1.1 

We learned that there are flexible robots and specialized robots, Flexible are configured to perform a wide range of functions while the specialized robots are used to perform a single dedicated function.  The Unimate was the first programmable robot used in an assembly line it was a simple robot that did a simple job of moving a part off of a machine and placing it down, but it was necessary because it was a dangerous job. Also we learned about flippy a robot used in fast food restaurants to fry foods a mindless job that could easy be done by a robot instead of a person, it will help a lot because there are less and less people working in fast food. 

1.1 Checkpoint 

1. The first experience I had was chucky cheese the animatronics they had up on stage, it was an entertainment kind of robot/ a specialized robot. At first I didn't even think it was a robot probably because i was young. 

2. My thoughts are positive because I think it would be good to force people into better jobs that take more brain power than a button presser. 

3. I would have it do chores

4. I think that the copyright issues with art and songs and writing with AI is a serious ethical problem because it could ruin someone's line of work.

5. Exo suits that help people walk and move easily, and I see them helping people that are completely disabled be able to walk again.

2.1 

We learned about robot safety and how humans and robots don't mix well, and that robots will not avoid you if you are in the way. Also we learned about online programming and the two ways that you could online program. first you could use a teach pendant programming method where you would have a pendant in your hand and you would move the robot with the pendant and mark the coordinates, or you could use the method tracing/ lead through where you move the robot by hand where you want it to go and the robot remembers this and can then do it by its self. The disadvantages are that it is costly in system downtime it requires the operator/programmer to have knowledge with the pendant, and it is difficult to program long repetitive task due to operator fatigue. But the advantages are that there are immediate feedback, can be used for tasks that require manual manipulation of the robots movements, and it is easier to program complex tasks. We also learned about offline programming where you program the robot from your computer on a program. advantages are that it allows or easy modification, reduces programming time, you can prove out the robots movements, can make the program while the robot is machining something else, if programming for multiple duplicate robots you can have them all in one program. Disadvantages are may not account for real-world conditions, difficult to program tasks that require human intuition, requires DAN models of the robots, if using software it can incur addition licensing, requires the operator to have knowledge with the software. 

2.1 Checkpoint

2.2

We learned about tool center point (TCP) and how it is the point on a robots tool that is a reference point that is used to move the robots arm. For setting up a TCP you are some key pieces of info needed, you need the dimensional position of the robots arm, the orientation, the payload, and center of gravity. For determining the TCP values some methods you could do is a manual TCP calibration, you would use a ruler to find the rough XYZ dimensional position, A square/angle finder used to find rough angular XYZ orientation, A scale to find the rough payload, you can balance a rod on the EOAT to find the rough center of gravity. Point calibration method you could use a calibration tool to give you the rough dimensional position and orientation but you would have to use a different method for getting the center point. CAD model calibration is the last method you could use, and with it you would sketching lines/points from the robot flange to the TCP in a CAD software to get the dimensional position and orientation, for the payload and center of gravity you would need to assign accurate material properties then analyze the overall EOAT in CAD.

2.3

To jog a robot you have axis jogging your you move/rotate one or more joints of the robot it is used to making rough adjustments. World where the robot move in a straight line along a specific direction relative to a constant position used for moving the robots in relation to the arm as a whole. TCP where you jog the robot tool center point it move it in a straight line along a specific direction relative to the robots TCP used for positioning the robots TCP accurately. User-Defined WCS you can set custom work coordinate systems that allow you to jog the robot in relation to key surfaces or objects in the workspace, you could use this to move the robot to a specific point on an object. For programming you don't program the path the robot takes but just the points along the path, the path is unpredictable but repeatable. The different move are point to point which moves the arm from one waypoint to another prioritizing joint movements over TCP path, the path it takes will not be linear. Linear moves the tool linearly coming to a stop at each point. Blended moves the tool linearly with constant speed rounds the corners instead of stopping at each point. Arc moves the tool in precise circular arc motion that can stop at each point linearly or maintains constant speed by blending. 

3.1 

Human-Robot Interaction: 1.fenced Cell little to no human robot interaction or proximity. 2. Coexisting Cell little/no human robot interaction but close proximity. 3. Sequential collaboration cell robots and humans performing alternating steps of a process with close  proximity but still isolated from one another. 4. Cooperative cell robots and humans performing work on the same process step at the same time. 5. Responsive Collaboration Cell Robots responding in real time to human action decisions or even gestures, the interaction is dynamic and adaptive.

