14: Design a Maze

Learning Target

• Identify movement constraints of a robot arm
• Design a maze that meets specified criteria
• Use coding or a teach pendant to verify the maze is traversable

Instructions

Step 1:

Copy this notebook page template and use it to record your results to the activities below:

Template - Design and Test a Maze

Step 2:

NOTE: Select the PEN as the end effector in your code and in the Teach Pendant. 

Step 3:

Seat a pen firmly in the pen holder and then attach it to the robot arm.

Then, you will need to do these things:

• • Check the pen offset by placing the arm in Manual Mode and setting the pen on the whiteboard surface. 

• • Change the pen offset in your code and in the teach pendant to avoid damaging your pen.

• • Move between two positions that have 0 as the Z coordinate. If you don't see a solid line, adjust your Pen Offset.

📓 Record your pen offset in your engineering notebook.

Step 4:

Find the closest locations your pen can be to the arm in the X- and Y-axis. Be sure you test this or your maze might not meet the minimum requirements (see below).

📓 Record the minimum x- and y-positions that were valid for your arm with the pen effector attached.

Step 5:

Use a sheet of graph paper or your engineering notebook to sketch out an idea for a maze. Your maze should meet these criteria:

• • All portions of the maze must be accessible by the arm
  • From line to line
  • All paths must be 30mm or more in width
  • The arm must be able to complete the maze using straight paths. Or, you can use bridging.

Step 6:

Draw the maze on the whiteboard for the arm. Be sure to avoid areas that the robot cannot safely go.

Step 7:

Set the pen offset to be 10mm higher than the surface of the maze. Then, you can accurately test positions on your maze without drawing on it.

📓 Document the process you used to verify that your maze was traversable.

Step 8:

Be sure to finish the page in your notebook. 

📓 Include a drawing or picture of your maze in your notebook.
HINT: Have one member of your group share a picture of the maze with everyone.