Resources & Equipment
Here at the MARS Lab we use the latest hardware and software tools which provide a better platform to pursue advanced research in the field of robotics. Using modern robotic tools we improve productivity of the available robotic systems allowing them to continue productive work at a fraction of the cost of new systems.Computers and Software Resources
Computers and Software ResourcesWe utilize a variety of machine types and platforms to give the most flexibility in addressing the research needs of our students and corporate sponsors. Windows NT, Linux, and Unix OS are all utilized in our research giving us the needed flexibility to use the necessary software available today without being limited by operating system or platform. They are running on Pentium, Pentium II and SUN Ultra 2 machines. Access is readily available to the main university and department computer resources via Network connections.
There are also available the standard software such as Microsoft Office suite and Microsoft Visual Studio. Industrial modeling, analysis and simulation software used for both research and teaching activities includes the following:Pro/ENGINEER
Pro/ENGINEER is a parametric, feature-based solid modeling software. It is used for part and assembly design and model creation, and for the production of engineering drawings. When integrated with other modules such as Pro/MECHANICA, it can be used to perform structural, thermal and motion analysis of mechanisms. When interfaced with DADS, it can carry out kinematic and dynamic simulation of mechanisms.
Students in acccredited colleges and universities can purchase the student edition of both ProEngineer and ProMechanica through Journey Educational Resources. The student editions are similar in functionality as the professional versions but limited and designed specifically for student use.OPTIMUS
LMS OPTIMUS is a flexible and responsive design environment within which users can 'experiment' with the design of a product and rapidly achieve an optimized solution. It can also be interfaced with dynamic analysis software such as DADS to carry out design optimization.DADS
DADS or Dynamic Analysis and Design System is a computer simulation tool that is used to predict the behavior of single or multibody mechanical systems. DADS can also be interfaced with other software such as OPTIMUS, MATLAB AND Pro/ENGINEER.SOLIDWORKS
SolidWorks is mechanical design automation software that takes advantage of the familiar Microsoft Windows graphical user interface. This tool is used to sketch out ideas, experiment with features and dimensions, and produce models and detailed drawings.DESIGNWORKS
DesignWorks is a simulation tool fully embedded in SolidWorks for Motion, Structural, and Thermal analysis of assemblies and parts during the design phase.MATLAB
MATLAB is an integrated technical computing environment that combines numeric computation, advanced graphics and visualization, and a high-level programming language. DADS/Plant can connect controllers built inside SIMULINK, a toolbox within MATLAB, with the simulated motion of a mechanical system to perform design analysis.TRANSOM JACK
Transom Jack is a 3D graphics package designed to simulate virtual humans operating in diverse environments. It provides a 3D graphics environment, real time simulation engine, and animation software system.LABVIEW
LabVIEW is a graphical programming development environment based on the G programming language for data acquisition and control, data analysis, and data presentation. LabVIEW gives the flexibility of a powerful programming language without the associated difficulty and complexity.VISSIM
VisSim is a Windows-based program for the modeling and simulation of complex dynamic systems, signal processing algorithms (VisSim/SigPro) and end-to-end communication systems (VisSim/Comm). The simulation engine provides fast and accurate solutions for linear, nonlinear, continuous time, discrete time, time varying and hybrid system designs.
Hardware ResourcesROBOTS
GMF S-110 Robot Cell
This cell consists of a GMF S-110 robot, a set of end of arm tools (grippers), and a conveyor belt.
The GMF S-110 is a 6 degree-of-freedom articulate type robot. The robot was designed by GMF (General Motors Fanuc Inc.) currently Fanuc. The programming language KAREL is still used in Fanuc robots. KAREL programs can be written offline using a text editor on a PC, and then transferred to the robot controller using the floppy emulator software KFloppy. The robot is outfitted with a quick connect disconnect device for easy change of end of arm tools. There are available pneumatic grippers with optical and tactile sensors on the fingers for part detection.
The conveyor system is outfitted with a sensor for part detection that stops the conveyor if a part is detected. The conveyor can be operated at various speeds that providing another level of experimentation for the students. It is interfaced with the robot controller through analog signals.
The robot is used for both research and teaching activities. In the academic front, graduate and undergraduate students are assigned projects requiring them to program the robot in an effort to understand structured robot programming, robot safety, sensor utilization and robot concepts. The projects range from simple pick and place operations to complex gear meshing operations. In the research front the robot is used in manufacturing feasibility studies using end of arm tooling built in house.IBM SCARA 7547 Robot Cell
This cell consists of an IBM 7547 robot.
The IBM 7547 robot is a four degree-of-freedom SCARA type robot with a servo Z-axis. The robot was designed by IBM Corporation. The programming language is AML. Programs are written offline using either the AML environment or a text file and then downloaded to the robot controller through an RS-232 port. The robot is interfaced with pneumatic grippers.
Graduate and undergraduate students are assigned projects that address structured robot programming. In the research front, this cell is being used to evaluate custom developed end-of-arm tooling for specific manufacturing operations.IBM SCARA 7535 Robot Cell
This cell consists of an IBM 7535 robot and a conveyor system.
The IBM 7535 robot is a four degree-of-freedom SCARA type robot with an on/off Pneumatic Z-axis. The robot was designed by IBM Corporation and it looks like the little sibling of the IBM 7547 robot. Similar to the IBM 7547, the programming language is AML.
Programs are written offline using either the AML environment or a text file and then downloaded to the robot controller through an RS-232 port. The robot is interfaced with pneumatic grippers.
The conveyor system is outfitted with a proximity sensor for part detection. Once the part is detected, the conveyor stops until the robot to pick the part. This conveyor is interfaced with the robot controller. This robot is exclusively used for teaching purposes. This is a "safe" robot if one does not get in the workspace, so it is the first robot that students have to program. The projects are simple pick and place operations in a pattern but mainly address safety issues associated with robots.HP-ORCA (Optimized Robot for Chemical Analysis) Cell
The HP-ORCA, Optimized Robot for Chemical Analysis, is a state of the art robot designed and built by Hewlett-Packard. This cell consists of the robot, end effectors, and peripheral equipment. The cell was donated by Frito-Lay.
The ORCA is a 6 degree-of-freedom robotic arm that rides on a linear slide. The linear slide provides for more workspace such as that required in analysis labs. The robot has a unique teach pendant that looks like a computer joystick and allows one to move each axis individually. The robot is interfaced with an electronic weigh scale, bar code reader, a mechanism capable of unscrewing round sample containers, a plunger for knocking the particles out of containers, a plunger to drop containers from tubes for the robot to grip and perform analysis.
Robot programming is performed from within Microsoft Windows 3.1 using the powerful but simple robot language. The language allows one to develop macros to be called at any time. The user can select and copy macros through a graphical user interface and then paste them in the program being developed. One of the features of this robot is the last degree of freedom that can be programmed to apply a certain force while closing the gripper.
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