Team Name
Robo Crew
Timeline
Fall 2023 – Spring 2024
Students
- Ameen Mahouch
- Akshay K. Paluri
- Muhammad Anas
- Hyun Ho Kim
- Kundan K. S. Mahato
Sponsor
Dr. Christopher D. McMurrough
Abstract
The Mitsubishi RV-8CRL robotic work cell is a simulated environment that mirrors robotic applications in industrial settings. With the rise of automation, the team focused research and implementation of industrial paint robots used in the automotive industry. To achieve this, the team started with integrating various components of the robotic work cell. Completed tasks include installing and programming an additional 7th axis linear rail, configuring the programmable logic controller (PLC), establishing TCP connectivity between components and configuring an air pneumatic line. The team prioritized safety while completing the integration by installing a signal light tower and inductive sensors to establish bound limits that prevent collisions with the outer cage.
Background
The typical clients for this application are any company that utilizes automated manufacturing. This system showcases an example of how an industrial robot can be used to spray paint different components and parts depending on the industry type. For example, any automotive company is an excellent example of a client that can utilize the robotic work cell to paint different parts of an automotive.
Project Requirements
- The RV-8CRL robotic work cell should integrate an additional 7th axis linear rail to increase the range of motion.
- The airbrush is connected to an air compressor, which in turn is connected to a PLC (Programmable Logic Controller) to receive signals for operation. The air compressor is designed to automatically adjust the pressure. Users can command the robot to spray ink when it reaches the desired position and to stop.
- Any fabrication equipment provided used in the development of the project shall be used in accordance with OSHA standard LOTO procedures. Locks and tags are installed on all equipment items that present use hazards, and ONLY the course instructor or designated teaching assistants may remove a lock. All locks will be immediately replaced once the equipment is no longer in use.
- Any electrical wiring must be completed in compliance with all requirements specified in the National Electric Code. This includes wire runs, insulation, grounding, enclosures, over-current protection, and all other specifications.
- Robotic manipulators, if used, will either housed in a compliant lockout cell with all required safety interlocks, or certified as a “collaborative” unit from the manufacturer.
- Robotic arm manipulator shall stop once any of the exterior, interior, and controller emergency stops are pressed.
- Since the linear rail has bounds, inductive switches shall be used to prevent the robot arm from going beyond a certain limits. These inductive swtiches will be added on both ends of the linear rail.
- The programmable logic controller (PLC), robot controller, and host PC should be networked together via a TCP protocol.
- The work cell must incorporate an air pneumatic line with an airbrush system to mimic industrial paint applications, particularly seen in the automotive industry.
- The integration process must comply with relevant industry standards and regulations governing robotic work cell safety and operation.
System Overview
Results
Future Work
- GUI App – A future item which can be added to this project is to provide the customer with GUI application. This will give all the options on graphical user interface.
- Visual Sensor – One future addition to this project could be mounting a visual sensor. This would enable the robot to trace what users draw.
Project Files
Project Charter (link)
System Requirements Specification (link)
Architectural Design Specification (link)
Detailed Design Specification (link)
Poster (link)
Source code (link)
References
Mitsubishi Electric. (2024). CR800-D Controller RV-8CRL Standard Specifications Manual.
