Embedded Files
Prototype rendering: showcasing upper box orientation
Livox 3D LiDAR and Oak-D stereo depth-imaging camera shown
THE PROJECT
Autonomous Mobile Robot (AMR) automation for Earthwise Packaging injection molding facility
Quantitative information and factory limitations
Boxes are all 18” x 18” x 21”
Maximum robot height 6” overall height 17” by 17” platform size.
35 to 160 fixed machine production points (MPP) — injection molding machines that will scale over time
1 static box erector point (BEP) to supply an unlimited amount of empty boxes.
The Finished Production Points will be dynamic (DEP)
In-house machine shop to produce all non standard robot parts including metals and plastics
Factory footprint: 100 feet by 300 feet long
HAND CALCULATIONS & CONCEPT DRAWINGS
Drawings & concepts for general robot layout as well as 2-box workflow (left); top plate shape and dimensions dimensions (middle); side view of prototype design and COG analysis (right)
Hand calculations (bottom): Motor power specification based on robot mass and battery capacity requirements based on robot mass + prototype runtime + motor voltage
Hand calculations (top right): Center of mass analysis to figure out top plate and full box positioning relative to center of mass of robot assembly
PARTS
Parallax Motors side view
Alumnium wheel of parallax motor
Polyurethane 3d-printed tire tread
Frontal view showing upper adapter
OTS hardware (80/20, caster wheels, standoffs, fasteners)
Structural plates machined from 1/4" thick aluminum x3
Parallax motor drivers shown with motor assembly
Elegoo low level microcontroller
Nvidia Jetson Orin Nano Developer Kit
Livox LiDAR & Luxonis Oak-D Pro Stereo camera
IMAGES OF FACTORY
Conveyors and empty boxes waiting to be filled; box production (BEP) in background
Filled boxes, conveyors, space for dynamic endpoints (DEP), and palletized boxes at rear
EXPERIMENTING WITH FREEFORM MODELING & CLASS A SURFACES
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