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Senior Design Capstone Project: Design and Development of Mount Structure and End-Effector for Automated Robotic Stacker

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2016 ASEE Annual Conference & Exposition


New Orleans, Louisiana

Publication Date

June 26, 2016

Start Date

June 26, 2016

End Date

August 28, 2016





Conference Session

Capstone and Design Projects

Tagged Division

Engineering Technology

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Paper Authors


Aleksandr Sergeyev Michigan Technological University

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Aleksandr Sergeyev is currently an Associate
Professor in the Electrical Engineering
Technology program in the
School of Technology at Michigan Technological
University. Dr. Aleksandr
Sergeyev earned his bachelor degree in
Electrical Engineering at Moscow University
of Electronics and Automation in
1995. He obtained the Master degree
in Physics from Michigan Technological
University in 2004 and the PhD degree in Electrical Engineering
from Michigan Technological University in 2007.
Dr. Aleksandr Sergeyev’s research interests include high
energy laser propagation through the turbulent atmosphere,
developing advanced control algorithms for wavefront sensing
and mitigating effects of the turbulent atmosphere, digital
inline holography, digital signal processing, and laser spectroscopy. Dr. Sergeyev is a member of ASEE, IEEE, SPIE and is actively involved in promoting engineering education.

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Mohsen Azizi Michigan Technological University Orcid 16x16

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Mohsen Azizi received the Ph.D. degree in electrical and computer engineering from Concordia University, Montreal, Canada, in 2010. From 2010 to 2013, he was a R&D engineer at Pratt & Whitney Canada Inc. and Aviya Tech Inc., Longueuil, Canada. Since 2012 he has been an adjunct assistant professor in electrical and computer engineering at Concordia University. In 2013 he joined Michigan Technological University, Houghton, Michigan, where he is currently an assistant professor in electrical engineering technology. His research interests include cooperative control and networked estimation in multi-agent systems, distributed and decentralized control of large-scale systems, and fault diagnosis, isolation and recovery (FDIR). He is specifically interested in the application of control systems and diagnostics in jet engines, unmanned vehicles, aircraft, and power systems.

Dr. Azizi was the recipient of the Natural Sciences and Engineering Research Council of Canada (NSERC) Postgraduate Scholarship Doctoral 2007-2010, and Fonds québécois de la recherche sur la nature et les technologies (FQRNT) Postdoctoral Fellowship from the Government of Quebec 2011-2012.

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Shashank Barkur Lakshmikanth

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In this paper, the results of a control project sponsored by Nucor Steel Corporation, Marion, Ohio, are presented. This student project is conducted at University where in which a team of graduate and three undergraduate students are involved. This project is credited as the Senior Design (SD) project for the undergraduate students and hence enhanced their control education through a real industrial application. The student involvement includes visiting the production line at Nucor Steel Corporation, conducting the project at University, and delivering the completed project and installing it on the production line at Nucor Steel Corporation. The objective is to design a robotic system for precise stacking of highway sign posts, while complying with the required stacking pattern as well as time constraints. The Nucor Steel Corporation bar mill relies heavily on manual work force in its highway products division. A highly manual process introduces many safety hazards as well as inefficiencies and inconsistencies. One hazardous position is the bundling of heavy sign posts, which are manually raked into bundles before being manually banded, and workers are at risk for overuse injuries. Moreover, the sign posts are randomly positioned within a bundle, and hence the disorganized bundle is much larger than an organized stack of the same count. Disorganized bundles also hinder further automation processes downstream the production line, such as banding and powder coating the sign posts. This paper offers a robotic stacker solution utilizing Fanuc robot manipulators, custom-built end-effectors, and programmable logic controller (PLC) that will result in smaller and organized stacks as compared with the current disorganized bundles, and the removal of a worker from the hazardous position in the process. Organized stacks will also allow for further downstream automation processes. This paper gives an overview of the developed robotic solution and specifically focuses on the design and development of the robot’s mounting structure, along with the custom end-of-arm tool.

Sergeyev, A., & Azizi, M., & Barkur Lakshmikanth, S. (2016, June), Senior Design Capstone Project: Design and Development of Mount Structure and End-Effector for Automated Robotic Stacker Paper presented at 2016 ASEE Annual Conference & Exposition, New Orleans, Louisiana. 10.18260/p.26163

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