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Electromechanical X-Y Programmable Gantry Positioning System

Electromechanical X-Y Programmable Gantry Positioning System. Wojciech Indyk Slawomir Kielian. UNIVERSITY OF ILLINOIS-URBANA CHAMPAIGN. Introduction. XY Coordinate Positioning System

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Electromechanical X-Y Programmable Gantry Positioning System

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  1. Electromechanical X-Y Programmable Gantry Positioning System Wojciech Indyk Slawomir Kielian UNIVERSITY OF ILLINOIS-URBANA CHAMPAIGN

  2. Introduction • XY Coordinate Positioning System • Applications: laser micromachining, plasma cutting applications, plotter heads, robotic grippers, microscope applications, etc. • Low cost alternative to presently available linear positioning systems

  3. Objective • Design and Implement a PC programmable XY positioning system • Three modes of operation: • Single Step Mode • Single Command Mode • Programmable Mode • Advanced traversal algorithms • High Precision: 15.875 m / step • Cost efficiency

  4. Project Overview • Mechanical Construction: • Light Weight Aluminum Design • Control Software: • Graphical Users Interface • Traversal Algorithms • Control Hardware: • Stepper Motor Driver Circuit • Limit Switches • Software-Hardware Interface • Parallel Port Connection

  5. Mechanical Construction • 22 Machine Shop • CAD drawings • 46 Mechanical Parts • 0.500-8 ACME • Lead Screws Overall Dimensions: 50” x 59” Plot Region: 39” x 49”

  6. Control Software • Control program implemented using Visual Basic • Graphical User Interface: • Supports three modes of operation • Intuitive Controls • User-Friendly

  7. Graphical User Interface (GUI)

  8. Traversal Algorithms • Single Step Function: • Enables single step in any given direction • Basis for all traversal algorithms • X-Y and Y-X Traversals • Shortest Distance Traversal: • Finds the shortest distance between two input coordinates

  9. Traversal Algorithms (cont.) • Circular Traversal • CW or CCW (clock-wise or counter clock-wise) traversal direction • Start and End Angle option • Start and End Offset option with tool up or down option during offset execution • Polar coordinate entry available (by product)

  10. Control Hardware • Stepper Motor Driver Circuit • Implemented using LMD18245 Stepper Motor Driver IC • Provides Stepper Motors with Gray Code input bit sequences • Limit Switches: • Monitor plotting boundary conditions

  11. Stepper Motor Driver Circuit

  12. Parallel Port I/O Interfacing DB-25 Male Connector } Data Reg. (0x0378) Status Reg. (0x0379) Control Reg. (0x037A) 8 Data Outputs 4 Misc. Outputs 5 Data Inputs

  13. Test and Verification • Message Center Window: - Parallel port register contents - Update user with program status info • Debug Coordinate Window: - Output coordinates for plotting (Mathematica plots generated) • Post-Assembly Test: - “U of I” sign generation

  14. Traversal Algorithm Simulation Results: Part 1 • Y-X Traversal • X-Y Traversal

  15. Traversal Algorithm Simulation Results: Part 2 • Shortest Distance Traversal • Circular Traversal

  16. Traversal Algorithm Simulation Results: Part 3 • Circular Traversal: Special Features

  17. “U of I” Sign Generation

  18. Successes • Design was fabricated and tested • All design specifications were met • Educational Benefits: • Stepper motor principles and control • GUI programming (Visual Basic) • Team collaboration and communication with manufacturing personnel

  19. Future Development • Research interrupt techniques for Windows NT and Windows 2K operating systems • Investigate variable output frequency algorithms • Improve crucial mechanical tolerances

  20. Questions ?

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