Lab 2 - Programming The Adept - Spr 10

Lab 2 - Programming The Adept - Spr 10 - MFET 248...

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MFET 248, Lab 2 page 1 of 9 MFET 248 Laboratory Assignment #2 Spring 2010 Programming The Adept Robot Objectives: In this assignment you will rebuild a failed hard drive using the Adept robot. As described below, the hard drive assembly consists of three disks. One of the three disks is bad and must be replaced with a good disk. In this assignment, you will enter the failed disk number (1, 2, or 3) using the keyboard attached to the Adept robot controller. Background: Carefully read the following background information before you attempt to complete any of the phases. The Hard Disk Assembly : Figure 1 illustrates the hard disk assembly. Figure 1 - The Hard Disk Assembly Disk #1 Disk #3 Spacer (1 of 2) Disk #2 Notes concerning Figure 1: The top disk is considered disk 1, the middle disk is disk 2, and the bottom disk is disk 3. Spacers are attached to disks 2 and 3. Disk 1 does not have a spacer attached to it. The Work Cell Layout : Figure 2 illustrates the work cell layout. Notes concerning Figure 2: a) The pallet carrying the failed hard drive will be raised on the shot pins located at each dropline. b) The hard disk assembly (or “disk pack”) will consist of 3 disks. Assume that one disks are bad. The failed disk must be placed in the reject bin and replaced with a good disk. of the three
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MFET 248, Lab 2 page 2 of 9 c) “Disk 1 Post” (or D1P ) contains a new supply of GOOD disks. These disks do not have spacers attached to them. d) “Disk 2 & 3 Post” (or D23P ) contains a new supply of GOOD disks. These disks do have spacers attached to them. Figure 2 - The Work Cell Layout PS 1 PS 2 Pallet with hard disk assembly Reject bin Adept Arm Temporary Post (TP) Disk 1 Post (D1P) Disk 2 & 3 Post (D23P) e) The temporary post ( TP ) is used to temporarily store good disk #2 is bad the robot must: disks. For example, if Store disk #1 (which is good in this case) on the TP, and Place disk #2 in the reject bin, and Get a good disk from D23P and place it on the disk pack, and Retrieve disk #1 from the TP and place it back on the disk pack. Important! - Always start with 5 good disks on D1P and D23P
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MFET 248, Lab 2 page 3 of 9 The Robot Points : Table 1 describes the robot points you should use in this assignment. Using the robot points shown in Table 1, you will write an Adept program to rebuild the failed disk pack. Table 1 – Suggested Robot Points Point Name Description home End effector raised just above the pallet which is raised on the shot pin device. pick_d1 Vacuum cup just touching disk #1 at the pallet, if you turn on the vacuum you would pick up disk #1. pick_d2 Vacuum cup just touching disk #2 at the pallet, if you turn on the vacuum you would pick up disk #2. pick_d3
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Lab 2 - Programming The Adept - Spr 10 - MFET 248...

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