AUTOMATED STAMPING ABB ROBOT

The purpose of this project was to automate crafting techniques so that the user can create many individualized, handmade cards, or tags that would not be as impressive if printed. The ABB IRB 1600 Industrial Robot was programmed using online programming in the flexpendant and offline programming in RobotStudio. The robot was required to complete the following tasks:

Split the string input into individual characters
Locate the alphabet stamp with the correct first character in the workspace
Lift the stamp and stamp it onto an ink pad
Lift the stamp again and stamp it onto the piece of paper in the correct location
Place the stamp back in the correct holding location
Repeat the process with the next character in the string
At the end of the process, pick up the piece of paper and place it into the "finished" bin

MOTIVATION

Inspiration for this project arose from the Sorority Recruitment season at WPI, which requires decorative name tags for all of the sisters for each round. This means that someone must write down all 100+ names for each round, for three rounds. We decided to use this project to explore an opportunity to automate this process by simply inputting names and having the robot stamp the input.

PHYSICAL WORKSPACE

The workspace includes a set of decorative alphabet stamps, a slotted box to organize the stamps, a suction cup and suspension spring, its attachment to the ABB end effector, and two trays for blank paper and completed stamped paper.

ROBOTSTUDIO CODE

The workcell in RobotStudio was built by importing geometry pieces for the stamp box, ink pad, and paper trays. Using this workcell, specific targets were created for each of the 26 stamps in the laser cut stand as well as the spots that the letters can be stamped onto the paper. There are a total of 21 possible spots on the paper, due to the maximum length of 11 letters and the different layouts needed for odd-length and even-length words.

Each target also had a corresponding clearance target so that the robot would not collide with the objects as it removed stamps from the box or stamped the paper. Paths were constructed for each lettered stamp to go to the ink pad, and for each spot on the paper.

We ensured through our RAPID program that the robot would be able to follow any combination of paths to make any word with the stamps.

Procedures in the code included UIAlpha Entry for string input, FindStamp to find the stamp target corresponding with the input letter, FindPosition to find the spot on the paper to stamp the letter, PutAway to replace the stamp in its slot in the box, and CombineRoute to put all of the paths in the correct sequence for the robot to execute. There are also procedures to turn the suction on or off, as well as to move the finished paper to another bin.

The RAPID program also took inputs from the user to assign targets for the stamps and spots on the page. The robot then follows the paths determined by these targets to stamp the input. Below are some relevant snippets of the RAPID code.

USER INPUT

SKILLS DEMONSTRATED: RobotStudio, RAPID, Flexpendant Online Programming, Laser Cutting