Date of Award
2007
Degree Type
Thesis
Degree Name
Master of Engineering Science
Program
Electrical and Computer Engineering
Supervisor
Dr. Kenneth McIsaac
Abstract
In the past, Konnexio Inc., a London manufacturing automation firm, has used a series of rotation jigs for part orientation on multiple axes. This technique has risen to prominence largely due to its relatively low cost; it is however, far from perfect. These jigs must be customized to the specific parts being presented. In order to modify them to handle parts of a different configuration, a large portion of their hardware must be thrown out and replaced. Additionally, the random nature of the processes used for orientation make a consistent and predictable feed rate impossible. Design constraints were presented and discussed during a preliminary meeting with Konnexio Inc. These requirements substantially limited the number of potential manipulator configurations. Subsequently, it was agreed that this project would only tackle the gripping and internal rotation of the end-effector. Potential actuators were investigated and it was decided that two brushless DC motors would be used to drive the internal rotation, while a voice coil would power the gripping. Once actuators had been selected, four designs were developed, with each one building on the previous. The fourth design was judged sufficient. Initially it was decided to use a motor control chip requiring external circuitry and MOSFET half bridges. Chips were obtained, and a circuit board designed in accordance with the controller documentation. The board ultimately proved unsuccessful, and an all in one motor controller was obtained on loan to replace it. iii Results showed that approximately 23% of the potential worst case moment of inertia could be handled for internal rotation. Allowing the motors to draw additional current, and manual controller tuning could potentially result in improved performance. Required future work includes the design of the end-effector frame and gripper, and selection of an appropriate top mounted actuator to power the second rotation. Wheels, belts and shafts must also be selected and tested.
Recommended Citation
Michel, David, "High Speed 2-DOF End-Effector for Pick and Place and Part Presentation Applications" (2007). Digitized Theses. 5140.
https://ir.lib.uwo.ca/digitizedtheses/5140