The Mindstorms EV3 Delta robot will be used to load the wagons. A first run can be viewed on Youtube:
A completely new delta robot has been build for Lego World 2017. The robot is based on the ABB FlexPicker Robot. You can read more about building the Lego Version at Eurobricks.
The grabber of the robot arm is opened and closed by pneumatic pressure. Therefore, I needed an air compressor that can generate a pressure of approx. 20 – 30 Psi. But how do you manage this air pressure? If the motor keeps running, the air pressure becomes too high. If you switch the motor on and off manually, you need to stay alert and watch the manometer if the air pressure doesn’t become too low. The solution: build an automatic start/stop system. In this article you can read how I achieved this.
If you have two or more Lego Mindstorms EV3’s in daisy chain mode, it is not possible to use a Wifi connection with the EV3 as well. For our project, we need this functionality. Two embedded software engineers in our team are now updating the firmware to make this work. But are we going to be in time….? From a project management perspective, it is always wise to have a fallback scenario. But is there one….?
In the EV3 programming environment, it is possible to start multiple threads. For example, you want two motors to run simultaneously and when both motors are finished, you want to play a sound. But there is no default mechanism in the programming environment to continue with the main thread when the second has also finished. In the example below, the “Ready” sound is played too early if motor A finishes before motor B is finished.
I wrote a small test program for the robot arm to load the train with two containers. Loading the two wagons was done in one minute, so much faster than the candy crane.
Have a look at the video and please share with me what you think of it.
For 2017, we are building a robot arm with 6 degrees of freedom.