Highly Flexible Design for
Gantry Robot Systems
Team: F08-77-FLXGANT1
Client: Logic One Robots
Contact: Bill Egert, Engr VP
Team 77
Faculty Advisor: Dr. Ajay Mahajon
Project Manager: Garth McDermott
Team Members:
Justin Behrens
Ryan Engelman
Jeremy Vaughan
Doug Wright
Outline
 Ryan Engelman
 Project Organization Chart
 Doug Wright
 Executive Summary - Project Background, List of Deliverables, Cost
 Justin Behrens
 Detailed Project Description
 Literature Review
 Garth McDermott, PM
 Plan to Complete Project
 Timeline, Action Items List, Responsibility Chart
 Jeremy Vaughan
 Resources Needed
 Summary
Project Organization Chart
Dr. Ajay Mahajan
(Faculty Staff Advisor)
Mechanical
Engineering
Garth McDermott
(Project Manager)
Mechanical
Engineering
X-Axis
Ryan Engelman
Jeremy Vaughan
Doug Wright
Justin Behrens
Mechanical
Engineering
Mechanical
Engineering
Mechanical
Engineering
Mechanical
Engineering
Y-Axis
Y-Axis
Base/ Stand
Z-Axis
4
Project in General
 Cartesian Robot
 The Problem
 Our Solution
Deliverables
 3-D model in inventor
 Scaled down basic model to show dynamics
of axis
 List of parts
 2-D drawings of parts
 Table of possible robot configurations
 Appendix of calculations and analysis
Responsibilities
 Garth McDermott = X-Axis
 Justin Behrens = Z-Axis
 Ryan Engelman/Jeremy Vaughan = Y-Axis
 Doug Wright = Stands & Mounting
Costs
 Up to $32,000 depending on design and size.
Project Description
 Design a Flexible Gantry Robot
 Stands and Support Beams
 Guides and Bearings
 Drive Systems
Stands and Support
Beams
Designed to support
total robot weight including
payload.
Designed to resist
vibration and minimize
deflection.
Designed for easy
assembly and
redeployment.
Guides and Bearings
Designed to reduce
friction.
Designed to handle the
applied loads and
moments.
Materials chosen to
reduce wear and
increase robot life.
Drive Systems
Sized to meet the
acceleration and jerk
requirements.
Gear train will be
picked to meet velocity
requirements.
Belt drive or rack and
pinion will be used to
transfer power to the
robot.
Hydraulics will be used
for the Z-Axis.
Research
 Several Gantry Robot Manufacturers


Gudel
Wittman
 Several Product Lines
 Many different gantry variations and
applications
Plan to Complete
the Project
1. Conference call with Greg Janutka,
2. Defining and picking the supports &
mountings, guides, and drivers
3. Construct a table of the possible robot
configurations
4. Design individual CAD drawing for each of
the axises
5. Design a 3-D model in Inventor of the
entire gantry robot to show how it will
work
Action Item List
# Activity
Person
Assigned
Due
1 Set up Conf. Call w/ Logic One
Design Lg. variation
2 (Base/Stand)
Garth
12-Jan
16-Jan
Doug
12-Jan
29-Jan
3 Design Lg. variation (X-Axis)
Garth
12-Jan
29-Jan
4 Design Lg. variation (Y-Axis)
Jeremy & Ryan
12-Jan
29-Jan
5 Design Lg. variation (Z-Axis)
Justin
12-Jan
29-Jan
Note: During items 2 through 5 all Supports & Mountings, Guides, and
Drivers will be picked out.
Responsibilities, Approval,
Support, & Information
Responsibility Approval Support Information (RASI)
Team Member:
Overall Subsystem
Base/Stand
Y-Axis
X-Axis
Z-Axis
Responsibility
Approval
Garth
S
A
R
I
Doug Jeremy Justin Ryan
R
I
S
A
Abbreviations
R
Support
A
Information
A
R
S
I
S
I
A
R
I
R
I
S
S
I
Action
Design Call With Logic one
Design of largest variation
(picking of Components)
Create a List of Parts Needed
Table of Possible Configurations
Completed
Progress Report
Progress Orals
CAD Drawings of Subsystems
Inventor Drawings
Final Compilation of all
Calculations
Design Reports
3-D Model
Orals/ Demonstrations
27-Apr
16
20-Apr
15
13-Apr
6-Apr
13
Week Of:
14
30-Apr
2-Mar
8
12
23-eb
7
23-Apr
16Feb
6
11
9-Feb
5
16-Apr
2-Feb
4
10
26-Jan
3
9-Mar
19-Jan
2
9
12-Jan
1
Time Line
SB
X
SB
SB
SB
X
SB
X
SB
X
SB
SB
SB
SB
SB
X
SB
X
SB
X
X
Resources Needed
 Lab Space: Mechanical Engineering Lab
located in A Wing, Room 209
 Computers: Provided in lab above by the
Department of Mechanical Engineering
 Printer: Provide in lab by the Department of
Mechanical Engineering
Cost To Us
 Since our model will be completed in
Autodesk Inventor, the cost to us will be
minimal
 Production cost will be as addressed above
Resources Needed Cont.
 Microsoft Word
 Microsoft Excel
 Microsoft PowerPoint
 Autodesk Inventor
 Auto CAD
Summary
 Project Overview



Stands and Support Beams
Guides and Bearings
Drive Systems
 Plan to Finish on Time
 Resources Needed

Most are available