2.5" Disk Drive Assembly

In a five-degree space, the machine precisely locates each pallet hole with a laser distance sensor mounted to the Cartesian robot acting like a coordinate measuring machine (CMM). The SCARA robot then loads the disks into the pallet. The two robots share the same coordinate system to achieve the exchange of point data, and the SCARA robot must be accurate in the pallet area. The two robots perform a series of calibration procedures to accomplish this. Accuracy is improved to ±0.005” in the pallet area.

Features of the project include:

• Self-discovered calibration with verification
• Self-discovered placement locations—no taught points
• Pallet instability detection and on-the-fly sensing of disk load integrity
• Accurate distance sensing regardless of pallet discoloration