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[ Han - Will ]

Machine: MACRO PICK-AND-PLACE SYSTEM - preliminary thoughts


by: Han Hoang and Will Lark

05.17.2004


MACRO-PICK AND PLACE SYSTEM [MPPS]


ABSTRACT
The current technology of any rapid prototyping machines can be 
summarized in one, simple statement--The machine is always bigger 
than the object it creates. From the current model of 3D printers 
to any typical milling machines, these machines are generally the 
size of cars, but they can only generate parts that are measured 
in inches [Please see Figure A and B]. Our ultimate goal is to develop
a prototyping machine that can rapidly create parts and place 
these parts to form a structure that is larger than the 
envelope of the machine. We intend to answer questions of 
practicality, methodology, effectiveness, economics and application 
software that can be applied towards developing a machine suitable 
for enhancing the technology and performance of architectural and 
engineering practice.


KEY WORDS
Fabrication, Construction, Rapid-Prototype, Manipulation, 
Customization, Modular, Precision, Efficient.


INTRODUCTION
This Macro-Pick and Place System [MPPS] was motivated 
by the desire to have a machine rapidly and efficiently construct a 
macro-scale structure using various pre-manufactured joints and 
members. On a conceptual level, MPPS seeks to enhance the 
conventional methodologies of design and construction with the 
traditional technology of snap connections - [ppt] and modular 
components mimicking the idea of building with Lego 
blocks or any similar toy connector building systems. 


PROCESS
Design - The process starts with a three-dimensional CAD model 
created with any 3D application such as AutoCAD or CATIA. 



Output - Once the model is complete, the output procedure is 
similar to that of any 3D printing exporting process. An "STL" type 
data is then sent remotely to the on-board computer of the MPPS. 



Analyzation - The MPPS then convert the given data into 
recognizable parts and members and stategically calculate the precise 
locations of each component. 



Construction - Once each part is located on a three-dimensional 
grid, the MPPS then uses a local GPS locator system such as TOPCON's 
integrated GPS recievers, to establish the exact location of any given 
part on any give site.




Machine Analysis and Features:

PARTS
     a] analyzation of unique joint 
     b] snap connection
     c] stacks placed in a hopper becomes part of the horizontal arm
     d] tentatively, parts are design to satisfy limited construction condition


MACHINE [process]  
     a] xyz track motion arm with supporting tower [machine studies]
     b] stategically locate first joint
     c] location of hopper(s)
     d] details of movement 
     e] limit numbers of actuators and motors