This project consists of building an XYZ table using existing surplus parts and components. The table will be driven with stepper motors. Our goal will be to drive the high level behavior of the table from a pc. Depending on time, "end effectors" and resources will determine what the ultimate presentation will be. Minimally, we will implement a set of primitives to have the table move in a point, line, circle, polygon, helix, and a home position.
Initially, we plan to drive the motor interface board from the parallel port on a pc. Then, time permitting, we will see if we can improve on that interface by using several LogoChips to build a cricket bus network of steppers to We are planning on using several LogoChips for driving and synchronizing the motors. Another LogoChip will then be used to either provide a high-level interface to a PC, or to implement the application algorithms.In this project phase, we will concentrate the following subtasks:
So far, we have spend approximately 30 to 40 manhours of work and about 4 to 8 hours of brainstorming as of last week. Andrew supplied the separate X, Y, and Z tables. He had bought them from a surplus outfit at a total cost of $65. Some of these units were actually picked up from garbage barrels and were not in working conditions. Roger refurbished the tables, and build a base plate, and a structure to support the Z table at 90 degree to the Y table. The structural elements used are surplus aluminum angle extrusions gathered from the stockpiles that Andrew and Roger had in their basements.
We have built three power driver PCB's to drive each motor. They have not yet been fully tested with the motors. These drivers are an extension of the circuits designed in lab 3. The schematic is as follows:
The following is the board picture.
We then found another surplus item, an electrical enclosure box about
8 x 4 x 4 inches in size (see image below). We are in the process of
mounting the three stepper drivers in it. We plan on having a
separate 24VDC power supply unit.
