P19611: Industrial Robot

Problem Definition

Table of Contents

Team Vision for Problem Definition Phase

Team Accomplishments for Project Definition Phase

Project Summary

In a manufacturing environment there are many areas that could benefit from the automatic loading and unloading of finished goods from machines by robotic arms. One example is the unloading of milled parts from a CNC machine. Another example is the movement of parts from the outfeed of a large sanding machine back to the infeed area. It is important to note that at times these machines may sit unused for one or two weeks. Because of this, if each machine had a designated robotic arm for loading and or unloading they too would sit unused. A way to avoid a robotic system from sitting dormant while its assigned machine is not in use is to have one portable robotic arm that could be pre-programed to load and or unload from multiple machines. The user of this arm would simply need to place the arm next to a machine and start the program for that machine. Next to each machine there should be a marked area that will outline the docking position for the robot. Note, the body of the robot itself may need to be mechanically fastened to the ground for secure and exact placement.

For this senior design project, the main objective will be to develop and build a SCARA robotic arm controller and arm for the CNC unloading situation referenced above. This arm will be used to unload a CNC table after the cutting of parts is completed. When a CNC has finished cutting wooden pieces out of a 4’ by 8’ sheet of plywood the location of the pieces will be sent to the controller application on the PC which will direct that to the robot’s controller.

Unlike other controllers in the robotics industry, the background calculations behind the motion for a robot will be done on a desktop application rather than within the internal firmware of the controller. We will be investigating using Autodesk Fusion 360 as this PC application.

The focus of this project is to build a robotic arm and respective controller along with a PC application to achieve the unloading of a CNC table for multiple machines and programs.

The 1-page summary can be found here: 1-Page Project Summary

Customer Interviews

Date Interviewed Person Interviewed Title
1/17/2019 Jonathan Caves Customer
12/14/2018 Jim Petar Xerox Engineer
12/4/2018 Mei Yen Shipek Autodesk Engineer

The Working Customer Interview Questions and Answers File can be found here:Customer Interview Questions and Answers


Stakeholder Position
Jonathan Caves Customer
Gary Werth Academic Advisor
MSD Team Product Developers
Manufacturing Plants Employees Future operators of system

Use Cases

 Use Case Scenarios

Use Case Scenarios

The Working Use Case Scenarios can be found here:Use Case Scenarios

Project Goals and Key Deliverables

Customer Requirements (Needs)

Customer Requirements

Customer Requirements

The working customer requirements document can be found here:Customer Requirements

Engineering Requirements (Metrics & Specifications)

Engineering Requirements

Engineering Requirements

The working Engineering Requirements can be found here: Engineering Requirements


House of Quality

House of Quality

House of Quality

The Working House of Quality File can be found here:House Of Quality

Risk Management

Risk Management

Risk Management

The Working Risk Assessment can be found here: Risk Management

Design Review Materials

Design Review Power Point

Plans for next phase

Gantt Chart for Phase 2

Gantt Chart for Phase 2

The working gantt chart file can be found here:Gantt

The overall project plan for phase 2 as well as the individual plans can all be found in this document:Project Plan & Individual Plan

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