<aside> <img src="/icons/burst_gray.svg" alt="/icons/burst_gray.svg" width="40px" />

Domains: Robotics, Mechatronics, Power Electronics, Motor Control, Motion Transmission, Mechanical Design

</aside>

https://github.com/av-codes-lgtm/Eklavya_Gantry

Overview

GantryMate-200 addresses the challenge of automating the precise handling of ~280 miniature screws (1 mm size) on sensitive LED panels. The system must operate with extreme precision around delicate circuitry while maintaining high-speed performance.

Our solution: An advanced automated gantry system designed for precision screwing and unscrewing of miniature screws on delicate LED panels with sub-millimeter accuracy and high-speed operation.

image.png

image.png

Key Concepts

CNC (Computer Numerical Control) Automation of machine tools through programmed commands executed via a computer interface.

Gantry Architecture A rigid frame structure with a movable bridge that allows high-precision motion across X, Y, and Z axes.

Power Electronics Circuitry to regulate and supply power for motors and control systems, ensuring efficient operation and protection against overcurrent/voltage.

Motor Control Techniques to drive stepper motors, application of microstepping, ensuring precise positioning, velocity, and torque control.

Motion Transmission Conversion of motor rotation into linear motion using ball screws, timing belts, or rack-and-pinion systems.

Approach and Workflow

  1. Mechanical Design & Build The machine’s gantry structure was designed with aluminum extrusions rods to ensure rigidity and minimize vibrations. Motion transmission mechanisms (timing belts for X/Y axes and a ball screw for Z-axis) were implemented for smooth and accurate linear travel.
  2. Electronics & Power Integration A modular electronics setup was implemented, consisting of stepper motor and its drivers, geared DC motors, buck converters and esp32 microcontroller. Limit switches were integrated as a safety mechanism.
  3. Motor Control & Motion Planning Stepper motors were used for precise, open-loop control of the axes, while firmware handled trajectory planning and interpolation. The system was tuned to balance speed, accuracy, and smoothness of motion.
  4. Testing & Calibration Calibration of axes was performed to ensure accurate dimensional outputs.