P324MachineControlDesign

Problem4:CookieFactory
(hardwarelvl4,softwarelvl3)

SheljaSarin,AshleyWoodworth,MarkKong
CookieMonsters
ChouPOE6

Kong, Sarin, Woodworth 1

 TableofContents

Item PageNumber
TitlePage 1

TableofContents 2

DesignBrief 3

Brainstormideasandflowcharts 4-7

DecisionMatrix 8-9

ModificationsSketchesandNotes 10-11

FinalPhysicalSolution 12-14

FinalProgramSolution 15

Kong, Sarin, Woodworth 2

DesignBrief

Client CookieFactory

Designers Ashley,Shelja,Mark

ProblemStatement
Thefactoryneedsawaytotransportgroupsofcookiesintoapackaging
area.Amachinemustbecreatedinordertotransportanumberof
cookies(forthisproject,three)toasecondaryarea,readytobemoved.
Thecookiesthenmustbemovedbyanymethodtothepackagingarea.
DesignStatement
Ourgroupwillbrainstormdifferentmachinesthatwillbeableto
transportcookiestoasecondaryarea.Motorsandsensorswillbe
incorporatedintoourdesigninordertocontroltheflowoftheprocess.
Wewillusethesesensorstotellourmachinewhentotransportcookies
tothesecondaryarea.Oncethreethreecookieshavereachedthe
secondaryarea,apartofourmachinewilltransportthesecookiesto
thefinalpackagingarea.
Constraints:
Hastodetectthenumberofcookiesoracookie
Musttransportcookieswhenthreearedetected
Musttransportmultiplecookiesatonce
Musthavethreeareasfortransportation
Deliverables
Group:
Groupresponsibilitiesformandganttchart
Electronicdocumentation
Individual:
Designbriefnotes
Brainstormingideas
Conclusionquestions

Kong, Sarin, Woodworth 3

BrainstormingIdeasandFlowcharts(Ashley)

Ashley

Sensors:1
Motors:2
Thesketchshowntothetop
rightistheflowchartwe
basedourfinalsolution
programoffof.
-thedesignwillonlyhavetwo
motorsandasingleultrasonic
sensorsoitiseasytoprogram
-theprogramisina
continuouswhileloopsoit
doesnotstopuntilturnedoff
-variableisburpwhichresets
whenthesecondplatform
empties

Thesketchshownonthe
bottomrightisthesketchof
thedesignwebasedorfinal
solutionon.
-hasthreelevels,eachlevelis
adifferentpartofthe
packagingsystem
-Insteadofarackandpinion,
thisfirstdesignhada
platformcontrolledbya
springandapulleysystem
thatwoulddumpthecookies
whenitreachedatrigger.
-Theoriginalsketchalso
depictsaspreadoutsystem
insteadofonethatisstacked
likethedesignwemadeour
finalsolution.
-thefirststepinthe
packagingprocessisthe
ultrasonicsensorsenseswhen
acookieisdroppedonthe

Kong, Sarin, Woodworth 4

 conveyorbelt.Itthenmoves
theconveyorbelttodropthe
cookieonthesecond
platform.
-whenthesecondplatform
hasthreecookiesittipsthe
cookiesintothethirdand
finalplatform.


SS
AW
MK
4/28/17

Kong, Sarin, Woodworth 5

BrainstormingIdeasandFlowcharts(Mark)

Mark

Thedesignwould
have2conveyor
belts,poweredby
2motors,andan
ultrasonicsensor
Cookieswouldbe
placedonthe
higherconveyor
beltandbe
transportedpast
theultrasonic
sensortothe
secondconveyor
belt
Oncethesensor
detected3cookies
haspast,the
secondconveyor
beltwouldrunand
deliverthecookies
totheirfinal
packagingarea

SS
AW


MK
4/28/17

Kong, Sarin, Woodworth 6

BrainstormingIdeasandFlowcharts(Shelja)

Shelja
Motors:3
regular
Sensors:1quad
opt.Encoder,1
bumpsensor,1
lightsensor
Theconveyorbelt
wouldturnonand
aftertheencoder
measuresafull
turnthegearon
theconveyorbelt
itwouldpusha
cookiedownthe
slideontothebelt
Thenitwouldland
onaspring,
hangingplatform
whereafterthree
cookies,thebump
switchwouldbe
pressed
underneathit
Thatwould
kickstartapulley
systemthatwould
movetheplatform
overalightsensor
thatwouldtrigger
arectangularpiece
toflipupandtilt
theplatform
Thiswouldslide
thecookiestothe

finalarea



SS
AW

MK
4/28/17

Kong, Sarin, Woodworth 7

DecisionMatrix&Description

Designer Helja Mark Ashley

Easyto 1 3 2
build/program

Probabledesign 1 2 3

Material 2 3 3
availability
(availablesensors)

Speedofthe 2 2 2
function

size 2 1 2

TotalPoints 8 11 12
XEugeneChou04/28/2017

Criteria

Scoring
1:Doesnotreadilymeetcriteria.Inaway,italmostgoesagainstthe
constraints
2:Meetscriteriabutcouldbeimprovedupon.Themachinemeetsthe
constraints.
3:MeetsCriteria,bestexampleofcriteria.Themachinemeetsthe
constraints.
EasyTobuild/program
1:AnideathatusesalotofunnecessarymaterialsandVEXcomponents
inordertocompletethetaskorrequirescomplexprograming
2:AnideathatutilizesmostofmaterialsandVEXcomponentswellin
ordertocompletethetaskanddoesnotrequiretoocomplexofa
program
3:AllthematerialsandVEXcomponentsareusedefficientlytomeet
thegoal,theprogramissimpleandeasilyunderstandable

Kong, Sarin, Woodworth 8

DecisionMatrix&Description

Criteria-(cont.)

