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Department of Electrical and Computer Engineering; Department of Applied Computing


As part of the advanced programmable logic controllers (PLC) course at Michigan Tech, this class project is performed on a mechatronics system gifted by Donald Engineering, a Michigan-based supplier of industrial automation systems and components. This paper explores the functionality and ladder programming of a four-axis robot enclosed in a cage with one side guarded by an optical fence. The robot has pneumatically actuated X-Y linear motion and a pneumatic gripper. Furthermore, the Z-axis motion and gripper wrist rotation are controlled by servo motors. A human machine interface (HMI) is also present, and it allows for easy manipulation and programming of the robot. This type robot can be used to transfer small components between conveyer belts or for light assembly functions. This paper details of the system’s components, operation, and custom programming.

Publisher's Statement

This paper was submitted to the ASEE Conference for Industry and Education Collaboration (CIEC), Tempe, AZ Feb. 4-11 2022. ©2022 American Society for Engineering Education.

Publication Title

Conference for Industry and Education Collaboration 2022





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