Date of Award

Spring 2024

Document Type

Thesis

Publisher

Santa Clara : Santa Clara University, 2024

Departments

Computer Science and Engineering; Mechanical Engineering

First Advisor

Christopher Kitts

Abstract

There is a rise of automation in the workplace, everywhere from automated manufacturing to biomedical fields, and more. These technologies are becoming increasingly accessible for customers to use and explore. Going into this project, we were curious to see if automation could be brought into our University, and applied to the Maker space. Furthermore, as these technologies are becoming more readily available, they remain fairly costly. Thus, we have created a functioning, small-scale workcell that produces a variety of small products in large batches while remaining low cost, reliable, and accessible to those who want to learn more and create their own fabrication workcell. We achieved this goal by manufacturing a frame specific to the requirements set by our space, machinery and our customers. Additionally, custom mechatronic stations were made that take in products and execute a specific required step in the manufacturing process. These custom stations include a pressure station, and product flipper station. Three Rotrics dexArm robots were integrated into the workcell frame, and fit with specifically designed end-effectors. These end-effectors include a picking sensor with a suction cup, and a felt pad picker. Station alignment jigs were produced for each station to decrease tolerance build up and maintain the quality of the products moving through the workcell. In terms of programming, a modularized Python script was created to handle the sequencing of the workcell and the movement of the dexArms. This required communication between both the individual stations and the main picker dexArm, integrating both Python scripts and C++ for the Arduinos used in the workcell. Each station was placed onto the frame in order to optimize product output, while also tackling integration challenges. Furthermore, each piece of the workcell was optimized for increased reliability and quality. The following chapters will dive into the process and steps that were taken, design iterations and rationale for each subsystem of the workcell which came together to produce a custom cork coaster making automated fabrication workcell.

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