2025 ASEE Annual Conference & Exposition

This paper presents the further development of the computer vision capability of an educational automated manufacturing system that integrates warehouse operation, material handling, and laser engraving manufacturing processes using low-cost desktop equipment. The system was initially developed by undergraduate students majoring in mechanical engineering technology (MET) and electronics and computer engineering technology (ECET) as a capstone design project. Then, it was further developed by a MET major student as an independent study project. The ultimate goal is to build an educational automated manufacturing system using low-cost, open-source desktop equipment simulating various material handling and manufacturing processes following Industry 4.0 standards. The open-source nature of the desktop equipment used to develop the system allows instructors and students to learn, improve, and expand the system creatively, allowing open-ended solutions.

The system consists of four Dexarm robotic arms, camera kits for the Dexarm, a sliding rail kit, a conveyor belt kit, and a safety enclosure offered by Rotrics Inc. The Dexarm is a three-degree-of-freedom (3-DOF) desktop robotic arm operated by a Raspberry Pi microcontroller. Depending on the modular tools equipped, it can perform various functions, such as laser engraving and material handling. The sliding rail moves a Dexarm on a base sliding on the rail with up to 1000mm travel. The conveyor belt kit moves material along its 700mm belt, and the safety enclosure ensures a safe laser engraving process. The system consists of three functional modules: 1) warehouse operation module: a Dexarm equipped with a pneumatic suction cup tool to pick stock material from raw material storage, transfer the stock material to the conveyor belt, retrieve the engraved material from the conveyor belt, and then place it in finished material storage; 2) material handling module: a Dexarm equipped with a pneumatic suction cup tool to pick up stock material that is moved to the engraving station by the conveyor belt, feed the stock material to the engraving station, retrieve the engraved material, and place it on the conveyor belt which sends it back to the warehouse operation module; 3) engraving station, a Dexarm equipped with a custom designed tool to open and close the safety enclosure door, a second Dexarm equipped with a laser engraving tool to engrave the stock material.

This paper focuses on developing the computer vision capability for the Dexarm to identify materials’ shape and color, allowing the system to operate based on image analysis and communication between the Dexarm robots.