An Industrial Pneumatic and Servo Four-Axis Robotic Gripper System: Description and Unitronics Ladder Logic Programming

Abstract

As part of the advanced programmable logic controllers (PLC) course at Michigan Tech, this class project is performed on a mechatronics system gifted by Donald Engineering, a Michiganbased supplier of industrial automation systems and components.This paper explores the functionality and ladder programming of a four-axis robot enclosed in a cage with one side guarded by an optical fence.The robot has pneumatically actuated X-Y linear motion and a pneumatic gripper.Furthermore, the Z-axis motion and gripper wrist rotation are controlled by servo motors.A human machine interface (HMI) is also present, and it allows for easy manipulation and programming of the robot.This type of robot can be used to transfer small components between conveyer belts or for light assembly functions.This paper details the system's components, operation, and custom programming.