Automated Storage and Retrieval Workstation (ASRS)
The ASRS has three translational axes and one rotational axis which are driven by DC servo motors with optical encoders for full closed-loop control. The robot design utilizes a belt-drive, aluminum extrusion structure, and precision-ground shafts that provide smooth and quiet axis motion. The unit is enclosed in a transparent Plexiglas casing that provides maximum safety while enabling students to observe its robotic operation. The ASRS has 36 cells arranged in 6 rows. Each cell can store a part-holding template. The 36 templates supplied with the system have pinholes that allow the user to customize the template’s holding area to accommodate objects of various shapes and sizes. A template buffer supplied with the system can be attached to CIM conveyor or to a table in a stand-al one ASRS/robotic work cell. The ASRS is controlled by ACL Controller-A, a stand-alone, real-time, multi asking controller with PID control and PMW drive. The controller’s internal programming language, ACL, is accessed by means of the ATS software. The ASRS-36 is controlled by a dedicated ASRS module.