User Defined Position
User chooses size of lego and position of lego on baseplate
Teensy-controlled
Pick n Place Actuation
Coordinates are sent via microcontroller and callibration takes place before actual actuation
xyz-axis actuation takes place for the pick n place action
The Lego PicknPlace Assembler is a 3-Axis CNC lego assembler. This system will have the ability to pick up legos, which vary in shape and color, from repositories placed around the 10”x10” building base. Our project will include 2x2, 4x2, and 6x2 lego blocks. Our software will allow the user choose between preset build patterns, but also set their own build. The GUI to accompany the project will provide a nice display of the lego build and user options.
3-D render of the LEGO PicknPlace Assembler
The software system running on the microcontroller. It can be divided into four tasks that run in parallel.
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Error Detect Task: Once there is an error, an error message will be sent to the PC through communication task. If communication link breaks down, there is an LED to indicate the case.
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Communication Task: between microcontroller and the GUI to perform a task i.e. move or grab before sending a feedback for completion
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Decision Making Task: four state machines (Calibration, Move, Grab and Place)
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Low-level Control Task: control of the of sensors and actuators including FSR, limit switches, pneumatic device and stepper motors.
GUI for the Lego PicknPlace Assembler
Software System
Wanna learn more about our entire design of the Lego PicknPlace Assembler? Click here!