MXET400_LAB1

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School

Texas A&M University *

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400

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Mechanical Engineering

Date

Feb 20, 2024

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docx

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6

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ENTC – 600 Mechatronics – Robotic Manipulators Lab - #1
Lab #1 – Introduction to PolyScope Task 1: Robot Tutorials Analysis: UR tutorials (Module 2 & 4) were completed online as shown in Figure 1. It covered the electrical connections of the robot components and how different move commands work. A sample program was created to move boxes from one conveyor belt to the other and all 3 move types were discussed and tested. Fi gures: Figure 1 – UR modules Task 2: Basic Move Commands Section 2.1: Move J Analysis: A new program was created in PolyScope to model basic movements with various waypoints. Move J was defined, and three random points were selected, keeping in consideration the orientation and trajectory of the robot arm. A wait function was added with a value of 0.01 seconds. The program ran smoothly, and the path can be seen in Figure 2.
Figures: Figure 2 – Move J Trajectory Section 2.2: Move L Analysis: Move J was suppressed and a new move command was added to the same program. It is defined as Move L and four points are selected to create a rectangular path as shown in Figure 3. The program ran without any conflicts/error messages and the task was completed. Figures:
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