7.1

Machine tending is the process of overseeing and managing machines that are performing tasks, it often involves loading raw materials into a machine then removing it when its done. Machine tending plays a crucial role in the efficiency and productivity of many production processes . In manufacturing consistent and timely feeding of materials and removal of products ensures that machines operate at optimal capacity, reducing downtime and enhance output 

E-Series Core Track

Robotic Coding

I coded a robot/co-bot with a loop of moving in-between three points for three loops then I had it move to look up. I started by making the first point by free moving the robot where I wanted the first point to be and clicking set point, this made the point for the first move/the home. Then I made another move and free moved the robot to the second point and set the position, this was to the right. For the last point in the loop I made the move toolpath, moved the robot to the left, and hit set current position. Now I had all three points for the loop, but I wanted to try and have the loop only go three times then move to one last point. So I edited the loop and there was a loop only # amount of times section, so I simply put 3 in the box and saved. Now I had to had the last point I made a move toolpath and set the point so the robot was higher up than the first point and slanted a little. I then ran a graphics run and it looked like it wasn't going to run into anything, so then I did a dry run it basically run at 50% speed so I could stop it if I needed to. After the test runs I ran the code and it went well nothing went wrong. 

Robot Drawing

This time instead of plotting points is the air I got to on a piece of paper with a connect the dots on it, the robot arm had a pen attachment on the end of it so we could draw with it. So using the end of the pen I plotted the points by moving the robot to the point then bringing it low enough that it would leave a mark and then picking it back up and moving to the next point. Once I did this with all points I ran the program and it when to all the points. 

3D Printing Gripper Fixture 

We were tasked with designing a robot gripper fixture for a air powered gripper (2112 SMC Parallel Double acting Gripper MHZ2-25D) We had to make it so the fixture could screw into the end of the robot and be able to screw the gripper into the fixture. Also we have to be able to attach the air hoses so the grippers could open and close. To start off we dragged in the end off the robot arm and the gripper, then I made a sketch then revolved to make the base of the fixture, after I then used the loft tool from the base to an offset of the 2112 gripper. Then I used the combine tool to cut out the shape of the gripper with a tolerance so the gripper could fit into the fixture. We then made the holes for the screws and the air hoses.

We then printed the fixture as a test to check the holes and to see if the gripper fit, but there was a problem with the 3D printer and the print was warped and misaligned. So getting the gripper into the fixture was a little struggle but we knew that it would fit if it was printed correctly. Next we checked the air hose holes which worked, then the holes that would hold in the gripper unfortunately we couldn't get a good hold because there was a crack in the middle of the hole but they looked good. Lastly we checked the holes to hold it to the robot arm, the screws that we had were way longer than expected so the fixture fit and the screws fit but it was wobbly.  

After the test fixture I needed to get the screws we had in person into fusion so I could size the holes for them correctly. I did this by looking up in the McMaster Component the screw thread size and the length.  Then I fit the screw in the hole of the fixture and robot arm to see how it fit and then I fixed the height problem with the fixture so now it would fit good and won't be wobbly. 

 The second print was the final print because everything went very well the 3D printer wasn't broken so the print went well and the gripper fit perfectly in the fixture, then I checked to see how good it would fit on the robot arm end and it was a very good snug it fit perfectly, next we checked the screws that would hold it in the fixture and they also fit good, lastly we checked the air hoses hole with the tool we would use to screw it in and it also fit perfectly. Next I moved the robot arm to make sure that nothing was lose.

Extended Gripper Arms

This is my extended gripper arms that I made to pick up my D12 die that I also made. 

My first try I wanted to be able to pick up the dice no matter what face it was on so I made the grippers a sphere so it could grab it easily. But on fusion the grippers wouldn't open enough to let the die out or pick it up. so that wouldn't work. 

I realized that if I added a cut in the sphere it would open it enough that I would be able to drop or pick up the die with ease, but while I was making the grippers I wasn't very careful and it was very messy. The arms were all disconnected and wouldn't joint to the gripper for the simulation, and it wouldn't flange the way I wanted it to, it would curve inward instead of out. This was because it was all disconnected from each other.

I decided that instead of trying to fix my previous attempt I would restart clean and be very careful with it this time and make it perfect, which I did. It was all connected and was easily jointed to the grippers.  

This is a test print so that I could see if the die could be picked up and let go easily with my hands because we don't have the grippers or robot here. As you can see the die wasn't falling out even when I was holding it pointed down. 

I then redesigned the grippers so that it would fully grip around the dice so it could be picked up the same way every time.

This is the printed grippers, as you can see the dice fits very well in the claws of the grippers. I then made a program that would be able to pick up the dice move it to another spot drop it off then pick it up again and drop it off back where it was before. Unfortunately the dice sometimes get stuck in the grippers, I fixed this in my design by opening the end of the grippers more.