will be used again to precisely put them in a container. Move L can also be used to screw components together as the tool need to be aligned with the bolts. Move L will be used to retract the tool away from the body. 3. Propose a piece of hardware that you would connect to the UR3e to do a task. This can be anything you think this robotic manipulator could do such as a marker to draw, a rag to clean, a bottle opener, etc. Ans: I would connect an electromagnet to UR3e to sort out iron parts from the trash. 4. Research a specific industry where Cobots are used and describe two processes that you find interesting. (Couple sentences for each should be sufficient) Ans: Cobots are used to do repetitive tasks in the industry. In the automotive industry, they have been used for years on assembly lines to install components like doors to the frame of a car. Screwing components by applying the right amount of torque. They have also been programmed to steadily weld the components together at a uniform rate to reciprocate the quality expected by the customers.

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