ProbableDesign
1. Theprojectedamountoftimetobuildandprogramtheproposed
machineexceedsthedeadline
2. Theprojectedamountoftimetobuildandprogramtheproposed
machineisalittlelengthyandwilltakealotskillandinstructionto
build.
3. Theprojectedamountoftimetobuildandprogramtheproposed
machineisreasonableandcanbecompletedaheadofthedeadlineto
allowtimeforrefinements
Materialavailability
1. Themachineusesalotofmotorsand/orsensors(5ormore)
2. TheMachineusesalittlemoremotors/sensorsthanisactuallyneeded
(4ormore)
3. Themachineusesanefficientamountofsensors,whileleavingenough
toshareforthePOEclasses(3orless)
Speedofthefunction
1. Theamountoftimeforthemachinetocompletetheprocessislong
andwouldnotbeapplicableinthereal-world
2. Theamountoftimeforthemachinetocompletetheprocessis
reasonableandcompletesthetaskinanefficientway,althoughitcould
bedonebetter
3. Theamountoftimeforthemachinetocompletetheprocessisfastand
iscompletedveryquickly
Size
1. TakesupmorethanoneVEXtestbed
2. UsesonlyoneVEXtestbed,althoughthereissomeoverflowthathangs
offfromit
3. ThemachineonlytakesoneVEXtestbedtobuildwithoutanyparts
hangingoutsidetheboundariesofthetestbed.

Kong, Sarin, Woodworth 9

ModificationsSketches&Description

Modifications Photos Dates

Insteadofmakingaseparate, 5/2/17
protrudingplatformthatwould
tilttheplatformholdingthe SS
threecookies,weusedtwolong AW
piecesofmetalasatilting MK
device.Webentthosetwo
piecesintheoppositedirection,
soitwouldtilttheplatformto
dropthecookies.

Wemadechangestoour 5/2/17
originaldesignbymakinglevels
ontopofeachother.Itmadeit SS
easiertotransportthecookies AW
fromlocationtolocation.Italso MK
madethedevicesmallerand
moretransportable.

Wedoubledthewidthofthe 5/4/17
conveyorbelt.Todothiswe
basicallyputtworegularsized SS
beltstogether,sidebyside.We AW
madethismodificationbecause MK
itmadeitlesslikelyforthe
cookies(smallgreengears)to
falloffthebelt.

Kong, Sarin, Woodworth 10

 Wecompletelychangedthe2nd 5/4/17
levelofthedevice.Insteadofa
pulleysystem,wechangeditto SS
aplatformthatismovedbya AW
gear.Theplatformwillmove MK
backafter3cookiesaredropped
ontheedgeoftheplatform.
Thiswilldropthecookiesdown
tothefinalpackagingarea.
Thentheplatformwillmove
backtothepreviouslocation.
Wemadethismodification,
becausethepulleysystemwas
morecomplicatedandwasnt
veryefficient.Thiswasmore
simpletobuild.

Weusedtwogearsinsteadof 5/4/17
onegear.Sinceweusedtwo
gearsitmadeitlesslikelyfor SS
thegearstoslideawayfromthe AW
track.Beforewithonlyonegear MK
thegearandtrackwould
separatealittleandthatwould
messuptheprocessofthe
system.

Kong, Sarin, Woodworth 11

FinalPhysicalSolution

Kong, Sarin, Woodworth 12

FinalPhysicalSolution

*Anexplanationaboutourmachineisprovidedonthenextpage

Kong, Sarin, Woodworth 13

FinalPhysicalSolution

Inourmachinewewilldescribeitsfunctionstartingfromthetop.At

theverytopyouwillfindaconveyorbeltwithanultrasonicsensoratthe

end.Thebeltwouldrunandtransportacookieoncetheultrasonicsensor

detectedacookie.Thenthecookiewouldfallintooursecondaryarea,which

wassurroundedbyVEXparts.Heretherewasenoughspaceforthreecookies

andonceourmachineknewwehadtransportedthreecookiesfromabove,

anothermotorwouldrun.Onthislevel,themotorcontrolledarackand

pinionsystemthatmanipulatedthefloorofoursecondaryarea.Oncethe

thisplatformwaspulledoutcompletely,thecookieswoulddropdowntoour

packagingareaandtheprogramwouldresetandprepareforthenextbatch

ofthreecookies.

Kong, Sarin, Woodworth 14

FinalProgramSolution

Theprogramdisplayedabovecanbedividedintotwoparts,wherewe
canbreakitdownintoourtwowhileloops.Intheoneofourloops,
while(burp<3),itisinitializedbyaforeverloop,while(1==1),meaningthat
itisalwaysrunningsothatournextwhileloopcanbechecked.Within
while(burp<3),itinitiatesthecodetomoveourcookiestowardsthe
secondaryarea.Itusesanultrasonicsensortodetectacookiethatisplaced
ontopoftheconveyorbeltandaddsonetothevariableburp.Thisprocess
willrepeatuntilthreecookieshavebeentransferredtothesecondaryarea,
wherethevariableburpwillequal3.Onceitburp=3,codefromwhile(1==1)
thatwasplacedunderwhile(burp<3)willbegin.Hereamotorwill
manipulateoursecondaryareasothatitmoves,droppingthecookiestothe

Kong, Sarin, Woodworth 15

packagingarea.Oncethishasbeencompleted,burpissetbackto0,
preppingtheprogramforthenextthreecookiesthatourmachinehandles.

Kong, Sarin, Woodworth 16